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Rockwell Automation Allen-Bradley PowerFlex 700S Reference Manual

Adjustable frequency ac drive, phase i control
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Reference Manual
PowerFlex 700S Adjustable Frequency AC Drive, Phase I Control
Catalog Numbers 20D

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Summary of Contents for Rockwell Automation Allen-Bradley PowerFlex 700S

  • Page 1 Reference Manual PowerFlex 700S Adjustable Frequency AC Drive, Phase I Control Catalog Numbers 20D...
  • Page 2 Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Allen-Bradley, ControlLogix, DPI, DriveExecutive, DriveExplorer, DriveLogix, PLC-5, PowerFlex, Rockwell Software, Rockwell Automation, SCANport, SLC, and SynchLink are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
  • Page 3 Removed the Specification and Dimension information (Chapter 1) 20D-UM001 Removed fuse and circuit breaker information and tables 20D-UM001 Changes to this manual for previous revisions are included in Appendix A History of Changes on page 183. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 4 Summary of Changes Notes: Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 5: Table Of Contents

    Datalink Programming ........32 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 6 Grounding, General ..........66 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 7 Position Loop Output Limits........86 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 8 SLC/PLC-5 System......... . 114 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 9 Sum Mode ..........154 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 10 PFLEX-RM002C-EN-E ......... 183 Index Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 11: Preface

    Provides declarations of conformity, certificates, and other certification details. You can view or download publications at http:/www.rockwellautomation.com/literature/. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 12 Preface Notes: Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 13: Detail Drive Configuration And Operation

    Responses include Ignore, Alarm, Fault Coast Stop, Fault Ramp Stop, and Fault Current Limit Stop. Parameters 326 [Alarm Status 1] through 328 [Alarm Status 3] indicated any alarms that are active. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 14: Application Example

    + wn Anlg ln2 Offset Lead Lag Anlg ln2 Scale Al 2 Filt Gain Anlg ln2 Filt BW [AIx Filt Gain] and [Anlg Inx Filt BW] are used to filter the analog input data. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 15: Analog Outputs

    There are 2 analog outputs located on TB1 - Row B (Bottom Terminals). Each output outputs a +/-10V bipolar, differential signal. The D/A converter is 12 bits including the sign (11 bits plus the sign bit). Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 16: Analog Output Configuration

    This configuration sends the motor torque current reference value to a 0-10V analog output signal. • [Anlg Out1 Real] is linked to [Mtr TrqCurr Ref ] • [Anlg Out1 Scale] = 0.1 per Volt Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 17: Auto/Manual

    “Power Circuit Test, ” “Direction Test, ” “Motor Tests, ” and “Inertia Measure” submenus of the Start-Up Menu are all related to the autotuning of the drive/ motor combination and will be covered in this section. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 18: Motor Control

    Hi-Resolution Encoder option cards are installed. Power Circuit Test This submenu allows you to perform a diagnostic check to check the output section of the drive power circuit for shorts or open circuits. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 19: Direction Test

    504 [PM AbsEnc Offst] is determined by value in the absolute position sensor counter. Back EMF Measures the permanent magnet motor CEMF (motor voltage feedback) coefficient and stores the value in parameter 523 [PM Mtr CEMF Coef]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 20: Inertia Test

    PowerFlex 700S bus regulation and dynamic braking. Please see the user manual for details on the PowerFlex 700S dynamic braking wiring and setup and the PowerFlex Dynamic Braking Resistor Calculator Selection Guide, publication PFLEX-AT001, for application techniques on dynamic braking. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 21: Technical Information

    415 [Bus Reg/Brake Ref]. Bit 3 - Bus Reg En When this bit is set to 1, bus regulation is enabled. When this bit is set to 0, bus regulation is disabled. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 22 1 is set to 1). When the internal brake resistor is used then the protection is determined from the drive-internal values. Normally this value is specified by the resistor vendor as the energy rating (in Joules) or a 1 second power rating (in Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 23 3 - “FltRampStop” The drive generates the fault 38 “Brake OL Trip” and issues a ramp stop. 4 - “FltCurLimStop” The drive generates the fault 38 “Brake OL Trip” and issues a current limit stop. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 24: Cable, Control

    See the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives, publication DRIVES-IN001, for detailed information. Cable Trays and Conduit See the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives, publication DRIVES-IN001, for detailed information. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 25: Carrier (Pwm) Frequency

    A very large majority of all drive applications will perform adequately at 2…4 kHz. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 26: Ce Conformity

    9 [Reset Module] must be set to reset module for the change to take effect. Set rotary switches to the correct node address. Node 02 is used for all Datalinks in this example. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 27 Logic Command / Reference and Logic Status / Feedback only Plus Datalink A Plus Datalink B Plus Datalink C Plus Datalink D The following data structures will be added to the ControlLogix processor for the communications with the 20-COMM-C module and drive. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 28: Technical Information

    0-15 of parameter 155 [Logic Status]. Reference and Feedback are 16 bit unsigned integer data. Datalinks are 32 bit data. Figure 4 on page shows I/O Image table for a ControlLogix system. I.Data[0] is reserved. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 29 Datalink D2 P721 Data In D2 Int P722 Data In D2 CIP Generic Message Message Message Source and Destination Handler Buffer Tags Bits 0 - 15 Not affected by parameter 73 [Spd Fdbk Scale] Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 30 Real values in the drive). The PowerFlex 700S drive default for this parameter is all Datalinks set for Integer values. If the check mark is not set then the datalink is not set for an Integer value (From DriveExecutive). Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 31: Controllogix Programming

