Page 1 Reference Manual PowerFlex 700S AC Drives Phase II Control Firmware Revisions 1.xxx...4.xxx...
Page 2 In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
Page 3: Summary Of Changes
PFLEX-IN006 Updated the Permanent Magnet Motor Control section to include information on Heidenhain encoders. Updated the “Ride Through Configuration” section to describe the conditions that will cause the “RideThru” (F92) alarm to occur. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 4 Summary of Changes Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 5: Table Of Contents
Decel Time ............37 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 6 Inertia Adaption ..........61 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 7 Speed Reference (Feed Forward) ....... 81 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 8 Ride Through Configuration ....... . . 111 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 9 Jog Reference ..........147 Direction Control and Bipolar Reference..... . 147 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 10 Stop) ........... 177 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 11 ..............213 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 12 Table of Contents Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 13: Detailed Drive Operation
Examples of alarms include: encoder loss, communication loss or other exceptions within the drive. A complete list of Alarms is included in the Troubleshooting chapter of the PowerFlex 700S AC Drive Phase II Control - Programming Manual, publication 20D-PM001. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 14: Configuration
Parameters 802, 808, and 814 [Anlg Inx Scale] scales [Anlg Inx Value] to the range of parameters 800, 806, and 812 [Anlg Inx Data]. A destination parameter, such as a speed reference can then be linked to [Anlg Inx Data]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 15 0 to 1 for a 0…10V signal, parameter 802 [Anlg In1 Scale] was set to 0.1 per 1V. Parameter 805 [Anlg In1 Filt BW] was set to 0 so that no filtering took place on analog input 1. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 16: Analog Input Loss Detection
No signal loss detection is possible while an input is in bipolar voltage mode. The signal loss condition will never occur even if signal loss detection is enabled. 1.9V 1.6V Signal Loss End Signal Loss Condition Condition Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 17: Analog Outputs
[Anlg Outx Zero] can be used to null out any offset from the D/A converter. Parameter 837 or 844 [Anlg Outx Value] displays the voltage or current value for the analog output. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 18: Auto/Manual
-10V when the position is -2147483647 and will +10V when the position is +2147483647. Auto/Manual The Auto/Manual function on the LCD HIM is not functional on the PowerFlex 700S drive with Phase II control. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 19: Autotune
This submenu asks you to enter whether the motor power is in units of kW or Hp. Then you are prompted to enter the motor nameplate data. Accurate motor nameplate data is important for tuning the drive to the connected motor. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 20: Feedback Configuration
This submenu performs the tests to measure the motor characteristics. These tests can be performed with the motor coupled or uncoupled to the load, but be aware that the motor will rotate during some of the tests. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 21: Inertia Test
129 [Atune Trq Ref ]. The test then calculates the time in seconds to accelerate the motor at rated torque from zero to base speed and stores that value in parameter 9 [Total Inertia]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 22: Troubleshooting A "Mc Commissn Fail" Fault During Autotune
DC bus voltage feedback to a DC bus voltage reference. It then limits the regenerative power allowed back onto the DC bus to keep the DC bus voltage at or below the reference value and prevent a “DC Bus Overvolt” fault. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 23: Bus Regulator/Braking Configuration
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-RM003E-EN-E - January 2011...
Page 24 (parameter 414 [Brake/Bus Cnfg] bit 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 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 25 3 - “FltRampStop” The drive generates the “Brake OL Trip” fault and issues a ramp stop. 4 - “FltCurLimStop” The drive generates the “Brake OL Trip” fault and issues a current limit stop. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 26: Cable, Control
(PWM) AC Drives Installation Instructions, publication DRIVES-IN001, for detailed information. Cable, Power Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives Installation Instructions, publication DRIVES-IN001, for detailed information. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 27: Cable Trays And Conduit
The higher switching frequency creates less vibration in the motor windings and laminations making lower audible noise. This may be desirable in some applications. Some Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 28: Ce Conformity
• DPI speed reference to 700S = (Commanded RPM / Base Motor Speed) x 32767 The DPI speed feedback for the PowerFlex 700S is scaled: • Feedback RPM = (DPI feedback from 700S / 32767) x Base Motor Speed Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 29 4. In RSLogix5000, create a tag “PF700S_P303_MotorTorqueRef ” of type “REAL.” 5. Use the COP instruction to copy the DINT input tag for Datalink A1 (PF700S:I.UserDefinedData(0) in this example) to the tag “PF700S_P303_MotorTorqueRef.” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 30: Plc 5 Or Slc System
The reference is scaled so that base motor speed = 32767. The PLC can only handle 16-bit integers, so the reference has to be handled differently to account for references above 32767 or below -32768. The following example shows how Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 31 16-bit integers, so the feedback has to be handled differently to account for references above 32767 or below -32768. The following example shows how to read feedback values more than base motor speed and less than twice base motor speed. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 32 Chapter 1 Detailed Drive Operation Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 33 Datalinks. The following program examples are from an SLC but function the same in a PLC 5. Figure 3 - Reading DINT Datalinks in an SLC or PLC 5. Figure 4 - Writing DINT Datalinks in an SLC or PLC 5. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 34: Copy Cat
These parameters can then be adjusted manually. The LCD HIM will store a number of parameter sets (memory dependant) and each individual set can be named for clarity. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 35: Current Limit
Datalinks. Refer to the section on “Using Datalinks” in the individual adapter user manuals for more information. • 20-COMM-C ControlNet Adapter User Manual, 20COMM-UM003 • 20-COMM-D DeviceNet Adapter User Manual, 20COMM-UM002 • 20-COMM-E EtherNet/IP Adapter User Manual, 20COMM-UM010 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 36 • Parameter 660 [DPI Data Out A1] is linked to parameter 307 [Output Voltage] • Parameter 659 [DPI Out DataType] bit 0 “DPI A1 Real” is set to 1 The value from [DPI Data Out A1] to the controller contains the value of [Output Voltage]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 37: Decel Time
