Rockwell Automation Allen-Bradley PowerFlex 750 Series Reference Manual
  1. Manuals
  2. Brands
  3. Rockwell Automation Manuals
  4. DC Drives
  5. Allen-Bradley PowerFlex 750 Series
  6. Reference manual

Rockwell Automation Allen-Bradley PowerFlex 750 Series Reference Manual

Ac drives with totalforce control
Hide thumbs Also See for Allen-Bradley PowerFlex 750 Series:
Table of Contents

Advertisement

Quick Links

Reference Manual
Original Instructions
PowerFlex 750-Series Products with TotalFORCE Control
Catalog Numbers 20G, 20J

Advertisement

Table of Contents
loading

Related Manuals for Rockwell Automation Allen-Bradley PowerFlex 750 Series

Summary of Contents for Rockwell Automation Allen-Bradley PowerFlex 750 Series

  • Page 1 Reference Manual Original Instructions PowerFlex 750-Series Products with TotalFORCE Control Catalog Numbers 20G, 20J...
  • Page 2 If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. 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: Table Of Contents

    Activate Energy Pause ......... 36 Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 4 Anti-Sway Applications........121 Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 5: Preface

    755TM Bus Supplies Application Techniques, publication following products in common bus applications: DRIVES-AT005 • PowerFlex 755TM drive system for common bus solutions • PowerFlex 750-Series AC and DC input drive • Kinetix® 5700 servo drives Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 6 PWM AC drives. Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details. Rockwell Automation Knowledge Base The Rockwell Automation Support Forum You can view or download publications at http://www.rockwellautomation.com/global/literature-library/overview.page. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 7: Load Observer

    • Load disturbances are compensated for automatically • Tracking errors, machine vibration, and power consumption are minimized • Bandwidth and line speeds can be increased • Tighter control of moving parts reduces wear and saves material costs Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 8: Adaptive Tuning

    Although you can change some of the parameter values manually, measured values can provide improved performance. Autotuning is often unnecessary when you apply Load Observer with the recommended default settings. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 9: Position And Velocity Regulators

    When the bus observer is not used, higher gain settings are required for a sufficiently robust system. Higher gain settings cause heating of the inductors and capacitor resonance trips. The accuracy of the total bus capacitance that is entered directly affects overall performance. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 10 Volt Reg BW Volt Reg Damping u Volt Reg Ki Auto Gain Calculation VbusRegKp c Volt Reg Kp u Volt Reg Kp Total Sys Cap Internal Bus Capacitance DcBusObs [C1] Ext Bus Cap Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 11: Feed Forward Power

    Bus PI regulator react before the DC Bus voltage sags. Feed forward power is not used in a PowerFlex 755TM bus supply because it does not have the inverter control on the same control board. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 12: Reference Notch Filters

    The notch filters have the following restrictions: • Available in Flux Vector control modes only. • Cannot be used in Sensorless Vector or Volts/Hz modes. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 13 Analog Types MOP [G3] Scale Error Deadband MOP Reference 1823 9:27 Float Types Ramp PID Ref PID Setpoint Mult 9:26 9:28 Default 9:10 PID Ref PID Status Filter PID LPF Meter (PID Enabled) LPass Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 14 These graphs show a velocity command before and after the reference notch filter. The command going into the filter is a ramp to 50 rpm in 0.5 seconds and the first notch filter is set to a frequency of 0.5 Hz. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 15 3999 Milliseconds Figure 9 - Velocity Command – After Reference Notch Filter 0.03 10/11:381 [Testpoint REAL 1] 0.025 0.02 0.015 0.01 0.005 1999 2999 3999 Milliseconds 10/11:1925 [VRef Filtered] 1999 2999 3999 Milliseconds Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 16 Chapter 1 Adaptive Control Notes: Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 17: Technical Overview

    – Digital Input – firmware revision 4 and later • The converter tuning capabilities and features of PowerFlex 755T products accommodate one AC line source or a primary source with a backup generator. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 18: Ac Source Configuration

    External bus capacitance is the sum of the individual bus capacitance values for each drive and any external bus capacitors that are connected to the DC bus. IMPORTANT Do not overstate the external bus capacitance. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 19: Bus Regulators