    Convert Speed Feedback from 700S via 20-COMM-C Feedback is returned as a 0 to 32767 number for 0 to Base Speed Move Source PowerFlex700S_02:1.Data[2] 22114.959 Dest CNet_700S_Fdbk_Float 34969.0 Compute Dest CNet_700S_Fdbk 1897 Expression (CNet_700S_Fdbk_Float/Speed_Conversion_Constant)*Motor_Base_Speed Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 32: Datalink Programming

    1. The Source and Destination tags should be of type REAL. 2. The Number of Elements should be 4 bytes since a REAL data type takes up 4 bytes of data. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 33: Copy Cat

    Software Current Limit - This feature selectively limits the current the drive will provide based on the several factors. The [Mtr Current Lim] parameter setting will limit the current to the user changeable level, range is 105% of Motor Flux Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 34: Datalinks

    • 740 [Position Control] is linked to 707 [Data In A1 Int] The value that is sent to [Data In A1 Int] from the controller will show up in [Postion Control]. [Data In A1 Int] is used because [Position Control] is an integer parameter. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 35 The value from [Data Out A1 Real] to the controller contains the value of [Output Current]. [Data Out A1 Real] is used and [Dlink OutDataType] bit 0 is set to 1 because [Output Current] is a real parameter. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 36: Decel Time

    Logic Command/Status and Speed Ref/Fdbk I/O enabled, the 20-COMM- D would map 8 bytes of I/O in the DeviceNet Scanner. With the Logic Command/Status, Speed Ref/Fdbk and all of the Datalinks enabled, the 20- Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 37 The speed feedback sent from the PowerFlex 700S to the 20-COMM-D is not affected by parameter 73 [Spd Fdbk Scale]. Furthermore, the PowerFlex 700S automatically coverts parameter 72 [Scaled Spd Fdbk], which is a floating-point parameter, to a double integer before the value is transferred to the 20-COMM-D. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 38 • The Source and Destination tags should be type REAL. • The Number of Elements should be 4 bytes since a REAL data type takes up 4 bytes of data. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 39: Slc/Plc-5 System

    DINT, and only handles 16 bit integers, so the reference has to be handled differently to account for references above 32767 or below -32768. The example on the following page shows how to transmit references less than twice base motor speed. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 40 16 bit integers. In order to send or receive floating-point datalinks the LSW and MSW must be swapped and the COP (copy) instruction must be utilized. The following examples are for transmitting and receiving the floating-point Datalinks. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 41 In order to send or receive floating-point data the Least Significant Word (LSW) and Most Significant Word (MSW) must be swapped and the COP (copy) instruction must be utilized. The following examples are for transmitting and receiving floating-point data for explicit messages. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 42: Digital Inputs

    There is a 24VDC power supply on the I/O board to supply power for those inputs. Digital Inputs 2 and 3 are high speed digital inputs with a maximum input frequency of 350 kHz. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 43 [DigIn 1 Sel] can be set to the following values: Value Description Value Description Not Used Fwd/Reverse Normal Stop Cur Lim Stop Start Coast Stop Aux Fault Clear Faults Aux Fault Inv Stop - CF User Select Jog 1 Precharge/Disc Jog 2 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 44 Data] sets the value of [DigIn x User Data] except for the bit chose in [DigIn x Bit] • [DigIn x Data] determines the bit you wish to toggle based on whether the digital input is on or off Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 45: Configuration Example

    When the bit in [Local I/O Status] associated with the digital input is set (=1), the digital input is on. When the bit associated with the digital input is not set (=0), the digital input is off. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 46: Digital Outputs

    Local I/O Status (Aux Out 1) TB1-T6 Dig Out 1 Data TB1-T5 Data Out 1 Bit TB1-T4 {Return "Common"} Local I/O Status (Aux Out 2) Dig Out 2 Data Data Out 2 Bit Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 47: Configuration Example

    In this case Par 40 [Selected Spd Ref ] supplies only the speed magnitude. The direction is determined by Par 153 [Applied LogicCmd] bits 20 “UniPol Fwd” and 21 “UniPol Rev”. The forward/reverse direction Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 48: Drive Overload

    The 1 minute current rating assumes a duty cycle of 1 minute on, followed by 3 minutes at 100%. This results in an average current of 102.5%. 110% * 60 s + 100%*180 s average current = ------------------------------------------- = 102.5% 240 s Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 49 The value of the fold back is proportional to the calculated junction temperature. • Bit 7 [Jnc Over Temp] indicates the junction temperature has exceeded the maximum temperature for the power semiconductor device. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 50: Drive Overtemperature

    • Access to all parameter information (limits, scaling, default, etc.) • User set access • Fault/Alarm queue access • Event notification (fault, alarm, etc.) • Access to all drive classes/objects (for example Device, Peripheral, Parameter, etc.) Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 51: Producer/Consumer Operation Overview