• Shared Common for Digital Inputs 4, 5 and 6. • Digital Input 6 is a Hardware (HW) Enable by default. A jumper is used to disable the HW Enable and use Digital Input 6 for other functions. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 38: Digital Input Configuration
Parameter 823 [DigIn Debounce] sets the filtering for each Digital Input. Options 0 = False Default 0 1 = True 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 39: Digital Input Status Bits
• Two Digital Outputs are 24V DC, Sourcing / Sinking, Open Collector Type. Max Load -Internal Source = 150 mA, External = 750 mA • The 3rd Output is a Relay, Form C, 24V DC / 120V AC, Max Load 2 A Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 40: Digital Output Configuration
Options 0 = False Default 0 1 = True 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 41: Digital Output On/Off Delay Timers
The direction is determined by parameter 152 [Applied LogicCmd] bits 20 “Forward” and 21 “Reverse”. The forward/reverse direction button on the HIM is one possible source for the [Applied LogicCmd] direction Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 42: Drive Peripheral Interface (Dpi)
PowerFlex 700S drives use a 450 mA device on the 12V DPI power supply. Due to the typical load of a external DPI device of 140 mA, there is a three DPI device limit. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 43: Client/Server
All Peer-to-Peer operations occur without any intervention from the user (regardless of proxy or normal P/P operation), no setup is required. No Peer- to-Peer proxy operations are required while the drive is in Flash mode. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 44 • Response to an explicit request or fragment must occur within 1 second or device will time out (applies to Host or Peripheral). Time-out implies retry from beginning. Maximum number of fragments per transaction is 16. Flash memory is exception with 22 fragments allowed. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 45: Drivelogix
(3 second) rating. If the function detects an overload, it lowers the limit to the continuous level. If the function is in the continuous level limit, this can be lower Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 46: Drive Over Temperature
For frame 1…6 drives the open loop current limit is designed for 25% duty cycle at 110% output current. However, frame 9 drives allow 10% duty cycle at 110% output current. The open loop current limit function cannot prevent the drive from having an over temperature fault. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 47: Droop
Selection Guide, publication PFLEX-AT001. Efficiency The following chart shows typical efficiency for PWM variable frequency drives, regardless of size. Drives are most efficient at full load and full speed. vs. Speed vs. Load % Speed/% Load Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 48: Electronic Gearing
The PowerFlex 700S has various filters used to assist in tuning the drive. The following sections can be used to assist you in using these filters, which use frequency and time domain analysis. Key Words Frequency response, radians, filter, notch Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 49: Nomenclature
Also the phase shift of a second order filter is from 0 to 180° compared to 0 to 90° of a first order filter. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 50: Lead-Lag Filter
“lag configuration.” The unique aspect of this filter is that the gain stops once the input frequency is equal to Wn/Kn. Another aspect to this filter is that there is a mild phase shift during the attenuation. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 51 Parameter 94 [SReg FB Filt BW] For moderate filtering: • Set Kn=0.7, Wn=0.35 • For Heavy filtering: • Set Kn=0.5, Wn=20 Both the Forward and Feedback filters can be set to the same value to increase their effectiveness. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 52 • The lead filter was set to compensate for the 5 radians/second response (Wld=5) • The lag filter was set to 50 radians/second response (Wlg=50) • Kn is set to Wlg/Wld (50/5) = 10 • Wn is set to Wlg = 50 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 53: 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 13 below. Figure 13 - Mechanical Gear Train Kspring Jload Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 54 Filt Freq]. Due to the fact that most mechanical frequencies are described in Hertz, [Notch Filt Freq] is in Hertz as well. Figure 15 on page 55 shows the same mechanical gear train as in Figure 14 above. [Notch Filt Freq] is set to 10. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 55: Conclusion
(Wn). The filter can be used as “lag” to eliminate noise from entering the control loop. The filter can be used as a “lead” to increase overall system performance. To eliminate noise (lag) use with the light or heavy filter. Light Heavy Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 56: Firmware Functions
In addition, larger mechanical stress is placed on the application, increasing downtime and repair costs while decreasing productivity. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 57: Configuration
• The next (middle) digit sets the hysteresis band for the “units” digit in intervals of 0.0005 pu velocity. • The most significant digit sets the number of time steps from stick to slip, each step is 0.002 sec. Number of Units Time Stops Hysteresis Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 58: Fuses And Circuit Breakers
Grounding, General Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives Installation Instructions, publication DRIVES-IN001, for detailed information. HIM Memory Copy Cat on page 34 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 59: Him Operations
• The firmware function for the position loop must be turned on by setting parameter 147 [FW Functions En] bit 16 “PositionCtrl” = 1. • Set parameter 740 [Position Control] bit 11 “BscIndx Enbl” = 1. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 60: Configuring The Indexer
[Dig In6 Sel], to 21 “Indx Step.” Toggle that digital input to index forward. Program a second digital input, parameters 825 [Dig In1 Sel] through 830 [Dig In6 Sel], to 22 “Indx StepRev.” Toggle that digital input to index reverse. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 61: Inertia Adaption
Inertia adaption detects the lost motion and a higher speed regulator bandwidth can be achieved without instability. slope due to springy nature (k) of shafts after gearbox teeth engage Δ x backlash (BL) before gearbox teeth engage Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 62: Configuration
Parameter 60 [DeltaSpeedScale] is a multiplier for the torque output of the inertia compensation block. It is used in center wind and center unwind applications to compensate for diameter build-up. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 63: Input Devices
Refer to Start and Stop Modes on page 176. Input Power Conditioning Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives Installation Instructions, publication DRIVES-IN001, for detailed information. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 64: It Protection