    Cap BPF Cur T] to observe the LCL filter resonance. When de-tuning, lower the bandwidths until these parameters are below the capacitor resonance fault threshold. The thresholds are listed in the following tables. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 20 However, it is recommended that you check the other modules to make sure that their currents are below their respective threshold. Table 6 shows the parameter numbers and Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 21 The theoretical ideal spacing between the proportional and integral terms is where Z = 1 is the desired damping factor. This creates a 4:1 spacing. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 22 2 ‘LoadCalcData’ . When this option is selected, the calculated gains values are copied to the user entered gain parameters. When the transfer is complete, 13:54 [Volt Reg C/U Sel] will automatically set to 1 ‘User Entered’ for manual adjustment. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 23: Ac Line Source Switching

    When switching between two AC line sources, it is important that the converter is tuned to both sources. Individual AC line sources rarely have the same electrical characteristics. Gains that work well for one source can cause resonance when connected to the alternate source. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 24 24V DC supply to keep the drive powered during this time. For information about configuring the drive for a power loss, refer to the PowerFlex Drives with TotalFORCE Control programming manual, publication 750-PM100. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 25: Overview

    AC precharge board. 5. The main control board performs a check and sends an ‘Ok’ status to the AC precharge board to proceed with the precharge sequence. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 26 10. The main control board checks communications between AC precharge board, PLI board, CSB board, and gate driver. 11. If the check comes back ‘Ok’ , the precharge is complete and the drive is ready. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 27: Overview

    11. All motor data and application tuning configuration of the Secondary Motor Control profile is done in port 11. You can see the parameter list in the PowerFlex 750-Series Drives with TotalFORCE Control programming manual, publication 750-PM100. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 28 Interaction between Logix and Digital Input If both methods to control the active motor control profile are being used, the digital input that is configured in 0:169 [DI Mtr Ctrl Sel] takes priority. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 29: Application Use Cases

    Figure 12 - One Drive, Two Independent Motors PowerFlex 755T Drive Port 10 Port 11 Pri Mtr Ctrl Sec Mtr Ctrl 100 Hp 150 Hp Power Structure 100 Hp 150 Hp Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 30 Figure 13 - One Drive, Two Motor Control Types PowerFlex 755T Drive Port 10 Port 11 Pri Mtr Ctrl Sec Mtr Ctrl Induction Motor SPM Motor Flux Vector Flux Vector Power Structure Induction Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 31 Figure 14 - One Drive, One Motor, Multi-Motor PowerFlex 755T Drive Port 10 Port 11 Pri Mtr Ctrl Sec Mtr Ctrl Induction Motor Induction Motor Flux Vector Volts per Hertz Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 32 Chapter 4 Secondary Motor Control Notes: Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 33: Overview

    Drives [kW] Bus Supplies [kW] — — — — — — 1.31 1.11 2.22 1.83 3.53 2.49 4.45 3.66 5.76 4.77 7.07 5.89 8.90 7.32 11.52 9.55 (1) Data not available at publication. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 34: System Requirements

    The energy function clears this bit in the Paused state. The bit is set in the ‘Resuming’ and ‘Owned’ states. Power Off Power up and AC precharge successful. Energy Pause Command Owned AC precharge successful. Energy Resume Command Paused Resuming (Not Energy Pause) Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 35 It reconnects three-phase power and then performs the AC precharge. In this state, the Energy Pause function clears faults that occur as a result of the three-phase power being disconnected. The function moves to the Owned state when AC precharge is complete. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 36: Activate Energy Pause

    • Connect the relay output to the contactor to energize the coil that closes the contactor. • The energy function clears this bit 16 in the Paused state. Bit 16 is set in the Resuming and Owned states. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 37 0 (open or de-energized) Resume Command 0 (cleared) 1 (closed or energized) Energy Pause Command 1 (set) 0 (open or de-energized) Energy Pause Command 1 (set) 1 (closed or energized) Energy Pause Command Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 38 Chapter 5 Energy Pause Function Notes: Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 39: Overview

    The following descriptions are the same for all parameters. For example, Event Level functions are the same for all parameters, in that it determines when the event that it is monitoring occurs based on percentage of life used. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 40: Setting The Event Levels And Event Actions