    • Change in Datalink data value to change in the drive - 10 ms • Change of parameter value into drive - 20ms times the number of attached peripherals The maximum time to detect the loss of communication from a peripheral device is 500ms. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 52: Drivelogix

    MUT and still be O.K. However, two successive Datalink commands will have to be separated by the MUT. DriveLogix See the DriveLogix 5720 Controller User Manual, publication 20D-UM002. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 53: Droop

    Efficiency regardless of size. Drives are most efficient at full load and full speed. vs. Speed vs. Load % Speed/% Load See Position Loop - Follower (Electronic Gearing) on page 82. Electronic Gearing Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 54: Faults

    Key Words Frequency response, radians, filter, notch. Nomenclature: Symbol Description of Symbol Units Laplace Operator ω Frequency rad/sec ω Cut-off Frequency rad/sec Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 55: Low Pass Filter

    Also the phase shift of a second order filter is from 0…180° compared to 0…90° of a first order filter. Figure 14 - Second Order Low Pass Filter Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 56: Lead-Lag Filter

    Kn is set to 0.7 and Wn is set to 35 rad/sec. The time domain shows a 100 rad/sec sinusoidal input. Notice that the phase shift between input and output are marginal. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 57 When Kn is greater than one (Kn>1), the lead-lag filter operates as lead filter. The original equation is re-written into a term that can be used to utilize the lead function. Wn is divided throughout the equation. Two new terms are developed. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 58 • The lead filter was set to compensate for the 5 rad/sec response (Wld=5) • The lag filter was set to 50 rad/sec response (Wlg=50) • Kn is set to Wlg/Wld (50/5) = 10 • Wn is set to Wlg = 50 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 59: Notch Filter

    The mechanical gear train consists of two masses (the motor and the load) and spring (mechanical coupling between the two loads). This is shown in Figure Figure 19 - Mechanical Gear Train Kspring Jload Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 60 Filt Freq]. Due to the fact that most mechanical frequencies are described in Hertz, [Notch Filt Freq] is in Hertz as well. Figure 21 on page shows the same mechanical gear train as in Figure [Notch Filt Freq] is set to 10. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 61: Conclusion

    The torque reference has a notch filter used to eliminate resonance signals. The notch frequency is set by parameter 118 [Notch Filt Freq]. This frequency is set to the mechanical resonance in hertz. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 62: Flying Start

    If a reversal or increase in motor speed could occur the preset frequency search should be used. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 63 50% speed tracking lost Rotor Speed Found frequency= 0 Pwm stopped Accel to set speed and resume normal operation drive re-started Time (seconds) Motor Frequency Figure 23 - Sensorless Flying Start From Preset Speed Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 64: Sensorless Flying Start Configuration

    Ref ]. The speed reference is needed because the torque needed due to friction is much more near 0 speed than at higher speeds. Friction compensation is enabled by setting parameter 151 [Logic Command] bit 11 - “Frict Comp” to “1”. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 65 Torque Reference on page for more information). S Curve Spd Ref FricComp Spd Ref FricComp TorqAdd Link to Torque Friction Comp Control [4B2] FricComp Setup FricComp Stick FricComp Slip FricComp Rated Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 66: Grounding, General

    • User Display 2 - Selects which user display parameter appears on the bottom line of the user display. • User Display Time - Sets how many seconds will elapse after the last programming key is touched before the HIM displays the user display. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 67: Inertia Adaptation

    Inertia adaptation detects the lost motion and a higher speed regulator bandwidth can be achieved without instability. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 68: Configuration

    The inertia compensation outputs the calculated torque to the parameter 59 [Inertia Torq Add]. [Inertia Torq Add] is summed with the output of the friction compensation block and the torque generated by the speed reference loop. That Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 69: Input Devices

    Command word from DriveLogix. In turn, a valid jog command initiated from one of those adapters will turn on either bit 18 in parameter 152 [Applied LogicCmd] to select jog speed 1 or bit 23 in [Applied LogicCmd] to select jog Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 70: Links

    Use the up/down arrow keys on the top row of buttons to select “Defined Link” and press Enter. When in this mode, pressing the Select button will allow you to enter the source parameter number. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 71: Using Driveexecutive

    Using DriveExecutive Double-click on the destination parameter. The parameter XX dialog box displays. Click on the Link Source tab. Select the Parameter radio button and select the source parameter in the Selected Parameter field. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 72: Masks

    This “masks out” the reverse function from all adapters except Adapter 5, making the local HIM (Adapter 1) REV button inoperable. See Owners on page the PowerFlex 700S User Manual for more information. Motor Control Mode See Autotune on page 17. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 73: Motor Nameplate

    100%. If the requirement is 1 minute out of 60 minutes, the remaining 59 minutes must be at approximately 99% rated current or less. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 74: High Overload

    100%. If the requirement is 1 minute out of 60 minutes, the remaining 59 minutes must be at approximately 98% rated current or less. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 75: Motor Start/Stop Precautions

    If considering other orientation, contact the Factory for additional data. Refer to the Chapter 1 - Installation/Wiring in the PowerFlex 700S Drive User Manual, publication 20D-UM001 for mounting instructions and limitations. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 76: Output Devices

    U, V, W. An auxiliary contact must be used to simultaneously disable the drive. Rockwell Automation drives can be used with an output contactor between the drive and motor. This contactor can be opened under load without damage to the drive.