Duty Cycle% = time on / (time on + time off ) x 100 The On Time/Off Time ratio is fixed. If only 1/2 of the listed time is spent at a given level, only 1/2 of the off time is necessary to reset the cycle. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 65: Jog
Out] and a negative output parameter 208 [Limit Gen Lo Out]. Limit Gen Hi Out LimGen X axis In Limit Gen Lo Out Limit Generator LimGen Y axis Mn LimGen Y axis Mx Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 66: Links
“Defined Link” and press Enter 4. When in this mode, pressing the Select button will allow you to enter the source parameter number. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 67: Using Driveexecutive
1. Double-click on the destination parameter in the parameter list. The parameter XX edit dialog box displays. 2. Click the Link Source tab. 3. Click the Parameter radio button and select the desired source parameter in the Selected Parameter field. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 68: Masks
7 6 5 4 3 2 1 0 This “masks out” the reverse function from all ports/adapters except port/ adapter 5, making the local HIM (Port 1) REV button inoperable. See Owners on page 77 later in this chapter. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 69: Motor Control Mode
High Bandwidth Current Regulator CURRENT FEEDBACK Flux V mag Reg. Current Speed Voltage SPEED REF. Inverter Motor Reg. Reg. Control TORQUE REF. V ang Encoder SLIP Adaptive Controller AUTOTUNE PARAMETERS SPEED FEEDBACK Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 70: Permanent Magnet Control
3. Parameters 529 [Break Voltage] and 530 [Break Frequency] are used to increase the slope of the lower portion of the Volts/Hertz curve, providing additional torque. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 71: Motor Nameplate
The rated power of the motor may be entered in horsepower or in kilowatts. This parameter determines the units on the following parameter. [Motor Poles] The number of motor poles - only even numbers are allowed (this may or may not appear on the nameplate) Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 72: Motor Overload
If the duty cycle requires 150% rated output current for 1 minute of every 10 minutes, the remaining 9 minutes must be at approximately 92% rated current or less to maintain output current less than 100%. If the requirement is 1 minute out Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 73: Motor Overload Memory Retention Per 2005 Nec
• To disable motor overload memory retention, set bit 20 “Motor OL Ret” of parameter 153 [Control Options] to “0”. The motor overload count value can be viewed in parameter 341 [Mtr I2T Count]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 74: Motor Start And Stop Precautions
Refer to the PowerFlex 700S AC Drive Phase II Control Frames 1…6 Installation Instructions, publication 20D-IN024 or the PowerFlex 700H and 700S Frame 9…14 Drives Installation Manual, publication PFLEX-IN006, for mounting instructions and limitations. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 75: Output Devices
PWM frequency be set to its lowest value to minimize losses in the reactors. By using an output reactor the effective motor voltage will be lower because of the voltage drop across the reactor - this may also mean a reduction of motor torque. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 76: Output Display
If parameter 335 [Abs OverSpd Lim] is set to zero and an overshoot in speed occurs, an absolute overspeed fault will occur. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 77: Owners
Multiple devices can simultaneously issue the same command and multiple owner bits may be set (=1). The following owners are non-exclusive: • [Stop Owner] • [Start Owner] • [ Jog Owner] • [Fault Clr Owner] Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 78 7 6 5 4 3 2 1 0 Port/Adapter # 0 0 0 0 0 0 0 1 Until the device wired to the digital input closes, a permanent Start Inhibit condition exists and the drive will not restart. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 79: Peak Detect
PeakDtct Ctrl In (Peak 2 Set) PeakDtct Ctrl In (Peak 2 Hold) PkDtct2 In Real PeakDetect2 Out Σ PkDtct2 In DInt PeakDtct2 Preset PeakDtct Ctrl In Peak Detect (Peak2SelHigh) PeakDtct Status (Peak 2 Chng) Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 80: Permanent Magnet Motors
The Phased Locked Loop (PLL) is used to condition the master encoder and re- generate the encoder signal so that it can be used as a master reference for the Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 81: Position Reference
Parameter 720 [PLL Control], bit 1 “Ext Vel In” = 1. When [PLL Ext Spd Ref ] is used, parameter 729 [PLL Ext SpdScale] can be used to calibrate the external speed reference. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 82: Noise Filtering
Electronic Gear Ratio (EGR). Virtual Encoder The PLL’s output is generated by a virtual encoder calibrated in Counts Per Revolution and a base RPM. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 83: Electronic Gear Ratio
Parameter 732 [PLL Posit OutAdv] provides a position reference that is advanced by one scan time of the drive’s control loop. The value of [PLL Posit OutAdv] should be sent over SynchLink to the follower drives and linked into Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 84 EGR and scale speed accordingly: • Set parameter 723 [PLL Rev Input] = 2 • Set parameter 724 [PLL Rev Output] = 3 • Set parameter 727 [PLL VirtEncdrRPM] = 1200 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 85 OutAdv] over SynchLink. Setup the speed reference in the follower drives to follow [PLL SpeedOut Adv] received over Synchlink. Setup the position reference in the follower drives to follow [PLL Posit OutAdv] received over Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 86: Point To Point Motion Planner
Releasing Pause will cause the profile generator to resume pursuit of a target position. Re-Synch Forces the output position to equal parameter 763 [Position Actual]. Re-sync will automatically be performed on the leading edge of status RUN. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 87 Profile velocity output command has reached zero. Note, actual position regulator output velocity may not have reached zero. Done A move has been completed to commanded position Running ENABLE <AND> “Position_enabled” RUN will force a RESYNC command Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 88: Profile Generator
100% feed-forward produces a more desirable overall response. For applications requiring the quickest response possible, consider using near 100% feed-forward with “S” curve disabled and set control (parameter 1134) bit 7 “Cond Hold”. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 89: Position Output
• Set parameter 151 [Logic Command] bit 0 “SpdRmp Dsbl” = 1 To perform a move, set the position that you would like to move to in parameter 1130 [PPMP Pos Command] and then toggle parameter 1134 [PPMP Control] bit 2 “Start”. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 90: Position Loop - Follower (Electronic Gearing)
Gear ratios can be set up to follow at different rates of speed and position. 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-RM003E-EN-E - January 2011...
