Rockwell Automation Allen-Bradley PowerFlex 40P User Manual
  1. Manuals
  2. Brands
  3. Rockwell Automation Manuals
  4. Servo Drives
  5. Allen-Bradley PowerFlex 40P
  6. User manual
Rockwell Automation Allen-Bradley PowerFlex 40P User Manual

Rockwell Automation Allen-Bradley PowerFlex 40P User Manual

Adjustable frequency ac drive
Hide thumbs Also See for Allen-Bradley PowerFlex 40P:
Table of Contents

Advertisement

Quick Links

Download this manual
PowerFlex 40P Adjustable
Frequency AC Drive
Bulletin Number 22D
Firmware Revision 1.xx...3.xx
User Manual
Original Instructions

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Allen-Bradley PowerFlex 40P and is the answer not in the manual?

Questions and answers

Related Manuals for Rockwell Automation Allen-Bradley PowerFlex 40P

Summary of Contents for Rockwell Automation Allen-Bradley PowerFlex 40P

  • Page 1 PowerFlex 40P Adjustable Frequency AC Drive Bulletin Number 22D Firmware Revision 1.xx…3.xx User Manual Original Instructions...
  • 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 User Manual since the June 2013 release. Description of New or Updated Information See Page(s) Replaced ISO 13849 with EN ISO 13849-1:2008+AC:2009 32, 57, and Certification for Australian C-Tick, CE Directives, and TUV updated. 40, 41, and Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 4 User Manual since the May 2007 release. Description of New or Updated Information See Page(s) Link to Rockwell Automation Literature Library under Reference Materials has been fixed Minimum Enclosure Volume column and new footnotes added. Information on swapping encoder channels updated Certification standard for DriveGuard Safe-Off Option updated to ISO 13849-1;...

  • Page 5: Table Of Contents

    Product Selection ....131 Product Dimensions ....137 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 6 ........195 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 7: Who Should Use This Manual

    Additional Resources These documents contain additional information concerning related products from Rockwell Automation. You can view or download publications at rok.auto/literature. Table 1 – Additional Resources Resource Description...

  • Page 8: Manual Conventions

    Similar PowerFlex 40P drive sizes are grouped into frame sizes to simplify spare parts ordering, dimensioning, and so on. A cross reference of drive catalog numbers and their respective frame sizes is provided in Appendix Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 9: General Precautions

    ATTENTION: Risk of injury or equipment damage exists. Drive does not contain user-serviceable components. Do not disassemble drive chassis. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 10: Catalog Number Explanation

    4.0 (5.0) 5.5 (7.5) 5.5 (7.5) 5.5 (7.5) 7.5 (10) 7.5 (10) 7.5 (10) 11 (15) 11 (15) Additional accessories, options, and adapters are available. See Appendix B for details. Catalog Number Explanation 10 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 11: Installation/Wiring

    ATTENTION: The following information is merely a guide for proper installation. Rockwell Automation, Inc. cannot assume responsibility for the compliance or the noncompliance to any code, national, local or otherwise for the proper installation of this drive or associated equipment.

  • Page 12: Mounting Considerations

    -10 °C (14 °F) IP30/NEMA 1/UL Type 1 Use Mounting Option B 50 °C (122 °F) IP20/Open Type Use Mounting Option B Rating requires installation of the PowerFlex 40P IP30/NEMA 1/UL Type 1 option kit. 12 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 13: Plate Drive Installation

    • Store within an ambient temperature range of -40…+85 °C (-40…+185 °F). • Store within a relative humidity range of 0…95%, non-condensing. • Do not expose to a corrosive atmosphere. Plate Drive Installation For Plate drive installation instructions, see Appendix Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 14: Ac Supply Source Considerations

    3. Tighten the screw to keep it in place. Figure 1 – Jumper Location (Typical) Important: Tighten screw after jumper removal. Figure 2 – Phase to Ground MOV Removal R/L1 Three-Phase S/L2 AC Input T/L3 Jumper 14 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 15: Input Power Conditioning

    The stinger leg should be connected to the center Phase B on the reactor. See Table 22 for specific line reactor part numbers. See for Appendix B for accessory ordering information. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 16: General Grounding Requirements

    When shielded cable is used for control and signal wiring, the shield should be grounded at the source end only, not at the drive end. 16 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 17: Fuses And Circuit Breakers