    One possible option is to use your own logic in a controller to monitor elapsed life and remaining life parameters, and then create a notification on a Human Machine Interface screen. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 41: Monitor Elapsed Life And Remaining Life

    The value is high, for a given amount of fuel, when you are cruising efficiently on the highway. It is low, for the same amount, if you are stuck in ‘stop and go’ city traffic. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 42: Predictive Maintenance Function Details

    Displays the unprocessed elapsed life of the IGBTs in the motor side power module. IGBTs in power module M0 12:139 [M0IGBT ElpsdLife] IGBTs in power module M1 12:239 [M1IGBT ElpsdLife] … … IGBTs in power module M9 12:1039 [M9IGBT ElpsdLife] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 43 Module LCL5 = 14:2145 [F9HSFanElpsdLife] Units Definition Control Pod Power Bay Roof Input Bay Fan Control Bay Roof Wiring Bay Fans Hours Elapsed Life 0:512 [PodFan ElpsdLife] 0:532 [PwrRfFanElpsdLif] 0:522 [In FanElpsdLife] 0:552 [CtrlFanElpsdLif] 0:542 [WrgFanElpsdLif] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 44 • Mismatch of air filter and IP class of drive • Internal recirculation caused by damaged or missing baffles or gaskets • Debris in the IGBT airflow path • Excessive pre-heating of air Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 45 Elapsed Life 14:1142 [ACP0 MCBElpsdLif] 14:1145 [ACP0 PCCElpsdLif] Module M0 = 12:145 [DCP0MCS ElpsdLif] 14:1152 [ACP1 MCBElpsdLif] 14:1155 [ACP1 PCCElpsdLif] Module M1 = 12:245 [DCP1MCS ElpsdLif] … Module M9 = 12:1045 [DCP9MCS ElpsdLif] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 46 … Module LCL5 = 14:2150 [F9 Cap RmngLife] Hours Elapsed Life Module LCL0 = 14:1249 [F0 Cap ElpsdLif] Module LCL1 = 14:1449 [F2 Cap ElpsdLif] … Module LCL5 = 14:2149 [F9 Cap ElpsdLif] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 47: Resetting The Meters After Component Replacement

    Predictive Maintenance Chapter 6 Resetting the Meters After Rockwell Automation has made the following components field replaceable: all types of fans, DC bus capacitors, LCL filter capacitors, main circuit breakers in Component Replacement AC precharge, precharge contactors in AC precharge, and molded case switches in DC precharge.

  • Page 48: Reset Examples

    Life’ in the drop-down menu. Parameter 12:130 [M0PredMaintReset] returns to 0 ‘Ready’ after the reset is performed. 4. Return to parameter 0:504 [PredMain Rst En] in port 0. Then clear bit 10 ‘M0’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 49 1 ‘PodFan Life’ . Parameter 0:505 [Pred Maint Reset] returns to 0 ‘Ready’ after the reset is performed. 3. Return to parameter 0:504 [PredMain Rst En] in port 0. Then clear bit 0 ‘Port 0’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 50: Configuration Examples

    Go to parameter 0:563 [HSFan EventActn]. The value is set to ‘Alarm’ with an internal value of 1. When this parameter is set to alarm, a heatsink fan event results in a numbered alarm with text to indicate which heatsink fan is affected. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 51 Go to parameter 0:567 [IGBT Event Actn]. The value is set to ‘Alarm’ with an internal value of 1. When set to alarm, an IGBT event results in a numbered alarm with text to indicate which power module is affected. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 52 Go to parameter 0:515 [PodFan EventActn]. The value is set to ‘Alarm’ with an internal value of 1. When set to alarm, a Control Pod Fan event results in a numbered alarm with text. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 53: Monitoring Examples

    Follow these steps to view the Elapsed Life and Remaining Life parameters for the bus capacitors in the L0 power module in the line side converter. 1. In the programming tool, go to the port 14 parameters. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 54 This group lists all of the parameters that are related to Predictive Maintenance on the L0 Power Module. 3. Double-click parameters 14:142 [L0BusCapElpsdLife] and 14:143 [L0BusCapRmngLife]. The value for the parameter you selected appears. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 55: Introduction