Page 91: Speed Reference Selection
241 [Encdr1 Spd Fdbk]. Set parameter 27 [Speed Ref A Sel] = 2 “Speed Ref 2.” When a gear ratio is used in the position loop, parameter 13 [Spd Ref2 Multi] must be setup to match the gear ratio set in the position loop. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 92: Speed Reference Ramp
Link parameter 743 [Aux Posit Ref ] to the position for the feedback device. For example, to follow Encoder 1 link parameter 743 [Aux Posit Ref ] to parameter 240 [Encdr1 Position]. Encoder 1 position becomes the position reference for the position loop. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 93: Setting The Electronic Gear Ratio And Speed Reference Scaling
Therefore, parameter 745 [PositRef EGR Mul] = 4 and parameter 746 [PositRef EGR Div] = 1. This will set up the position loop of the follower to move four (4) counts for every one (1) count of the master. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 94: Position Offset
5 of [Position Control] is on. Position Loop Output Limits Parameter 775 [XReg Spd LoLim] sets the negative speed limit at which the position regulator will output. The default is set to -10% of the base motor speed. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 95: Tuning Tips
HiLim] should be set with narrow limits (approximately -10% and 10% of base motor speed). Jogging a Position Follower Independent from the Master The jog can be performed while the position loop is enabled and while the position loop output is turned on. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 96: Position Loop - In Position Detect
The point to point function of the position loop moves from the current location to the commanded location then holds that position until given a new reference or a stop command. The position Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 97: Speed Reference Selection
For point to point positioning set parameter 742 [Position Ref Sel] = 2 “Pt to Pt”. Parameter 758 [Pt-Pt Posit Ref ] becomes the reference for the position. Posit Ref Sel Selected Position Interp Position Reference Aux Posit Ref Pt-Pt Posit Ref Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 98: Position Reference Scaling
There are two offsets, parameters 753 [Posit Offset 1] and 754 [Posit Offset 2]. The offset speed must be entered in parameter 755 [Posit Offset Spd] - if this is left at zero the move will not occur. The position offset must be entered in counts Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 99: Point To Point Acceleration And Deceleration
Attempting to set the accel/decel rates faster than the system can handle will cause instability in the position loop. Do not attempt to operate beyond the torque limits of the drive motor combination. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 100: Jogging
758 [Pt-Pt Posit Ref ] = 0. If [Pt-Pt Posit Ref ] is set to a different number, that will become the new position value. After setting parameter 758 [Pt-Pt Posit Ref ] to the desired value, set parameter 740 [Position Control], bit 10 “Pt-Pt ReRef ” = 0. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 101: Absolute Point To Point Positioning
4). Once the desired position is selected, digital input 3 is used to pass the chosen position through the switch to parameter 758 [Pt-Pt Posit Ref ]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 102 • The overall function of BitSwap 1 is that when digital input 3 turns on, bit 0 is turned on as the result, which is eventually passed through to control bit 0 “SSW DataPass” of parameter 1022 [Sel Switch Ctrl]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 103 • The overall function of BitSwap 3 is that when digital input 5 turns on, bit 2 is turned on as the result, which is eventually passed through to control bit 2 “Sel Swtch 01” of parameter 1022 [Sel Switch Ctrl]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 104: Position Loop - Position Watch
• Set parameter 780 [PositDetct1 Stpt] = 100,000 counts. • Set parameter 740 [Position Control], bit 17 “X Watch1 Dir” = 1. • Set parameter 740 [Position Control], bit 16 “X Watch1 En” = 1. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 105: Position Loop - Registration
106). The filter requires the input signal to be stable for the specified time period. Input transitions within the filter time setting will be ignored. Bits 8…11 add 100 ns filter per stage to external trigger. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 106 500 ns filter 600 ns filter 700 ns filter 800 ns filter (default setting) 900 ns filter 1000 ns filter 1100 ns filter 1200 ns filter 1300 ns filter 1400 ns filter 1500 ns filter Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 107 “RL0 Found” will be set to 1 and parameter 235 [RegisLtch0 Value] will contain the position counts of Encoder 0 that was captured. Parameter 237 [RegisLtch0/1Ctrl], Bit 0 “RSL0 Arm Req” will be set back to 0 when the registration is found. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 108: Feedback Option 0 And 1 Registration
Bit 3/19 Description Capture on rising edge Capture on falling edge Capture on both edges Disable capture Table 12 - Direction Settings Bit 6/22 Bit 5/21 Description Not Configured Reverse Forward Both Directions Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 109: 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 restored and the precharge has completed, auto- Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 110: 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-RM003E-EN-E - January 2011...
Page 111: Ride Through Operation
In this case drive damage is likely. Flux Only: The drive's torque is set to zero when a power disturbance is detected. The motor flux is continued until the disturbance goes away or until a power Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 112: Ride Through Timeout Fault
“PreChrg Done” = 0). This process is independent of whether or not the drive control actually controls the precharge hardware. For the control to complete precharge and allow drive enable, the following five conditions must be met: Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 113 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-RM003E-EN-E - January 2011...
Page 114: 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-RM003E-EN-E - January 2011...