    • Bulletin 140M/140MT can be used in single and group motor applications. • Bulletin 140M/140MT can be used up stream from the drive without the need for fuses. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 18 140M-C2E-C10 100-C09 1655 140MT-C3E-C10 100-E09 4.0 (5.0) 140M-C2E-C16 100-C23 1655 140MT-C3E-C16 100-E26 5.5 (7.5) 140M-D8E-C20 100-C23 2069 140MT-D9E-C20 100-E26 7.5 (10.0) 140M-D8E-C20 100-C23 2069 140MT-D9E-C20 100-E26 11 (15) 140M-F8E-C32 100-C43 2069 100-E40 18 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 19 When using a Manual Self-protected (Type E) Combination Motor Controller, the drive must be installed in a ventilated or non-ventilated enclosure with the minimum volume specified in this column. Application specific thermal considerations may require a larger enclosure. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 20: Power Wiring

    Do not use THHN or similarly coated wire in wet areas. Any wire chosen must have a minimum insulation thickness of 15 mils and should not have large variations in insulation concentricity. 20 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 21 Unless specified in the individual distance tables as tested with the drive, these cables are not recommended and their performance against the lead length limits supplied is not known. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 22 If it is necessary to disconnect power to the motor with the drive outputting power, an auxiliary contact should be used to simultaneously disable drive control run commands. 22 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 23 Important: Terminal screws may become loose during shipment. Ensure that all terminal screws are tightened to the recommended torque before applying power to the drive. Single-phase operation requires a 65% derate of drive rated current. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 24: Common Bus/Precharge Notes

    • Control and signal wires should be separated from power wires by at least 0.3 m (1 ft). Important: I/O terminals labeled “Common” are not referenced to the safety ground (PE) terminal and are designed to greatly reduce common mode interference. 24 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 25 To improve noise immunity, the I/O terminal block Common may be connected to ground terminal/protective earth. If using the RS-485 (DSI) port, I/O Terminal 19 should also be connected to ground terminal/protective earth. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 26 06 07 08 09 RS-485 (DSI) 30V DC 125V AC 240V AC Resistive 3.0 A 3.0 A 3.0 A Inductive 0.5 A 0.5 A 0.5 A Control Wiring Block Diagram Notes on the next page. 26 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 27 When the ENBL enable jumper is removed, I/O Terminal 01 will always act as a hardware enable, causing a coast-to-stop without software interpretation. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 28 10V In and 4 20 mA In are distinct input channels and may be connected simultaneously. … … Inputs may be used independently for speed control or jointly when operating in PID mode. 28 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 29: Encoder Interface

    A and A (NOT) encoder channels or swap any two motor leads. Drives using FRN 2.xx and greater will fault when an encoder is incorrectly wired and E216 [Motor Fdbk Type] is set to option 5 “Quad Check”. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 30 Common to SHLD Single-Ended, Differential, B NOT Dual Channel Dual B NOT Channel A NOT A NOT to SHLD Figure 7 – Encoder Wire Routing Options IP20/Open Type IP30/NEMA 1/UL Type 1 30 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 31 P036 [Start Source] P037 [Stop Mode]. 4. If I/O Terminal 01 is used as hardware enable and 3-wire control is needed, program one of the digital inputs for the desired stop mode. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 32 Normally closed contacts for monitoring relay status. Maximum Resistive Load: 250V AC / 30V DC / 50 VA / 60 Watts Monitor - N.C. Maximum Inductive Load: 250V AC / 30V DC / 25 VA / 30 Watts 32 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 33 Wire R2/R3 Relay Output (SRC) to I/O Terminals 5 and 11. A051 [Digital In1 Sel] = 3 “Aux Fault” A055 [Relay Out Sel] = 10 “Above Anlg V” A056 [Relay Out Level] = % Voltage Trip PTC (hot) × 100 Trip PTC (hot) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 34 P037 +24V Common [Stop Mode]. If both Run Forward Each digital input draws 6 mA. and Run Reverse inputs are closed at the same time, an undetermined state could occur. 34 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 35 A stop Start Start input to I/O Terminal 01 will stop the drive as Direction Direction specified by P037 [Stop Mode]. I/O +24V Common Terminal 03 determines direction. Each digital input draws 6 mA. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 36 The Analog Output Select DIP Switch must be set to match the analog output determines analog signal mode set in A065 [Analog Out Sel]. output type and drive conditions. 10V, … 1 kΩ minimum Common 20 mA/4 20 mA, … … 525 Ω maximum 36 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 37 I/O Terminal 14 common together for all drives. I/O Terminal 14 common and I/O Terminal 13 (potentiometer wiper) should be daisy-chained to each drive. All drives must be powered up for the analog signal to be read correctly. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 38: Start And Speed Reference Control