  • Page 77: Output Power (Parameter 311)

    Indicates the adapters that are presently issuing a valid jog command. [Direction Owner] Indicates the adapter that currently has exclusive control of direction changes. [Fault Clr Owner] Indicates the adapters that are presently issuing a valid start command. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 78 When the local Start button is pressed, the display indicates that the command is coming from the HIM. Start Owner 7 6 5 4 3 2 1 0 Adapter # 0 0 0 0 0 0 1 0 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 79: Permanent Magnet Motors

    29.3 180.7 2710 5.50 84.9 19.40 4000 MPL-A560F 29.3 125.3 1880 5.50 84.9 27.90 3000 MPL-B310P 290.0 4350 0.72 1.58 5000 MPL-B320P 281.3 4220 1.30 2.94 5000 MPL-B330P 258.7 3880 1.70 4.18 5000 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 80 3500 MPG-B010-031 162.7 2440 0.34 1.33 6450 MPG-B010-091 357.3 5360 0.23 0.41 6450 MPG-B025-031 219.0 2190 0.92 11.3 4.02 4838 MPG-B025-091 175.0 1750 0.54 2.95 5900 MPG-B050-031 16.3 92.0 1.20 32.5 12.40 2510 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 81 1326AS-B860C 17.6 77.3 1160 6.00 44.4 49.30 2000 1326AH-B330F 3000 0.75 3000 1326AH-B440F 2500 1.22 13.8 2500 1326AH-B540F 11.1 2500 2.60 47.2 2500 3050R-7 66.0 50.0 30.00 132.0 11050R-7 218.0 50.0 110.00 436.0 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 82: Position Loop - Follower (Electronic Gearing)

    Typical applications for a geared follower would be for a roller following another part of a machine, and a filler and capper machine for bottling. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 83: Speed Reference Selection

    Speed Reference Ramp The speed reference ramp should be disabled when using the drive as a position follower. To disable the speed reference ramp, set parameter 151 [Logic Command] bit 0 “SpdRamp Dsbl” = 1. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 84: Enabling The Position Loop

    Example: In this example the encoders are mounted on the motors. The motors are directly coupled to the load and we want the follower to run at 4 times the speed of the master. PPRm = 1024 PPR PPRf = 1024 PPR Ratiof:Ratiom = 4:1 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 85: Position Offset

    Added to position Δ reference after Deriv Posit Offset 1 Posit Offset 2 Filter Rate Lim LPass Posit Offset Spd Position Control Position Status (X Offset Pol) (X OffRefActl) Position Control (X Offset Ref) Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 86: Position Loop Output Limits

    [SpdTrim2 Filt BW] = 200 rad/sec and set parameter 25 [Strim2 Filt Gain] = 5. The lead/lag filter will effectively cancel the 1/40 second lag. This will allow a higher [PositReg P Gain] for increased stability. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 87: Jogging A Position Follower Independent From The Master

    • Uses only parameter 768 [PositReg P Gain] for tuning. Parameter 770 [Posit Reg Integ] is not used in point to point mode. • The number of position counts per revolution depends on the type of feedback device used: Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 88: Overview

    To enable the position loop, set parameter 151 [Logic Command] bit 13 “PositionEnbl” = 1. Then to allow the output of the position loop to trim the speed set parameter 740 [Position Control] bit 1 “Speed Out En” = 1. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 89: Position Reference Selection

    Parameter 746 [PositRef EGR Div] = 360 This scaling translates the position reference of 0…360 degrees to 0…4096 position counts. This will allow you to enter degrees of motor rotation for the position reference. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 90: Position Offset

    = 0. Then set [Position Control] bit 5 “Xoff ReRef ” = 0. The system will not make an offset move when [Position Control] bit 5 “Xoff ReRef ” is on. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 91: Point To Point Acceleration And Deceleration

    Position Regulator Output. Lead/Lag filtering of the position regulator output is accomplished via the speed trim 2 filter. Set parameters 25 [Strim2 Filt Gain] and 26 [SpdTrim2 Filt BW] so that: [SpdTrim2 Filt [Speed [Strim2 Filt Gain] Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 92: Jogging

    147 [FW Functions En] bit 16 “Position Ctrl” = 1 and the position loop must be enabled by setting parameter 151 [Logic Command] bit 13 “Position En” = 1. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 93 100000 counts is passed again. Set parameter 740 [Position Control] bit 16 “X Watch 1 En” = 0 to reset parameter 741 [Position Status] bit 8 “Posit Watch1” to 0. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 94: Position Loop - Registration

    Capture on Rising Edge Capture on Falling Edge Capture on Both Edges Disable Capture Trigger Source Bit 6 Bit 5 Description Disable Capture Capture during Reverse Rotation Capture during Forward Rotation Capture during either Rotation Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 95: Power Loss/Ride Through

    Next, the precharge function limits the drive's inrush current in the event that the incoming power to the drive is restored. Last, after the power is Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 96: Precharge Frames 1

    Drives with the resistor and SCR bypass (internal) have the same precharge control as frame 1…4 above. ATTENTION: In cases where the user is providing the precharge hardware and control incorrect configuration and/or control may result in drive damage. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 97: Ride Through Operation