Page 115: External Precharge
(parameter 555 [MC Status], bit 11 “PreChrg Done”) parameters are available for the external precharge/ride through control in cases where the users would like to provide coordinated operation between the external precharge and the drive's ride through operation. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 116: Precharge Staging
(if configured for a fault). Preset Speeds There are seven preset speeds available for use. Refer to Speed Reference on page 145 for more information. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 117: Process Pi Loop
Parameter 187 [PI Integ Time] is the integral term for the regulator. It is in units of 1/seconds. For example, when the [PI Integ Time] is 2, the integrator output equals 1 per unit in 1 second for 1 per unit error. 1 per unit means 100%. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 118: Process Pi Limits
To trim some other loop, link the desired parameter to [PI Output]. For example, to use analog output 1 as a trim signal to other equipment, link parameter 833 [Anlg Out1 Real] to [PI Output]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 119: Pulse Elimination Technique (Pet)
4 ms. The propagation delay between the inverter terminals and motor terminals is approximately 1 ms. The small time between pulses of 4 ms does not provide sufficient time to allow the decay of the Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 120: Rfi Filter Grounding
RFI Filter Grounding Refer to the Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives Installation Instructions, publication DRIVES-IN001, for detailed information. S-Curve Speed Reference on page 145. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 121: Security
The port that is being used to make security changes (e.g. if using a network adapter connected to port 5), can only change other ports (not itself ) to “Read Only.” This feature prevents the complete lockout of a drive with no way to regain write access. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 122: Sensorless Operation
Units are (per unit torque/sec) / (per unit speed). For example, when parameter 82 [Spd Reg I Gain] is 50 and the speed error is 1%, the integral output will integrate from 0 to 50% motor rated torque in 1 second. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 123: Sensorless Operation In Frames 9 And Up Drives
“skip band” of speeds. The width of the band (range of speed around the center point) is determined by parameter 139 [Skip Speed Band]. The range is split, half above and half below the skip speed parameter value. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 124 See example A & B in Table 14 on page 125. This function affects only continuous operation within the band. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 125 Skip Speed 1 Skip Band w/Recalculated Skip Frequency 0 RPM If the band is outside the speed limits, the skip band is inactive. Skip Speed 1 Inactive Skip Band Fwd Speed Limit 0 RPM Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 126: Slip Compensation
With slip compensation, the correct amount of slip compensation is added to the drive output frequency based on motor load. Thus, the rotor speed returns to the Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 127: Speed Control, Speed Mode, Speed Regulation
Speed PI Regulator on page 152 section for information about the speed regulator. See the Torque Reference on page 193 section for information about choosing the output of the speed regulator as the reference to the torque loop. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 128: Speed/Position Feedback
Encoder feedback is required for applications with high bandwidth response, tight speed regulation, torque regulation of (+/- 2%) or when the motor is required to operate at less than 1/120th of its' base speed. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 129 • Bit 6 “Enc0 Dir” or 22 “Enc1 Dir” inverts the channel A input, thus reversing the direction of the feedback. Note that changes in encoder direction (bit 6 or 22) may require changing parameter 153 [Control Options], bit 10 “Motor Dir”. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 130 Counts rise of phase A. Phase B ignored. fwd only Counts rise of phase A. Phase B ignored. Table 17 - FIR Filter Settings Bit 12/28 11/27 10/26 Number of Taps Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 131: Linear Feedback Devices
The position feedback (displayed in parameter 252 [FB Opt1 Posit]) counts at a rate which depends on the linear feedback sensor used. Parameter 253 [FB Opt1 Spd Fdbk] contains the speed feedback from the linear feedback device. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 132: Fir Filter
226 [Motor Speed Est] and the value in parameter 225 [Virtual Edge/Rev]. [Virtual Edge/Rev] is a user-defined value for the number of pulses per motor revolution. to Feedback Motor Speed Est Selection Motor Posit Est Accum Virtual Edge/Rev Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 133: Motor Simulator
Parameter 251 [FB Opt0 Spd Fdbk] contains the speed feedback from either the Stegmann Hi-Resolution encoder or the resolver connected at port 0. Parameter 252 [FB Opt1 Posit] contains the position feedback from the linear sensor when the MDI option card is installed. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 134 Parameter 259 [Stegmann0 Cnfg] is used to configure the Stegmann Hi- Resolution encoder. • Bit 5 “Direction” determines the counting direction. If set to “0”, the direction is forward or up. If set to “1”, the direction is reverse or down. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 135 • Setting bit 4 “Energize” energizes the resolver, resetting the bit to zero de- energizes the resolver. • Bit 5 “Resolver Dir” determines the counting direction. If set to “0”, direction is forward or up. If set to “1”, the direction is reverse or down. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 136 Parameter 277 [Reslvr0 Type Sel] specifies the type of resolver. [Reslvr0 Type Sel] automatically sets parameters 272 [Reslvr0 SpdRatio] through 276 [Reslvr0 CableBal]. Parameters 273 [Reslvr0 Carrier] through 276 [Reslvr0 CableBal] cannot be changed by the user. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 137 When cleared, it indicates the tuning is using derived data. • Bit 2 “-Mtr Turning” indicates that the motor is turning. • Bit 3 “-Cable Comp” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 138 The Quadrature Encoder output on the Heidenhain feedback option card allows an A Quad B output for encoder emulation of 2048 pulses per revolution of the Heidenhain device and (for firmware version 4.001) programmable EPR and EGR functionality. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 139 Heidn VM Pos Ref Heidenhain VrtlMaster Encoder Encoder Update Time (C0F) Delay SL System Time (at Position data update) (C07) (C0D) SL System Time (at beginning of VScan) VrtlMaster PPR 1156 Heidn Mkr Offset Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 140: Motor Speed Feedback And Scaled Speed Feedback