    ≠ 0 No change in direction control. ≠ 0 from P036 [Start Source]. Run as specified by No change in control. P038 [Speed Reference]. Start and Direction commands come from P036 [Start Source]. 38 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 39 A067 [Accel Time 2]/A068 [Decel Time 2] by Stp Logic or can be selected by: Pos Logic Step Logic parameters A140…A147 Position Logic parameters E230…E245 P039 [Accel Time 1]/P040 [Decel Time 1] are used. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 40: Emc Instructions

    70 Enhanced Control AC Drives User Manual, publication PFLEX-UM003. • In CE installations, input power must be a Balanced Wye with Center Ground configuration. 600 Volt class drives are not CE Certified. 40 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 41 Enclosure ground connection Shielded motor cable Building structure steel First Environment Unrestricted Distribution installations require a shielded enclosure. Keep wire length as short as possible between the enclosure entry point and the EMI filter. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 42 Installations on a public low voltage power network may require additional external harmonic mitigation. • Other drive ratings meet the current harmonic requirements of EN61000-3-2 without additional external mitigation. 42 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 43: Prepare For Drive Start-Up

    5. Verify that the Stop input is present or the drive will not start. Important: If I/O Terminal 01 is used as a stop input, the jumper between I/O Terminals 01 and 11 must be removed. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 44 Variable Torque Fan/Pump Applications For improved motor tuning performance when using a premium efficient motor on a variable torque load, set A084 [Boost Select] to option 2 “35.0, VT”. 44 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 45: Display/Fault Reset

    Description Catalog Number USB Converter Module 1203-USB Connected Components Workbench — DriveTools SP Software 9303-4DTS01ENE Remote Panel Mount, LCD Display 22-HIM-C2S Remote Handheld, LCD Display 22-HIM-A3 Requires a Serial or USB Converter Module. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 46 Chapter 2 Start Up Notes: 46 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 47: Programming And Parameters

    1, the feature is on or the condition is true. Some parameters are marked as follows. = Stop drive before changing this parameter. = 32-bit parameter. Parameters marked 32-bit will have two parameter numbers when using RS-485 communications and programming software. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 48: Parameter Organization

    Slip Hz Meter d303 Units Traveled L d309 Fault 8 Code d314 Speed Feedback d304 Fault 4 Code d310 Fault 9 Code d315 Fault 5 Code d311 Fault 10 Code d316 48 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 49: Basic Display Group

    Output voltage present at terminals T1, T2, and T3 (U, V, and W). Values Default: Read Only Min/Max: 0/Drive Rated Volts Display: 1 VAC b005 [DC Bus Voltage] Present DC bus voltage level. Values Default: Read Only Min/Max: Based on Drive Rating Display: 1 VDC Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 50 [Process Display] Related Parameter(s): b001, A099 32-bit parameter. The output frequency scaled by A099 [Process Factor]. Output Process Process Freq Factor Display Values Default: Read Only Min/Max: 0.00/9999 Display: 0.01 – 1 50 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 51 The stop input must be present in order to start the drive. When this bit is a 1 the drive can be started. When this bit is a 0 the drive will stop. Values Default: Read Only Min/Max: Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 52 [Control SW Ver] Main Control Board software version. Values Default: Read Only Min/Max: 1.00/99.99 Display: 0.01 b017 [Drive Type] Used by Rockwell Automation field service personnel. Values Default: Read Only Min/Max: 1001/9999 Display: 52 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 53 Read Only 0.00/(Drive Rated Power × 2) Min/Max: Display: 0.01 kW b023 [Output Powr Fctr] The angle in electrical degrees between motor voltage and motor current. Values Default: Read Only Min/Max: 0.0/180.0° Display: 0.1° Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 54 [Stp Logic x]. Values Default: Read Only Min/Max: Display: b029 [Torque Current] The current value of the motor torque current. Values Default: Read Only 0.00/(Drive Rated Amps × 2) Min/Max: Display: 0.01 Amps 54 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 55: Basic Program Group