    Some examples of DeviceLogix functionality are: • Controls Logic Command bits and Speed Reference • Monitors Logic Status bits and Speed Feedback • Reads inputs • Writes outputs • Reads and writes to parameters Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 56 24V DC control power. Some of the typical applications for DeviceLogix functionality include: • Material handling • Cascade pump control • PID control • Selector switch functions • Signal conditioning and scaling • Fault handling Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 57: Devicelogix Configuration Tool

    Profile (AOP) or Connected Components Workbench software. Launch the DeviceLogix Editor Tool 1. In the Drive Properties, select Edit peripherals. 2. Add the Application DLX Only option module in the Peripherals list. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 58 3. To close the window, click OK. 4. Select DeviceLogix and click the Launch Editor icon. 5. When the editor starts, select the editor style. 6. To enter edit mode, click in the taskbar. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 59 Notice that the editor makes a connection line. Double-click the inputs and outputs to define the tags to use, or double- click the function blocks to see the parameters. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 60: Devicelogix Tag Database

    The Tag Database window opens. 2. To open the editor, click Launch Tag Editor. Use the Tag Editor to select any drive parameter needed for programming. These tags are called User Selected Tags. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 61 4:1 [Dig In Sts] bit 0 ‘Input 0’ and click Add. 3. To add other drive parameters to the Tag database, repeat step 1 step 4. To close the window, click OK. All added tags appear in the DeviceLogix Editor workspace. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 62: Download And Enable The Logic

    5. To enable the logic, click in the taskbar. The logic is executed in the drive. To disable the logic, click in the taskbar. See DeviceLogix Technology for Industrial Applications Application Techniques, publication 193-AT001, for more information. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 63: Overview

    • 0:454 [Emerg OVRD Mode] • 0:455 [Emerg Prot OVRD] • 0:456 [EmergMode Status] • 0:457 [Purge Frequency] See PowerFlex Drives with TotalFORCE® Control Programming Manual, publication 750-PM100, for full descriptions of these parameters. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 64 The product runs at the Purge Frequency when the command is set, and stops when the command is cleared. To set the Purge Frequency, go to parameter 0:457 [Purge Frequency] and enter the speed value. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 65: Activate The Emergency Override Feature

    The digital input takes priority over the logic command. If you choose to configure the digital input function, selecting a nonzero value in parameter 0:134 [DI EmergencyOVRD], disables bit 15 ‘Emerg OVRD’ in the Logic Command. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 66: Decide Which Protections To Override

    The PowerFlex Drives with TotalFORCE Control programming manual, publication 750-PM100, describes which faults are covered by each bit. See the description for parameter 0:455 [Emerg Prot OVRD]. Also, see the fault and alarm tables in the troubleshooting chapter. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 67: New Features

    • Configure motion profiles to operate closer to machine limits, while preserving high dynamics. • Configure motion profiles to generate torque-speed curves that improve motor utilization and use more of its operating range. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 68: Position Reference Motion Planner