The filter for the speed feedback is shown in the speed regulation loop section. A low pass filter branches off of the motor speed feedback. This low pass filter filters out high frequency before displaying the speed feedback on the HIM. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 141: Position Feedback
The active device can be monitored and manual switching between the primary and alternate devices is available. This function is also referred to as “tach loss switch over” and “encoder loss ride through.” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 142 223 [Mtr Fdbk Sel Alt] is available. With the exception of “Sensorless” mode, switching from the alternate to the primary device must be done manually by setting parameter 151 [Logic Command], bit 2 “TackLoss Rst” from “0” to “1.” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 143 The primary feedback device should be configured to 1 “Alarm.” The alternate feedback device should typically be configured to 2 “FltCoastStop.” Settings for [Fdbk LsCnfg Pri] and [Fdbk LsCnfg Alt]: Alarm FltCoastStop Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 144 Note that operation on the primary device will continue even when the device fails, since the device must be configured for an alarm to allow for automatic device switch over. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 145: Speed Reference
Preset Speed 5 Preset Speed 6 Preset Speed 7 Note: to use Preset Speed 1, program parameter 27 [Speed Ref A Sel] or 28 [Speed Ref B Sel] = 5 “Preset Spd 1.” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 146: Speed Reference Scaling
10 [Speed Ref 1] is divided by the scaling value set in parameter 11 [Spd Ref1 Divide]. The speed reference value for parameter 12 [Speed Ref 2] is multiplied by the scaling parameter 13 [Spd Ref2 Multi]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 147: Jog Reference
[Motor NP RPM] by default. Parameter 41 [Limited Spd Ref ] contains the actual value of the limited speed reference. Logic Ctrl State Limited Sped Ref From Direction Control To Ramp Limit Min Spd Ref Lim Max Spd Ref Lim Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 148: Stop Command
S-curve will be applied at the beginning and at the end of the ramp. Half of the time specified in parameter 34 is added to the beginning of the ramp and Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 149: Speed Reference Bypass And Delayed Speed Reference
Inertia Compensation Inertia compensation is used to calculate the level of torque required due to load inertia during speed changes. For more information on inertia compensation, see Inertia Compensation on page Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 150: Friction Compensation
This parameter can be used to send a virtual position reference over SynchLink for position follower applications. Refer to SynchLink on page 180 for more details. Virt Encdr Posit Ramped Spd Ref from Ramp Virt Encdr Dlyed Scan Virtual Encoder Delay Virt Encoder EPR Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 151: Speed Reference Filter
Output], which is the output of the Process PI loop. The resulting parameter 47 [SpdRef + SpdTrm1] is sent into the speed regulator loop. Scaled Spd Ref SpdRef + SpdTrm1 to Speed from Speed Regulator Ref Scale Speed Trim 1 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 152: Speed Pi Regulator
3 to be scaled “dynamically” with an input signal if desired. An example would be to have an analog input linked to the scale parameter. The speed trim and the scale would then affect the value sent to the summation block. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 153: Autotune Speed Reference
125% of parameter 4 [Motor NP RPM] by default. The maximum value of [Rev Speed Limit] and [Fwd Speed Limit] are limited by parameter 532 [Maximum Freq]. from Autotune to Current Bypass Limit Stop Limit Rev Speed Lim Fwd Speed Lim Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 154: Current Limit Stop
The output of the servo lock block is summed with the filtered speed error. Parameter 85 [Servo Lock Gain] sets the gain of an additional integrator in the speed regulator. The units of [Servo Lock Gain] are radians/second. Gain should Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 155: Speed Regulator Gains
Parameter 84 [SpdReg AntiBckup] modifies the drive's response to the speed reference. With the value minimized, the drive will follow the reference very closely, minimizing error, which is desirable for typical process applications. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 156: Proportional Gain
Max. Speed Regulator Bandwidth (Par 90) Proportional Gain (Par 81) 475 (0.5 ms) 0.01 4.75 650 (0.25 ms) 0.01 6.50 30 (sensorless mode) 0.01 0.03 475 (0.5 ms) 650 (0.25 ms) 1300 30 (sensorless mode) Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 157: Integral Gain
The outputs from the proportional block and integrator block are summed together, creating a torque reference. This torque reference is limited by parameter 102 [Spd Reg Pos Lim] and parameter 103 [Spd Reg Neg Lim]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 158: Speed Regulator Output Filter
, RPM is the base motor speed of the motor, and T is the rated torque of the motor in lbft. T can be calculated using the following formula: Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 159 2 through 7 with a lower speed regulator BW. If the desired bandwidth cannot be achieved due to gear noise or chatter, follow the procedure for Advanced Tuning for the Speed Regulator with Gearbox or Belt on page 160. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 160: Advanced Tuning For The Speed Regulator With Gearbox Or Belt
WK is known for the system. 2. Set parameter 90 [Spd Reg BW]. Do not exceed the bandwidth limit of curve 2 below (based on the ratio of motor inertia to system inertia). Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 161: Speed/Torque Mode Select
The drive can be programmed to operate as a velocity regulator, a torque regulator, or a combination of the two. Refer to the firmware flowchart shown in Figure 25 on page 162. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 162 The “Min” mode is typically used with positive torque and forward speed operation, the minimum of the two being closest to zero. The “Max” mode is opposite, typically used with reverse speed and negative torque, the maximum being the least negative (closest to zero). Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 163: Zero Torque Mode
Note: Inertia Torque Add and Friction Compensation Torque Add are summed with the output of the speed regulator. See Inertia Compensation on page 62 Friction Compensation on page Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 164: Torque Regulation Mode
The drive starts out operating as a torque regulator. The torque reference causes the motor to operate at 308 rpm. The speed reference is 468 rpm, so the Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 165: Sum Speed / Torque Mode