    Related Parameter(s): b001, b002, b013, P034, A065, A078, A085, A086, A087, A111, A113 Stop drive before changing this parameter. Sets the highest frequency the drive will output. Values Default: 60.00 Hz Min/Max: 0.00/500.0 Hz Display: 0.01 Hz Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 56 • I/O Terminal 01 “Stop” = Stop according to the value set in P037 [Stop Mode]. If I/O Terminal 01 is used as hardware enable and 3-wire control is needed, program one of the digital inputs for the desired stop mode. 56 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 57 • Drive shuts off if current limit is exceeded. 8 “Ramp+EM B,CF” Ramp to Stop with EM Brake Control. “Stop” Command clears active fault. 9 “Ramp+EM Brk” Ramp to Stop with EM Brake Control. Stop input also clears active fault. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 58 External frequency command directly from encoder or pulse train input. Use E216 [Motor Fdbk Type] to select encoder type. 9 “Positioning” External position as defined by E222 and E230…E245. See Appendix F for detailed information on positioning. 58 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 59 Resets all parameter values to factory defaults. Options 0 “Ready/Idle” (Default) • After the reset function is complete, this parameter will set 1 “Factory Rset” itself back to “0”. • Causes an F48 Params Defaulted fault. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 60 Enables/disables the Motor Overload Retention function. When Enabled, the value held in the motor overload counter is saved at power-down and restored at power-up. A change to this parameter setting resets the counter. Options 0 “Disabled” (Default) 1 “Enabled” 60 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 61: Advanced Program Group