    1- Dwell Decel Zero Move RefEnergyBalance 2- Decel Move Failed Ref Max Accel 3- Reversing Ref Max Decel PTP VelMax Time PTP AccMaxTime PTP DecMaxTime PTP Time Left PTP Iterations Ref Fault Config Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 69 ‘Immediate’ (2) – Selects absolute immediate position mode. When 10/11:1381 [PTP Control] bit 1 ‘Move’ is set, and the reference source selected by 10/11:1383 [PTP Ref Sel] changes, 10/11:1391 [PTP Command] is immediately set. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 70 Adjust parameters described in the following table to define your target distance. You can enter a constant set point or select an input signal. Note that as an input signal changes, the PTP reference motion planner acts as a filter with a combined cam-on-cam effect. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 71 Enter the acceleration ramp time used by the Point to Point (PTP) position planner. [PTP Accel Time] This value is the time to go from zero to the velocity in 10/11:1392 [Max Speed Fwd]. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 72 • Once the move distance increases enough to hit maximum velocity 10/ 11:1392 [Max Speed Fwd], the acceleration rate remains constant. • Rate based move times are good when continually indexing to various target distances. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 73 Note the following relationships: • Asymmetry trades maximum acceleration and jerk for minimum acceleration and jerk • Asymmetry lets you adjust maximum and minimum acceleration and jerk times • Asymmetry does not affect energy directly Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 74 Move Type] = ‘SineSquared’ , ‘Poly5’ , or ‘Cubic’ . The following example shows what happens when acceleration and deceleration limits are lowered below what is required by an unconstrained 2 second move. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 75 Any further lowering of the limit beyond this point forces a velocity dwell to be added, which increases acceleration and deceleration times. Figure 22 - Acceleration Limiting with Adjusted Times Compare Trajectories 5000 Not Limitied AccDec Lim = 1.5 AccDec Lim = 1.0 Time [sec] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 76 • Velocity Limiting automatically induces a velocity dwell with a smooth transition, which extends the move time • Velocity Limiting affects energy directly The following example shows the effect of Energy Balance. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 77 • For PTP moves, Energy Balance trades max jerk for lower maximum velocity, maximum acceleration, and energy • Energy Balance does not induce dwells or extend move time Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 78 When the initial velocity is high enough, there may only be time to perform a velocity dwell and decelerate to the new target. When this occurs, parameter 10/11:1411 [PTP Move Seg] = ‘DwellDecel’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 79 When this occurs, parameter 10/11:1411 [PTP Move Seg] = ‘Decel’ or ‘DecelLimited’ , respectively. Figure 26 - Index Moves that Decelerate Only Compare Trajectories 5000 Decel DecelLimited -100 2000 -2000 Time [sec] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 80 When this occurs, parameter 10/11:1411 [PTP Move Seg] = ‘Reversing’ . Figure 27 - Index Move that Reverses Compare Trajectories Reversing 1000 -200 Time [sec] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 81: Velocity Reference Motion Planner

    1- Dwell Decel Zero Move RefEnergyBalance 2- Decel Move Failed Ref Max Accel 3- Reversing Ref Max Decel VRefAccelMaxTime VRefAcJrkMaxTime Ref Max AccJerk VRefDcJrkMaxTime Ref Max DecJerk VRef Time Left VRef Iterations Ref Fault Config Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 82 10/11:931 [Ref Move Type] provides a selection of useful move profile types with easy switching between them. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 83 • Poly5 trades end point smoothness for lower maximum acceleration, maximum jerk, and minimum snap. • LinScurve and Cubic are the least smooth. They generate trapezoidal moves and trade smoothness for lower maximum snap. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 84 [VRef A Mult] The value from the source selected by 10/11:1800 [VRef A Sel] will be multiplied by this. 10/11:1914 Displays the value of the Velocity Reference after the Skip Speed function. [VRef Commanded] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 85 Increasing this value softens changes in deceleration and reduce jerk. Half of the time associated with this percentage is added at the beginning of the ramp and half is added at the end of the ramp. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 86 10/11:933 [Ref Time Base] = ‘Time’ . 10/11:935 Enter the deceleration time that is directly applied to position and velocity reference commands [Ref Decel Time] when 10/11:933 [Ref Time Base] = ‘Time’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 87 • Both acceleration and deceleration times are applied when crossing zero velocity. When 10/11:933 [Ref Time base] = ‘Time’ , these times are simply added during fast zero crossing. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 88 The final move time is automatically increased for best performance when inputs generate constrained circumstances. Moves will smoothly transition in and out of acceleration and jerk limits when 10/11:931 [Ref Move Type] = ‘SineSquared’ , ‘Poly5’ , or ‘Cubic’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 89 Any further lowering of the limit beyond this point forces an acceleration-dwell to be added, which increases acceleration and deceleration times. Figure 33 - Jerk Limiting with Adjusted Times Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 90 • Acceleration Limiting trades maximum jerk and snap for lower maximum acceleration • Acceleration Limiting automatically induces an acceleration dwell with a smooth transition, which extends the move time • Acceleration Limiting does not affect energy directly Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 91 • Energy Balance does not induce dwells or extend move time • For Velocity moves, Energy Balance creates asymmetry • Asymmetry trades maximum acceleration and jerk for minimum acceleration and jerk • Asymmetry lets you adjust maximum and minimum acceleration and jerk times Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 92 When the initial acceleration is high enough, there may only be time to perform an acceleration dwell and decelerate to the new target. When this occurs, parameter 10/11:1939 [VRef Move Seg] = ‘DwellDecel’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 93 When this occurs, parameter 10/11:1939 [VRef Move Seg] = ‘Decel’ or ‘DecelLimited’ , respectively. Figure 37 - Velocity Moves that Decelerate Only Compare Trajectories 2000 1000 Decel DecelLimited -100 -500 Time [sec] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 94 When this occurs, parameter 10/11:1939 [VRef Move Seg] = ‘Reversing’ . Figure 38 - Velocity Move that Reverses Compare Trajectories 5000 Reversing Time [sec] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 95: Overview