    If the power returns before the drive has shut down, the precharge device will be bypassed and a large inrush current may occur. In this case, drive damage is likely if the inrush current is large. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 98: Ride Through Timeout Fault

    (or bus capacitor charging mode) any time that the precharge is not “done” (see parameter 555 [MC Status] bit 11 “PreChrg Done”). This is independent of whether or not the drive control actually controls the precharge hardware. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 99 95, for controller coordinated PWM disable and precharge operation. If the drive is running and the user removes the precharge enable, this condition will be ignored until the drive is disabled (PWM stops). Then the precharge function will be started again. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 100: Precharge Timeout Fault

    This feature could be useful in cases where bus disturbances are created by another drive in a common or shared bus installation. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 101: External Precharge

    The maximum value for PreCharge Delay is limited by parameter 410 [PreChrg Timeout]. The maximum value for [Precharge Delay] is determined by the following calculation: [Precharge Delay] Max = [PreChrg Timeout] - 1. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 102: Motor Sim Mode

    P Gain Limit PI Lpass Filt BW PI High Limit PI Prop Gain PI Lower Limit PI Integ Output I Gain Limit PI Preload PI Integ Time PI Integ HLim PI Integ LLim Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 103: Process Pi Reference And Feedback

    0 to 8. A value of 1 for [PI High Limit] can represent base motor speed, rated motor torque, or 100% of some external function. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 104: Process Pi Output

    The minimum time between PWM pulses is 10 microseconds. The modifications to the PWM modulator limit the over-voltage transient to 2.25 per unit volts line-to-line peak at 600 feet of cable. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 105 300 feet. To determine the maximum recommended motor cable lengths for a particular drive, see to Cable, Motor Lengths on page 24. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 106: Remote I/O Adapter

    Here is the I/O image table for the ControlLogix system and a 20-COMM-R configured as a ¼ rack. Notice that the first 2 words of the image table are Discrete I/O, the rest of the data comes across as Block Transfer I/O. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 107 The speed reference comes into the 20-COMM-R as two, 16 bit integers. The PowerFlex 700S firmware automatically converts that speed reference into floating point, so that parameter 20 [Speed Ref DPI] is a floating-point value. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 108 I/O stays the same. Words 0 and 1 in the block transfer I/ O become buffers. The following example shows the message instructions for the block transfer I/O. In this example, the 20-COMM-R was setup as a ¼ rack. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 109 The “Path” in the communication tab of the block transfer I/O write is the name of the DH+/RIO scanner module. The “Module Address” sets the channel of the DH+/RIO scanner used, and the rack, group and slot of the 20-COMM-R. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 110: Reference/Feedback Programming

    To setup the PowerFlex 700S to follow a speed reference from the 20-COMM-R, parameter 691 [DPI Ref Select] must be set to “Port 5.” Parameter16 [Speed Ref Sel] must be set to “Speed Ref DPI.” Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 111: Datalink Programming

    32-bit integers the COP (copy) instruction must be utilized. The copy instruction in ControlLogix performs a bitwise copy. Set the length of the copy instruction to a value appropriate for the destination data type. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 112: Explicit Block Transfer Messaging

    For the block transfer message write, the source tag RIO_BT_Request_Data must be an array of 20, 30, or 60 INTs (depending on how much data the user wants to send in the message). This tag cannot be DINT. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 113 In order to write or read floating point or 32-bit integers the COP (copy) instruction must be utilized. The copy instruction in ControlLogix performs a bitwise copy. Set the length of the copy instruction to a value appropriate for the destination data type. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 114: Slc/Plc-5 System

    I/O messages. See Chapter 4 of the 20-COMM-R User Manual for an example program for the block transfer I/O messages. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 115: Rockwell Automation Publication Pflex-Rm002D-En-E - August

    I/O messages. See Chapter 4 of the 20-COMM-R User Manual for an example program for the block transfer I/O messages. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 116 Datalinks, but do not show the logic for the block transfer I/O messages. See Chapter 4 of the 20-COMM-R User Manual for an example program for the block transfer I/O messages. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 117 N13:113 = LSW Datalink A1 Out N12:5 = Datalink A1 Out Move 0006 Source N11:112 21158 F13:113 Dest 23873 Move Source N11:113 17447 F13:112 Dest 17447 Copy File Source #N13:112 #N12:5 Dest Length Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 118: Explicit Block Transfer Messaging

    See Chapter 5 of the 20-COMM-R User Manual for an example program for the block transfer explicit messages. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 119: Rfi Filter Grounding

    See the Speed PI Regulator on page for information about the speed regulator. See the Torque Reference on page for information about choosing the output of the speed regulator as the reference to the torque loop. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 120: Speed Pi Regulator

    Parameter 23 [Speed Trim 3] provides a scalable speed trim value that is added to [Spd Trim1 SpdRef ]. The speed reference value for [Speed Trim 3] is multiplied by the scaling parameter 24 [Spd Trim 3 Scale]. [Spd Trim 3 Scale] is a linkable Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 121: Autotune Speed Reference

    • Bit 5 - “J Tst FulSpd” indicates that the inertia test reached the speed set in [Atune Spd Ref ]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 122: Speed Reference Limits