    [Stop Mode] is set. 11 “Jog Forward” Drive accelerates to A078 [Jog Frequency] according to A079 (A054 Default) [Jog Accel/Decel] and ramps to stop when input becomes inactive. A valid start will override this command. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 62 Can be 28 1 Description applied to one input only. Used Acc/Dec 1 with option 1 “Acc/Dec Sel1” for Acc/Dec 2 the Accel/Decel times listed in this table. Acc/Dec 3 Acc/Dec 4 62 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 63 Appendix F for detailed information on positioning. 36 “Pos Redefine” In Positioning mode, this input resets the home position to the current position of the machine. See Appendix F for detailed information on positioning. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 64 [Relay Out Level]. • Use A056 to set threshold. • Power Factor angle has exceeded the value set in 18 “Above PF Ang” A056 [Relay Out Level]. • Use A056 to set threshold. 64 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 65 [Relay Out Sel] is 6, 7, 8, 10, 16, 17, 18, or 20. A055 Setting A056 Min/Max 0/500 Hz 0/180% 0/815 Volts 0/100% 0.1/9999 Secs 1/9999 Counts 1/180 degs Values Default: Min/Max: 0.0/9999 Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 66 Level]. • Use A059 or A062 to set threshold. • Counter has reached value set in 17 “Counter Out” A059 A062 [Opto Outx Level]. • Use A059 or A062 to set threshold. 66 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 67 7, 8, 10, 16, 17, 18, or 20. A058 & A061 Setting A059 & A062 Min/Max 0/500 Hz 0/180% 0/815 Volts 0/100% 0.1/9999 Secs 1/9999 Counts 1/180 degs Values Default: Min/Max: 0.0/9999 Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 68 19 “Setpnt 0-20” 0-20 mA 0 mA = 0% 100.0% Setpoint Setting 0-20 mA A109 20 “Setpnt 4-20” 4-20 mA 4 mA = 0% 100.0% Setpoint Setting 0-20 mA Values Default: Min/Max: 0/20 Display: 68 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 69 When active, sets the rate of deceleration for all speed decreases except jog. See the graphic at A067 [Accel Time 2]. Maximum Freq Decel Rate Decel Time Values Default: 20.0 Secs Min/Max: 0.0/600.0 Secs Display: 0.1 Secs Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 70 A051…A054 [Digital Inx Sel] is set to 16 “MOP Up” or 17 “MOP Down” this parameter acts as the MOP frequency reference. Values Default: 60.00 Hz Min/Max: 0.00/500.0 Hz Display: 0.01 Hz 70 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 71 When a Digital Input is set to “Accel 2 & Decel 2”, and the input is active, that input overrides the settings in this table. A078 [Jog Frequency] Related Parameter(s): P035, A051…A054, A079 Sets the output frequency when a jog command is issued. Values Default: 10.00 Hz Min/Max: 0.00/[Maximum Freq] Display: 0.01 Hz Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 72 ATTENTION: If a hazard of injury due to movement of equipment or material exists, an auxiliary mechanical braking device must be used. ATTENTION: This feature should not be used with synchronous or permanent magnet motors. Motors may be demagnetized during braking. 72 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 73 Total Time = 10 + 5 = 15 Seconds Target/2 1/2 S Curve Time Accel Time 1/2 S Curve Time 2.5 Seconds 10 Seconds 2.5 Seconds Total Time to Accelerate = Accel Time + S Curve Time Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 74 8 “5.0, CT” (Default) 9 “7.5, CT” 10 “10.0, CT” 11 “12.5, CT” 12 “15.0, CT” 13 “17.5, CT” 14 “20.0, CT” 1/2 [Motor NP Volts] Settings 5-14 % P032 [Motor NP Hertz] 74 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 75 Sets the frequency where break frequency is applied when A084 [Boost Select] = 0 “Custom V/Hz” A125 [Torque Perf Mode] = 0 “V/Hz” Values Default: 15.0 Hz Min/Max: 0.0/500.0 Hz Display: 0.1 Hz Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 76 Drive provides Class 10 motor overload protection. Settings 0…2 select the derating factor for the I overload function. Options 0 “No Derate” (Default) 1 “Min Derate” 2 “Max Derate” No Derate Min Derate Max Derate 76 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 77 A093 [Auto Rstrt Delay] Related Parameter(s): A092 Sets the time between restart attempts when A092 [Auto Rstrt Tries] is set to a value other than zero. Values Default: 1.0 Secs Min/Max: 0.0/120.0 Secs Display: 0.1 Secs Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 78 2 “Mechanical” Some motor/load combinations have mechanical resonances which can be excited by the drive current regulator. This setting slows down the current regulator response and attempts to correct this condition. 3 “Both” 78 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 79 A101 [Program Lock] Protects parameters against change by unauthorized personnel with a 4-digit password. Options 0 “Unlocked” (Default) 1 “Locked” A102 [Testpoint Sel] Related Parameter(s): b019 Used by Rockwell Automation field service personnel. Values Default: Min/Max: 400/FFFF Display: 1 Hex...
  • Page 80 Related Parameter(s): b015, A105 Sets the time that the drive will remain in communication loss before implementing the option selected A105 [Comm Loss Action]. Values Default: 5.0 Secs Min/Max: 0.1/60.0 Secs Display: 0.1 Secs 80 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 81 A109 [Anlg Out Setpt] Related Parameter(s): A065 When A065 [Analog Out Sel] is set to option 18, 19, or 20, this parameter sets the percentage of analog output desired. Values Default: 0.0% Min/Max: 0.0/100.0% Display: 0.1% Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 82 Sets the analog input level that corresponds to P034 [Minimum Freq] if a 4-20mA input is used by P038 [Speed Reference]. Analog inversion can be accomplished by setting this value larger than A113 [Anlg In4-20mA Hi]. Values Default: 0.0% Min/Max: 0.0/100.0% Display: 0.1% 82 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 83 Maximum output current allowed before current limiting occurs. This parameter is only active if A051…A054 [Digital Inx Sel] is set to 25 “Current Lmt2” and is active. Drive Rated Amps × 1.5 Values Default: 0.1/(Drive Rated Amps × 1.8) Min/Max: Display: 0.1 Amps Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 84 Sets the time that the drive will remain in stall mode before a fault is issued. Options 0 “60 Seconds” (Default) 1 “120 Seconds” 2 “240 Seconds” 3 “360 Seconds” 4 “480 Seconds” 5 “Flt Disabled” 84 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 85 Options 0 “Enabled” (Default) 1 “Disabled” A125 [Torque Perf Mode] Related Parameter(s): A084, A085, A086, A087, A127 Stop drive before changing this parameter. Enables/disables sensorless vector control operation. Options 0 “V/Hz” 1 “Sensrls Vect” (Default) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 86 SVC Autotune fault is displayed. A128 [IR Voltage Drop] Related Parameter(s): A127 Value of volts dropped across the resistance of the motor stator. Values Default: Based on Drive Rating Min/Max: 0.0/230.0 VAC Display: 0.1 VAC 86 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 87 2 “0-10V Input” 3 “4-20mA Input” 4 “Comm Port” 5 “Encoder” Encoder or Pulse Train 6 “Setpnt, Trim” 7 “0-10V, Trim” 8 “4-20mA, Trim” 9 “Comm, Trim” 10 “Encoder,Trim” Encoder or Pulse Train Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 88 A136 [PID Diff Rate] Sets the value for the PID differential component when the PID mode is enabled by A132 [PID Ref Sel]. Values Default: 0.00 (1/Secs) Min/Max: 0.00/99.99 (1/Secs) Display: 0.01 (1/Secs) 88 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 89 Values Default: 0.0% Min/Max: 0.0/10.0% Display: 0.1% A139 [PID Preload] Sets the value used to preload the integral component on start or enable. Values Default: 0.0 Hz Min/Max: 0.0/500.0 Hz Display: 0.1 Hz Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 90: Values Default