    In this way, the AFE bus supply tends to increase its share near zero load, and is less likely to increase its share near full negative load. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 96 AFE bus supply #1 has a lower impedance, then AFE bus supply #1 delivers more power than AFE bus supply #2. Differences in loading can produce issues with component wear and reliability, which can result in unplanned downtime. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 97: Modes Of Operation

    13:351 [FullLd DroopGain] determines the slope of the curve. Set the value of this parameter as percent increase in DC bus voltage reference (percent of minimum DC bus voltage) over the positive current range (zero load to full load). Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 98 Slope of Droop Function 0.3 x 13:352 [NoLd DroopGain] 1.2 x 13:351 [FullLd DroopGain] Active Current -Full Load -Trans Droop Zero Current Zero Current +Trans Droop +Full Load Motoring Regenerating Current Current Current Current Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 99: Derating For Voltage Boost

    • DC bus voltage reference = 692.4 x (1 + 0.01 + 0.05) = 733.9V DC This is a considerable boost to the DC bus voltage. For information about derating for this, see PowerFlex 750-Series Products with TotalFORCE® Control, publication 750-TD100. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 100 Chapter 10 Droop Control for Parallel Operation of PowerFlex 755TM AFE Bus Supplies Notes: Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 101: Powerflex 755T Lifting/Torque Proving