    (CurrLim Stop) Speed Error The summed speed reference becomes parameter 301 [Motor Speed Ref ]. Then the filtered motor speed feedback is subtracted from the motor speed reference to create a speed error. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 123: Servo Lock

    However, it will exhibit some over-shoot and under-shoot. Increasing the value of this term decreases the over-shoot and under-shoot, which is desirable where back-up cannot be tolerated. However, this tends to increase the following error: Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 124: Proportional Gain

    Spd Reg P Gain Integral Gain The speed droop is subtracted from the filtered speed error (after the servo lock is added and the anti-backup is subtracted). This signal is then sent to the integral Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 125 SpdReg Integ Out Control Options I Gain (Jog -NoInteg) Speed Reg Ctrl (Integ Hold) Spd Reg I Gain Speed Reg Ctrl Speed Reg Ctrl (Integ Reset) (Preset Sel) SReg Torq Preset Motor Torque Ref Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 126: Droop

    Logic Ctrl State (Spd Reg En) Spd Reg PI Out (kn * s)+ wn s + wn to Torque Control Lead Lag SRegOut FiltGain [4A1] SReg Out Filt BW Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 127: Speed Regulator Tuning

    System Inertia (parameter 9 [Total Inertia]) is determined by performing the inertia test with the load coupled, or the value (in seconds) can be calculated using the formulas above if WK2 is known for the system. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 128 Parameter 95 [SregOut FiltGain] = 0.5; parameter 96 [SregOut Filt BW] = 20 c. Parameter 95 [SregOut FiltGain] and parameter 93 [SRegFB Filt Gain] = 0.7; Parameter 94 [SReg FB Filt BW] and parameter 96 [SregOut Filt BW] = 35 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 129 System Inertia (parameter 9 [Total Inertia]) is determined by performing the inertia test with the load coupled, or the value (in seconds) can be calculated using the formulas above if WK2 is known for the system. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 130: Speed Reference

    The speed reference control loop consists of speed reference scaling, speed reference selection, jogging, speed reference limiting, ramping, s-curve, and filtering. Each of these features is described in greater detail below. Figure 33 - Overall Speed Reference Loop Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 131: Speed Reference Scaling

    13 [Speed Ref2 Multi]. [Speed Ref2 Multi] is a linkable parameter. This allows speed reference 2 to be scaled “dynamically” with an input signal if desired. An example would be to have an analog input linked to the scale parameter. The Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 132: Speed Reference Select

    Ref Select]. [DPI Ref Select] can be set to one of the following: 1 - “Local HIM”, 2 - “Ext DPI Conn”, 3 - Aux DPI Conn”, or 5- Int DPI Conn.” 4 - “Reserved” is not used. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 133: Jog Reference

    30 [Rev Speed Limit] sets the negative speed limit, in RPM. Parameter 41 [Limited Spd Ref ] contains value, in RPM, of the limited speed reference. Limited Spd Ref Limit Rev Speed Limit Fwd Speed Limit Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 134: Accel/Decel Ramp And S-Curve

    43 [S Curve Spd Ref ]. Speed Time in Seconds 0.5 sec. 0.5 sec. Accel Time = 5.0 seconds S Curve Time = 1.0 second Total Ramp Time = 6.0 seconds Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 135: Speed Reference Bypass And Delayed Speed Reference

    Parameter 62 [Virt Encdr Posit] is a 32 bit integer that contains the pulse count output of the virtual encoder block. This parameter is used for position follower applications (see the Follower section of the Position Loop). Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 136: Speed Reference Filter

    “dynamically” with an input signal if desired. An example would be to have an analog input linked to the scale parameter. The speed reference and the scale would then affect the value sent to the speed regulator. Scaled Spd Ref Speed Ref Scale Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 137: Speed Trim 1

    There are two encoder inputs on the standard I/O board of the PowerFlex 700S. They are located at TB2 - Row T (Top) and TB2 - Row B (Bottom). The encoder inputs are rated for Incremental, Dual Channel Quadrature type, Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 138 1/100th its base speed. [Encoderx PPR] sets the pulse per revolution rating of the encoder. This parameter has a range from 10 to 20000 PPR. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 139 230 [Encdr0 Position] by 4096 for one revolution of a 1024 PPR encoder). • Bit 6 “Encdr Dir” inverts the channel A input, thus reversing the direction of the feedback. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 140 Counts rise/fall of both A and B phases (default setting) 1 0 1x fwd only Counts rise of phase A. Phase B ignored. 1 1 2X fwd only Counts rise of phase A. Phase B ignored. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 141 [Encdrx Spd Fdbk] is in units of RPM. The encoder block also generates a position feedback, seen in [Encdrx Position]. [Encdrx Position] is in counts. Encdr0 Spd Fdbk Encoder 0 Processing Encdr0 Position Encoder0 PPR Encdr0 Error Encdr0 Config Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 142: Sensorless

    [Virtual Edge/ Rev]. [Virtual Edge/Rev] is a user defined value for the number of pulses per motor revolution. MtrSpd Simulated Motor Simulator Σ Spd Calc Accum MtrSpd Sim Posit Virtual Edge/Rev Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 143: Feedback Option Cards