    E238 [Step Units 4] & E239 [Step Units F 4] E240 [Step Units 5] & E241 [Step Units F 5] E242 [Step Units 6] & E243 [Step Units F 6] E244 [Step Units 7] & E245 [Step Units F 7] 90 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 91 ATTENTION: If the StepLogic sequence continues running and never stops while Parameter E222 [Positioning Mode] is set to 2, 3, or 4, remove power to the drive and swap the A and A (NOT) encoder channels. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 92 = Step after [Stp Logic Time x] and “Logic In1” is Not Active E = Step after [Stp Logic Time x] and “Logic In2” is Not Active F = Do Not Step/Ignore Digit 2 Settings 92 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 93: Min/Max

    0.01/10.00 Secs Display: 0.01 Secs Frequency A160 [EM Brk Off Delay] A161 [EM Brk On Delay] Minimum Freq Time Start EM Brk Stop EM Brk Drive Stops Commanded Energized (Off) Commanded De-Energized (On) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 94 When set to “Inverted”, changes the sign of the PID error. This causes an increase in the drive output frequency with PID Feedback greater than PID Setpoint, and a decrease in drive output frequency with PID Feedback less than PID Setpoint. Options 0 “Not Inverted” (Default) 1 “Inverted 94 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 95: Enhanced Program Group

    Causes drive to immediately coast to a stop regardless of P037 [Stop Mode] is set. 10 “DCInjStop,CF” Causes drive to immediately begin a DC Injection stop regardless of how P037 [Stop Mode] is set. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 96 If EM brake function is enabled, this input releases the brake. A160 [EM Brk Off Delay] for additional information. ATTENTION: If a hazard of injury due to movement of equipment or material exists, an auxiliary mechanical braking device must be used. 96 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 97 Appendix F for detailed information on positioning. 36 “Pos Redefine” In Positioning mode, this input resets the home position to the current position of the machine. See Appendix F for detailed information on positioning. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 98 Sets the reaction to a loss of input power. Options 0 “Coast” (Default) Drive will fault and motor will coast-to-stop. 1 “Decel” Drive will decelerate and attempt to keep the DC Bus voltage above the undervoltage level. 98 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 99 Sets time required for the Traverse function to accelerate from the minimum to the maximum traverse frequency. See the diagram at E210 [Max Traverse]. Values Default: 0.00 Secs Min/Max: 0.00/30.00 Secs Display: 0.01 Secs Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 100 Drive #1 and #2 Sync Enable Input Change Ref's Time E215 [Speed Ratio] Stop drive before changing this parameter. Enables the function that scales the drive speed command. Values Default: 1.00 Min/Max: 0.01/99.99 Display: 0.01 100 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 101 Sets the scale factor/gain for the Pulse Input when E216 [Motor Fdbk Type] is set to 1 “Pulse Train”. For additional information, see Appendix Input Pulse Rate Speed Command Desired Command Values Default: Min/Max: 1/20000 Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 102 Min/Max: Display: E223 [Find Home Freq] Sets the maximum frequency the drive uses when “Find Home” is issued. For additional information, Appendix Values Default: 10.0 Hz Min/Max: 0.1/500.0 Hz Display: 0.1 Hz 102 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 103 Default: Min/Max: 1/50000 Display: E226 [Counts Per Unit] Related Parameter(s): E230…E245 Sets the number of encoder counts equal to one user-defined unit. For additional information, see Appendix Values Default: 4096 Min/Max: 1/32000 Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 104 E245 [Step Units F 7] 32-bit parameter. Sets the position in fractional user-defined units the drive must reach at each step. For additional information, see Appendix Values Default: 0.00 Min/Max: 0.00/0.99 Display: 0.01 104 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 105 Sets the error signal filter in the position regulator. For additional information, see Appendix Values Default: Min/Max: 0/15 Display: E247 [Pos Reg Gain] Sets the gain adjustment for the position regulator. For additional information, see Appendix Values Default: Min/Max: 0.0/200.0 Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 106 Input option. This bit is logically ORed with a digital input A051…A054 set to option 24 “Logic In2”. It can be used to move through the Step-Logic functions (speed or position) via comms control without requiring actual digital input transitions. 106 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 107 Enhanced Program Group (continued) E249 [Cmd Stat Select] Selects velocity-specific or position/fibers-specific Command and Status Word bit definitions for use over a communication network. For additional information, see Appendix Options 0 “Velocity” (Default) 1 “Position” Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 108: Advanced Display Group