    • Speed Deviation Fault, Output Phase Loss Fault, Encoder Loss Fault. Encoderless TorqProve functionality includes: • Torque Proving (includes flux up and last torque measurement) • Micro positioning • Fast Stop • Speed Deviation Fault, Output Phase Loss Fault Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 102 Step 2 plus 20% torque. The drive continues to command the torque that is defined in Step 2 until the ramp goes below this torque. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 103 1. Navigate to 0:70 [Application Mode]. 2. Click the ‘edit’ soft key and change 0:70 [Application Mode] = 2 ‘Torque Prove’ 3. To accept changes, click the ‘enter’ soft key. 4. Power cycle the drive. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 104 Torque Proving is only supported on induction motors. PowerFlex 755T motor control modes Induction Sensorless Vector (SV) and Induction Flux Vector (FV) are supported. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 105 • The encoder is mounted on the back of the motor (not behind the gearbox). • Recommended encoder specification: Quadrature differential (A, A-, B, B-), Line driver output, Minimum 1000PPR 5V, or 12V signals (12V preferred). Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 106 1. Power up the drive and establish a connection with Connected Components Workbench software. 2. Navigate to the Overview page for the drive. Then click Device Definition. 3. Then click Dynamic Features. 4. Select Induction FV under Primary Motor Control Mode. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 107 8. To navigate to the parameter display, click Parameters in the left pane. 9. Navigate to port 0, which is the Main Product Port. 10. Find parameter 0:33 [VoltageClass Cfg] and enter the configuration for either Low Voltage or High Voltage. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 108 (1) If the data is not available on the motor nameplate or data sheet, use the following equation to estimate motor inertia: Motor Inertia = Motor Hp/250 x (Motor Hp /500 + 1) Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 109 Parameters 5:1 [Encoder Cfg] and 5:2 [Encoder PPR] when using a 20- 750-ENC-1 in slot 5. 6. Confirm the value of parameter 5:3 [Fdbk LossCfg] is 3 ‘FltCoastStop’ . Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 110 You can execute this test with a motor that is disconnected from the crane or with a lightly loaded condition. Lightly loaded conditions include a motor that is connected to gearbox, cable drum, or cable and hook. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 111 1. Navigate to parameter 10/11:432 [c FluxUpTime]. 2. If the value is less than 0.05 seconds, change the value of parameter 10/ 11:431 [FluxUpTm C/U Sel] to 1 ‘User’ . Then set parameter 10/11:433 [u FluxUpTime] to 0.05 seconds. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 112 2. Run the crane up and down without load. 3. Run the crane up and down with load. 4. If necessary, adjust the acceleration and deceleration times. 10/11:1915 [VRef Accel Time1] 10/11:1917 [VRef Decel Time1] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 113 If not, unplug the output relay terminal block and issue a reset to factory defaults for the HOST and all PORTS. Plug terminal block back in. • Programming is done via Connected Components Workbench software. • Crane control is done via Run forward/Run Reverse inputs. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 114 Configure the Modular Control Profiles 1. Power up the drive and establish a connection with Connected Components Workbench software. 2. Navigate to the Overview page for the drive. Then click Device Definition. 3. Then click Dynamic Features. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 115 4. Select Induction FV under Primary Motor Control Mode. 5. To accept the change to the motor control selection, click OK. 6. Select Torque Prove under Application Select. 7. Click OK. The software commits the changes. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 116 2. Navigate to the following parameters and enter the data for the incoming power conditions. 13:30 [Nom Line Freq] 13:32 [AC Line kVA A] 13:34 [AC Line Imped% A] 3. Navigate to parameter 13:104 [Regen Power Lim] and enter a value of -200%. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 117 3 ‘FltCoastStop’ . 8. Navigate to parameter 10/11:116 [Bus Reg Mode A] and enter a value of 0 ‘Disabled’ . 9. Navigate to parameter 10/11:913 [Autotune Trq Lim] and enter a value of 100%. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 118 It is preferable to run the Rotate Motor ID Test. If you cannot perform the Rotate test to completion, perform the Static Motor ID Test instead. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 119 1. Determine whether logic of the brake control circuit is ‘Active High’ or ‘Active Low’ . ‘Active High’ control sets or engages the brake when the signal is energized. ‘Active Low’ control sets or engages the brake when the signal is de- energized. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 120 2. Run crane up and down without load. 3. Run crane up and down with load. 4. If necessary, adjust the acceleration and deceleration times. 10/11:1915 [VRef Accel Time1] 10/11:1917 [VRef Decel Time1] Rockwell Automation Publication 750-RM100A-EN-P - August 2019...

  • Page 121: Anti-Sway Applications

     2 Where g = acceleration due to gravity 9.80665 m/sec 32.17417 ft/sec 386.09 in/sec Where L = length in meters, feet, or inches. Gravity and length must have the same distance units. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 122 A larger variation of cable length can result in a larger variation in frequency. Figure 46 - Simple Diagram for Anti-Sway Application Z- axis Hoist X- axis Trolley Y- axis Load Gantry Sway magnitude (degrees) Load Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 123 This has better performance compared to one filter configuration, and can be good for greater length variations but can increase move times. ----- - ----------------------------------------- - Equation 4 2   2  ----- - ----------- - Equation 5 2 Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 124 Therefore: L1 - L2 Conversion Constant = Equation 7 Delta Length Change Figure 49 - Relationship Between Hoist Encoder Counts and Cable Length Load Corresponding to x counts, Corresponding to x counts, Load Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 125 Velocity loop to send velocity commands. Automatic Mode: Automatically controls the crane trolley or gantry to specified target position and simultaneously stabilizes the load with programmable target positions. Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 126 Chapter 11 Application References Notes: Rockwell Automation Publication 750-RM100A-EN-P - August 2019...
  • Page 128 Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, Connected Components Workbench, DeviceLogix, Kinetix, PowerFlex, Rockwell Automation, Rockwell Software, TorqProve, and TotalFORCE are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

This manual is also suitable for:

Allen-bradley powerflex 755t seriesAllen-bradley powerflex 755tl seriesAllen-bradley powerflex 755tr seriesAllen-bradley powerflex 755tm seriesAllen-bradley 20gAllen-bradley 20j

Table of Contents