    0. This information is read from the feedback option card. Bits 15…11 will be a value of 2000 hex for an old hi- resolution option card and a value of 2020 hex for a new hi-resolution option card. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 144 • Bit 10 “Diag Fail” indicates the option board failed its power-up diagnostic test. • Bit 11 “Msg Checksum” indicates a message checksum fault. • Bit 12 “Time Out Err” indicates a RS-485 time-out fault. • The remaining bits are reserved (not used). Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 145 Table 11 - Resolution Settings Resolution Setting 0 0 10 bit 0 1 12 bit (default setting) 1 0 14 bit 1 1 16 bit Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 146 Parameter 273 [Rslvr0 XfrmRatio] specifies the resolver transform ratio for the resolver option card at port 0. Parameter 274 [Reslvr0 CableBal] specifies the resolver cable balance for the resolver option card at port 0. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 147: Motor Position Feedback

    The motor position feedback is selected according to the feedback device selection. The value for motor position feedback appears in parameter 762 [Mtr Posit Fdbk]. [Mtr Posit Fdbk] is in counts. From there, the position feedback enters the position control loop. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 148: Motor Speed Feedback And Scaled Speed Feedback

    Hardware detection of feedback loss for the feedback option cards is based on the type of device used and specific fault detection implemented on the feedback option card. The rate of change of motor speed detection is the same implementation as for encoder feedback. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 149 Parameter 223 [Mtr Fdbk Sel Alt] selects the alternate speed feedback device. Any selection of feedback devices, including sensorless operation is available providing a corresponding motor type and associated feedback device is present. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 150 2. Enter a valid feedback device selection in parameter 223 [Mtr Fdbk Sel Alt]. 3. Setting parameter 365 [Fdbk LsCnfg Pri] to 1 “Alarm.” 4. Setting parameter 366 [Fdbk LsCnfg Alt] to 2 “FltCoastStop” (recommended but not necessary). Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 151 The active device selection command is shown in parameter 152. Manual switching between primary and alternate devices can be made while the drive is running. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 152: Speed/Torque Select

    Speed Regulation Mode Operating as a speed regulator is the most common and simplest mode to set up. Examples of speed regulated applications are blowers, conveyors, feeders, pumps, saws, and tools. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 153: Torque Regulation Mode

    [Torque Trim] can be linked to an analog input or to the Process PI output. The final torque reference, in the Torque Mode, is the sum of scaled [Torque Ref 1], scaled [Torque Ref 2], and [Torque Trim]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 154: Min Mode / Max Mode

    The sum mode will then work as a feed forward to the torque regulator. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 155: Zero Torque Mode

    Power Loss Power EE prom error Flash upgrade in progress Start request present Jog request present Encoder PPR error Bus Precharge not complete Digital input configuration error Motin Shtdwn Permanent Magnet motor Feedback Error Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 156: Start/Stop Modes

    When different stop types are commanded at the same time, the priority from highest priority to lowest is coast stop, current limit stop, and then ramp stop. The remainder of this section describes how to configure the drive for the different start and stop modes. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 157: Configuring The Start And Stop For 3-Wire Control

    1. To perform a coast stop, toggle bit 9 “Coast Stop” in the logic command word on and then off. 2. To perform a start, toggle bit 1 “Start” in the logic command word on and then off. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 158: Configuring The Start And Stop For 2-Wire Control

    • To perform a ramp stop, toggle bit 1 “Start” in the logic command word on and then off. To control from the HIM: • Hold down the start button to run and release the start button to perform a ramp stop. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 159 A coast stop can still be performed by commanding a coast stop. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 160: Start-Up

    • “0A, 2D, 18B” - 2 direct words and 18 buffered words. • “0A, 4D, 8B” - 4 direct words and 8 buffered words. • “0A, 4D, 18B” - 4 direct words and 18 buffered words. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 161: Synchlink Direct Data

    Odd parameters 1055 [SL Dir Real Rx0] through 1061 [SL Dir Real Rx3] contain the floating-point values for data received from SynchLink. A floating- point destination parameter can be linked to these parameters. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 162: Multiply Block

    1013 [SL Rx DirectSel2], or 1014 [SL Rx DirectSel3] to 1 - “SL Multiply”. The receive parameter selected to multiply in the receiving drive must correspond to the transmit parameter selected to be multiplied from the transmitting drive. The Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 163: Buffered Data

    Note that at this time, the maximum number of buffered words that can be sent over SynchLink is 18, so only odd parameters 1162 [SL Buf Real Tx00] through 1196 [SL Buf Real Tx17] would be used. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 164 Note that at this time, the maximum number of buffered words that can be received over SynchLink is 18, so only even parameters 1074 [SL Buf Real Rx00] through 1108 [SL Buf Real Rx17] would be used. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 165 Tx Port Comm Format 1160 Real SL Buf (type) Tx02 1161 1162 Buffered Transmit Data Buffered Transmit Data SL Comm TP Sel 1219 1220 SL Buf (type) Tx31 SL Comm TP Data 1227 1226 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 166 SL Buf (type) Rx 01 1072 1071 Real SL Buf (type) Rx 02 1074 1073 Buffered 64 Parameters Receive Data SL Comm TP Sel SL Buf (type) Rx 31 1131 1132 1226 1227 SL Comm TP Data Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 167: Speed Synchronization Example