    32-bit parameter. Displays the value of the actual motor speed (whole number portion) whether measured by encoder/ pulse train feedback or estimated. Values Default: Read Only Min/Max: 0/64000 RPM Display: 1 RPM 108 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 109 Read Only Min/Max: 0/64000 Display: d309 [Units Traveled L] Related Parameter(s): d308, E226 Displays the number of user-defined units (fractional portion) traveled from the home position. Values Default: Read Only Min/Max: 0.00/0.99 Display: 0.01 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 110 As faults occur, the value of this parameter will be moved to [Fault 7 Code] and this parameter will be overwritten by [Fault 5 Code]. Chapter 4 for fault code descriptions. Values Default: Read Only Min/Max: 0/122 Display: 110 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 111 [Fault 1 Code] = the most recent fault). Repetitive faults will only be recorded once. As faults occur, the value of this parameter will overwritten by [Fault 9 Code]. Chapter 4 for fault code descriptions. Values Default: Read Only Min/Max: 0/122 Display: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 112: Parameter Cross Reference - By Name

    Advanced Program EM Brk Off Delay A160 Advanced Program PID Ref Sel A132 Advanced Program EM Brk On Delay A161 Advanced Program PID Setpoint A137 Advanced Program Encoder Pos Tol E225 Enhanced Program 112 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 113 Testpoint Data b019 Display Testpoint Sel A102 Advanced Program Timer Status b026 Display Torque Current b029 Display Torque Perf Mode A125 Advanced Program Traverse Dec E212 Enhanced Program Traverse Inc E211 Enhanced Program Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 114 Chapter 3 Programming and Parameters Notes: 114 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 115: Troubleshooting

    Non-resetable This type of fault may require drive or motor repair, or is caused by wiring or programing errors. The cause of the fault must be corrected before the fault can be cleared. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 116 Table 14. See Table 15 for fault descriptions. Caution should be used when enabling this feature, since the drive will attempt to issue its own start command based on user selected programming. 116 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 117: Fault Descriptions

    Analog Input An analog input is configured to 1. Check parameters. Loss fault on signal loss. A signal loss 2. Check for broken/loose has occurred. connections at inputs. Configure with A122 [Analog In Loss]. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 118 2. Check connection. 3. An adapter was intentionally disconnected. 4. Turn off using A105 [Comm Loss Action]. 5. Connecting I/O Terminal 04 to ground may improve noise immunity. 118 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 119 I/O Board Fail Failure has been detected in the 1. Cycle power. drive control and I/O section. 2. Replace drive if fault cannot be cleared. page 115 for a description of fault types. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 120 • Press and hold Up Arrow key for 3 seconds. • Cycle power • Set A100 [Fault Clear] to option 1 “Clear Faults”. • Cycle digital input if A051…A054 [Digital Inx Sel] is set to option 7 “Clear Fault”. 120 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 121 Verify settings A051…A054 [Digital Inx Sel]. • Check P038 [Speed Reference] for the source of the speed reference. Reprogram as necessary. • Review the Speed Reference Control chart on page Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 122 Set motor nameplate full load amps match motor characteristics. in parameter A126 [Motor NP FLA]. Perform A127 [Autotune] “Static Tune” or “Rotate Tune” procedure. A125 [Torque Perf Mode] to option 0 “V/Hz”. 122 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 123 • Check the supply voltage. • Check all fuses and disconnects. Jumper between I/O Terminals None Install jumper or connect DC Bus P2 and P1 not installed and/or Inductor. DC Bus Inductor not connected. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 124 Chapter 4 Troubleshooting Notes: 124 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 125: Supplemental Drive Information