Direction of the applied torque and direction of the material movement determine whether SLAT minimum or SLAT maximum mode should be used. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 166 When forced speed mode is off, the drive will switch back to torque mode when the speed regulator output becomes greater than the torque reference. This is the same condition that exists in minimum torque mode. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 167 SLAT Time FSM State Controller FSM = On Internal Torque Reference (ITR) Speed Regulator Application Output (SRO) Dependant Speed Regulator Reference Bias Speed Error Select Motor Speed Feedback External Torque Reference (ETR) Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 168 • The output of the speed regulator becomes more than the torque reference. This is the same condition that exists in maximum torque mode. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 169 SLAT Time FSM State Controller FSM = On Internal Torque Reference (ITR) Speed Regulator Application Output (SRO) Dependant Speed Regulator Reference Bias Speed Error Select Motor Speed Feedback External Torque Reference (ETR) Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 170: Standalone Drive Homing Without Drivelogix
• Bit 28 “Home Switch” of [Position Control] is set, capturing the position. 2. Bit 24 “Find Home” of parameter 740 [Position Control] is set or a digital input programmed for “Find Home” is on (v4.001). Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 171 3. When the Home Marker transition occurs, the current position is captured. 4. The drive decelerates to zero speed. 5. The drive moves back to the position captured at the Home Marker transition. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 172 “Return Home” is on, the drive will run at the value specified in parameter 1122 [Home Speed] until the “Home Position” is reached. This function is active at anytime after a homing sequence has been IMPORTANT completed and the drive is running. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 173: Configuration
Home Marker When set, the homing sequence will look for the Marker pulse. When the marker pulse is found, the drive will decelerate and return to the position where the marker was found. Do Not set with bit 28 “Home Switch”. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 174 It is only used during the homing sequence. • Parameter 1123 [Home Position] Not supported in firmware version 3.003 - The drive will be redefined to this position after the Homing sequence is complete. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 175: Homing Status
1123 [Home Position]. Parameter 1123 [Home Position] is not supported in firmware version 3.003. Return Home When this bit is set, the drive will return to the home position at the speed set in parameter 1122 [Home Speed]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 176: Start Inhibits
1. Coast Stop - when in coast stop, the drive acknowledges the stop command by shutting off the output transistors and releasing control of the motor. The load/motor will coast or free spin until the mechanical energy is dissipated. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 177: Configuring The Start And Stop For 3-Wire Control
For parameter 153 [Control Options], set bit 8 “3WireControl” = 1. To control from digital inputs: 1. Set one of the parameters 825…830 [Dig Inx Sel] = 19 “Coast Stop.” 2. Set a second parameter 825…830 [Dig Inx Sel] = 5 “Start.” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 178: Configuring The Start And Stop For 2-Wire Control
To control from a communication network (20-COMM module): 1. Turn on bit 1 “Start” in the logic command word to run. 2. Turn off bit 1 “Start” in the logic command word to perform a ramp stop. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 179: Start-Up
“3WireControl” = 0), the HIM Start button is not functional. Start-Up Refer to Autotune - Start-Up Menu on page 1-19 for Start-Up information. Stop Modes Refer to Start and Stop Modes on page 1-176. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 180: Synchlink
Table 28 - Transmit Data Parameter 910 [SL Tx CommFormat] # of Direct Words Direct Word Update # of Buffered Words Buffered Word Update 50 µSec 0.5 ms 50 µSec 0.5 ms 50 µSec 1 ms Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 181: Synchlink Direct Data
When the bit is turned off, the received data will be DInt data. When the bit is turned on, the received data will be floating point data. The default is all DInt words. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 182 • 24 “E1 Accum” - Use this selection to transmit Encoder 1 counts directly through before they enter the feedback control loop. This eliminates the update delay of the feedback control loop. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 183: Multiply Block
Master as well as the Follower drive. Parameter 927 [SL Mult State] contains overflow bits if the data for the multiply block is too large. It contains the following bits: Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 184 [SL Mult Base] is set appropriately so that the DInt value sent across SynchLink has enough resolution. • Parameter 921 [SL Real2DInt In] is linked to the parameter that you want to multiply and must be a floating point parameter. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 185: Buffered Data
Parameter 894 [SL CRC Err Accum] displays the total accumulated number of CRC (Cycle Redundancy Check) errors. Clearing a fault resets this accumulator. This data is visible on the SynchLink diagnostics tab of the Peer Communication window. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 186 • Bit 3 “Many CRC Err” indicates the number of Cyclic Redundancy Check (CRC) errors exceeds limit set by Par 898 [SL CRC Err Limit] • Bit 4 “Pckg Msg Err” indicates the received package sequence number has not matched for 1.0 second Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 187: Speed Synchronization Example
SynchLink parameters for you as you go through the setup. Once connected to the drive, in DriveExecutive, select Drive > Display SynchLink. The SynchLink Setup dialog box displays (as shown below). This is the dialog box used to setup SynchLink. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 188 Click the arrow next to the Type field and select “Parameter.” b. Click the button to the right of the Source field and select 43 “Ramped Spd Ref.” This setting is to transmit the ramped speed from the master. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 189 For this example, select “4 Direct Words, 8 Buffered Words.” 2. Below the Receive Format field, for Direct Word 0, do the following: a. Click the arrow next to the Type field and select “Real.” Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 190: Synchlink Axis Follower Selection For Drivelogix Feedback Only
DriveLogix feedback only axis. The DriveLogix motion feature can now use this as the master axis for gear ratio or position cams. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 191: Reset Synchlink