    Once connected to the drive, select Peer Communication from the Drive menu on the menu bar. A dialog box similar to the one shown below displays. This is the dialog box used to setup SynchLink communication. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 168: Master Powerflex 700S Drive Setup (Transmitting Drive)

    Words, 8 Buffered Words. 2. In the Transmitted Direct Words section, select Drive Parameter in the Source 0 field and parameter “43 - S Curve Spd Ref ” in the Item 0 field. 3. Click Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 169 7. Click OK. To synchronize the speed references, you must add a time delay to the S- Curve speed reference of the master. 8. Open the Properties dialog box for Parameter 37 [Spd Ref Bypass]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 170 Chapter 1 Detail Drive Configuration and Operation 9. Click the Link Data tab. 10. Select (P 45) Delayed Spd Ref in the Selected Parameter list. 11. Click OK. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 171: Follower Powerflex 700S Setup (Receiving Drive)

    2. If desired, the multiply block can be used to change the scaling of one of the Direct Words coming from the master to the follower. For example, the multiply block might be used to enter a gear ratio for the speed reference. 3. Click Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 172 You must link the speed reference bypass of the follower to Word 0 of Direct Data coming over SynchLink. 7. Open the Properties dialog box for Parameter 37 [Spd Ref Bypass]. 8. Click on the Link Data tab. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 173 MCB and is visible through the window on the control assembly. 3. Apply power to the follower(s). The SynchLink LED on the follower should be a solid light after about 1 minute. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 174: Sync Generator

    Test points are used to monitor values in the drive for diagnostic information. Test Points • [xxxx TP Sel] selects a value to monitor for diagnostics. • [xxxx TP Data] shows the value selected by [xxxx TP Sel]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 175: Thermal Regulator

    [Torque Trim] can be limited to an analog input or to the Process PI output. Once the scaling is complete on both [Torque Ref 1] and [Torque Ref 2], the output is summed with the output of the [Torque Trim]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 176: Unbalanced Or Ungrounded Distribution Systems

    125% of the nominal line- to-line voltage. Refer to your PowerFlex User Manual, 20D-UM001, for details. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 177: User Functions

    • Verify that parameter 210 [PeakDtct Ctrl In] bit 0 “Peak 1 Set” and bit 1 “Peak 1 Hold” are off. • For parameter 210 [PeakDtct Ctrl In], turn on bit 2 “Peak1 Sel”. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 178: Selector Switches

    1373 [SW Int 1 Output] when bit 1 “SW Int 1 On” of parameter 1370 [Switch Control] is off. • [SW Int 1 Output] contains the value of either [SW Int 1 NO] or [SW Int 1 NC]. Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 179: Time Axis Generator

    151 [Logic Command] bit 3"Time Axis En” = 0 the output ramps from 1.0000…0.0000 at the Time Axis Rate set in [Time Axis Rate]. Time Axis Output Time Axis Rate PI Command (Time Lim En) Time Func Generator Logic Command (Time Axis En) Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 180: Limit Generator

    1750 rpm, etc.) By setting the [Voltage Class] parameter to “Low Voltage” (this represents 400V in this case) the defaults are changed to 400V, 50 Hz settings with motor data for European motors (kW rated, 1500 rpm, etc.). Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 181: Watts Loss

    PWM frequency of 4 kHz. Table 13 - 480V Watts Loss at Full Load/Speed, 4 kHz Drive ND HP @ 480V AC Total Watt Loss Includes HIM Information not available at time of publication Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 182: Rockwell Automation Publication Pflex-Rm002D-En-E - August

    Chapter 1 Detail Drive Configuration and Operation Notes: Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 183: History Of Changes

    Added the “Position Loop - Registration” section Updated the “Power Loss/Ride Through” section Added the “Reflected Wave” section Updated the “Speed/Position Feedback” section Updated the “Speed PI Regulator” section Updated the “Speed/Torque Selection” section Updated the “User Functions” section Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 184 Appendix A History of Changes Notes: Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...

  • Page 185: Index

    Carrier (PWM) Frequency 25 Fdbk LsCnfg Pri 150 Field Oriented Control 19 Conformity 26 Filters 54 Common Bus Systems 26 Friction Compensation 64 Communication 26 Functions 177 Conduit FVC Mode Config 150 Cable Trays 24 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 186 Mtr Fdbk Alt Sel 137 Encdr1 Position 93 Mtr Fdbk Sel Alt 149 Exception Event1 150 Mtr Fdbk Sel Pri 149 Fault Clr Owner 77 Fdbk LsCnfg Alt 150 Fdbk LsCnfg Pri 150 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 187 Stop Owner 77 Speed Ref Sel 45 TachSwitch Level 150 Torque Ref 1 35 Tx Buf Data Type 163 Tx Dir Data Type 161 Permanent Magnet Control 19 Permanent Magnet Motors 79 PI Loop 102 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 188 Slave PowerFlex 700S Setup 171 Speed Synchronization Example 167 Technical Information 160 TachSwitch Level 150 Test Points 174 Thermal Regulator 175 Torque Reference 175 Torque Select 152 Total Inertia 20 Unbalanced Distribution Systems 176 Rockwell Automation Publication PFLEX-RM002D-EN-E - August 2013...
  • Page 190 New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.

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