• Parameters 788 [Xsync In 1] and 789 [Xsync Out 1] can be used to synchronize a DInt parameter. • Parameters 790 [Xsync In 2] through 792 [Xsync Out 2 Dly] can be used to synchronize a DInt parameter and delay it one scan. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 192: Task Time
Test points are used to monitor values in the drive for diagnostic information. • [xxxx TP Sel] selects a value to monitor for diagnostics. • [xxxx TP Data] shows the value selected by [xxxx TP Sel]. Thermal Regulator Refer to Drive Overload on page Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 193: Time Function Generator
The scaling of this parameter is a per unit type, where a value of 1.0 is equal to the rated motor torque. [Torque Ref2] is then multiplied by parameter 114 [Torq Ref2 Mult]. This defines the scaled [Torque Ref2]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 194: Trending
6. Set parameter 556 [Trend Control], bit 0 “Enbl Collect” to enable the trend. When the trend is triggered, parameter 557 [Trend Status], bit 1 “Triggered” will be set. When the trend has completed parameter 557 [Trend Status], bit 2 “Complete” will be set. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 195 Negative values point to pre-trigger data. Positive values point to post-trigger data.When the Auto Output function is running, this parameter will automatically sequence through it's full range, at a rate set by parameter 559 [Trend Rate]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 196: Ungrounded, Unbalanced Or High Resistive Ground Installations
See the PowerFlex 700S AC Drive Phase II Control Frames 1…6 Installation Instructions, publication 20D-IN024 or the PowerFlex 700H and 700S Frame or High Resistive Ground 9…14 Drives Installation Manual, publication PFLEX-IN006, for details. Installations Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 197: User Functions
This example uses a bit swap to enable and disable the S-curve using digital input • Set parameter 860 [BitSwap 1A Data] to 0. This parameter sets up any data you would like to pass through to the result. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 198: Mop
1086 00 Increment 1086 01 Decrement MOP Level DInt Limit Convert 1086 02 1092 Reset DInt-Real x Scale 1086 03 1086 04 MOP High Limit 1088 MOP Low Limit 1089 MOP Scale DInt 1091 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 199: Mop Configuration
Par 1090 to Par 1092. • Parameter 1092 [MOP Level DInt] is the actual output value of the MOP as a DInt number. This value is scaled by parameter 1091 [MOP Scale DInt]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 200: Controlling The Mop From Digital Inputs
DInt (double integer) or floating point. 2. A switch that selects between two floating point values. The result is floating point. 3. A switch that selects between two DInt values. The result is DInt. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 201 – Bit 1 “Sel Swtch 00”…bit 4 “Sel Swtch 03” are the binary coded decimal (BCD) selection of the 16 inputs to the switch. Bit 1 is the least significant bit (LSB). (See parameters 1029…1044 below.) Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 202 For an example using multiple bit swaps and the 16 position selector switch to control the point to point position with digital inputs refer to Position Loop - Point to Point on page Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 203 • Set bit 0 “SSW DataPass” of Par 1022 [Sel Switch Ctrl] to “1” (enables the passing of the data from the selected parameter to Par 1045 [SelSwtch RealOut] and 1046 [SelSwtch DIntOut]). Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 204 • Parameter 1023 [Swtch Real 1 NC] is the Normally Closed input to the Real switch. When parameter 1022 [Sel Switch Ctrl], bit 5 is low, this input is updated to parameter 1025 [Swtch Real 1 Out]. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 205 • Parameter 1028 [Swtch DInt 1 Out] is the result of the switch. The output is loaded with the selected input based on parameter 1022 [Sel Switch Ctrl], bit 6. If this parameter does not update, check the setting of parameter 1000 [UserFunct Enable] bit 1. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 206: Dint To Real And Real To Dint Converters
Real to DInt. This is a multiplication to the input value after conversion to a DInt value. • Parameter 1052 [Real2DInt Result] is the resultant output of the conversion form a Real value to a DInt value after scaling. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 207: Logic Blocks
(AND, NAND, OR, NOR, XOR, or NXOR). Select the functions as desired. Multiple operation selection for one block will result in the first selection (LSB) being the active mode. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 208 • Parameter 1070 [Logic 2B Bit] selects the bit of parameter 1069 [Logic 2B Data] for the second input to Logic Block 2. Note: To invert the selected input enter the desired bit as negative. Use -32 to invert bit 0. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 209: Compare Blocks
• Parameter 1074 [Compare 2B] sets input B for the Compare 2. The results of the compare are displayed in Par 1062 [Logic/Cmpr State]. Available functions are (A </= B, A >/= B). Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 210: Multiply/Divide Blocks
1105 – 1107 AddSub 3 Subtrct 1106 • The equation for using the Add/Subtract blocks is as follows: [AddSub x Input] + [AddSub x Add] - [AddSub x Subtrct] = [AddSub x Result] Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 211: On-Off Delay Timers
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-RM003E-EN-E - January 2011...
Page 212: Watts Loss
Chapter 1 Detailed Drive Operation Watts Loss See the PowerFlex 700S AC Drives, Phase II Control Technical Data, publication 20D-TD002, for Watts Loss data and curves. Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 213: Index
27 field oriented control 21 copy cat 34 filters 48 current limit 35 key words 48 lead-lag 50 low pass filter 49 nomenclature 49 datalinks notch filter 53 configuring 35 second order 49 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 214 83 position reference 81 masks 68 speed reference (feed forward) 81 max speed/torque mode 164 virtual encoder 82 point to point motion planner MC Commissn Fail fault configuration 86 troubleshooting 22 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 215 PWM frequency 27 accel/decel ramp 148 bipolar reference 147 bypass 149 delayed 149 real master reference 80 direction control 147 real to DInt converter 206 friction compensation 150 inertia compensation 149 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 216 211 reset 191 Slave PowerFlex 700S Setup 189 speed synchronization 187 watts loss 212 task times 192 test points 192 zero torque mode 163 thermal regulator 192 time function generator 193 Rockwell Automation Publication PFLEX-RM003E-EN-E - January 2011...
Page 218 Rockwell Automation representative. New Product Satisfaction Return Rockwell Automation tests all of its products to 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.

Rockwell Automation Allen-Bradley PowerFlex 700S Reference Manual

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