    Typical designations include, but may not be limited to the following; Parts 1 & 2: AC, AD, BC, BD, CD, DD, ED, EFS, EF, FF, FG, GF, GG, GH. Typical designations include; Type CC - KTK-R, FNQ-R Type J - JKS, LPJ Type T - JJS, JJN Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 126: Specifications

    When using a Manual Self-protected (Type E) Combination Motor Controller, the drive must be installed in a ventilated or non-ventilated enclosure with the minimum volume specified in this column. Application specific thermal considerations may require a larger enclosure. 126 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 127 NEC article 430.126 (A) (2). UL 508C File 29572. Overcurrent: 200% hardware limit, 300% instantaneous fault Ground Fault Trip: Phase-to-ground on drive output Short Circuit Trip: Phase-to-phase on drive output Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 128 200% Overload capability for up to 3 seconds Electronic Motor Overload Protection Provides class 10 motor overload protection according to NEC article 430 and motor over-temperature protection according to NEC article 430.126 (A) (2). UL 508C File 29572. 128 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 129 Opto: Quantity: (2) Programmable Specification: 30V DC, 50 mA Non-inductive Analog: Quantity: (1) Non-isolated 0…10V or 4…20 mA Specification Resolution: 10-bit 0…10V DC Analog: 1 kΩ minimum 525 Ω maximum 4…20 mA Analog: Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 130 380…480V 0.4 (0.5) 0.75 (1.0) 1.1 (2.0) 2.2 (3.0) 3.7 (5.0) 5.5 (7.5) 7.5 (10) 11 (15) 460…600V 0.75 (1.0) 1.5 (2.0) 2.2 (3.0) 4.0 (5.0) 5.5 (7.5) 7.5 (10) 11 (15) 130 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 131: Accessories And Dimensions

    11.0 15.0 19.0 22D-E019N104 22D-E019F104 22D-E019H204 Meets IP40/54/65 (NEMA 1/12/4/4X) when installed in an enclosure of like rating. Requires use of external DC Bus Inductor or AC Line Reactor. See Table 23 for details. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 132 The resistors listed in this tables are rated for 5% duty cycle. Use of Rockwell Automation resistors is always recommended. The resistors listed have been carefully selected for optimizing performance in a variety of applications. Alternative resistors may be used, however care must be taken when making a selection.
  • Page 133 Amps Catalog Number 240V 50/60 Hz 0.85 1321-DC32-1 3-phase 10.0 1321-DC40-2 480V 50/60 Hz 3.75 1321-DC18-4 3-phase 10.0 1321-DC25-4 11.0 15.0 2.68 1321-DC32-3 600V 50/60 Hz 1321-DC12-2 3-phase 10.0 1321-DC18-4 11.0 15.0 1321-DC25-4 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 134 This filter is suitable for use with a cable length of at least 100 m (328 ft) for Class A and 5 m (16 ft) for Class B environments. Filter must be Series C or later. 134 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 135 Optional 100…240V AC power supply for external 20-XCOMM-AC-PS1 Supply DSI communications kit Compact I/O Module Three channel 1769-SM2 Communication Adapter Cover that houses the communication adapter. Cover B-frame Drive 22D-CCB C-frame Drive 22D-CCC Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 136 Compatibility: Microsoft Windows 7, Windows 10, and Windows Server 2019 You can download DriveTools SP Standard Edition software at rok.auto/pcdc. Requires Connected Components Workbench software version 20.01.00 or earlier. Requires Connected Components Workbench software version 20.01.00 or later. 136 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 137: Product Dimensions

    Frame B - 22-JBAB 192.0 (7.56) 130.0 (5.1) 180.0 (7.1) 116.0 (4.57) FAULT ∅ 28.5 107.0 (4.21) (1.12) 66.0 (2.60) (12.6) ∅ 22.2 24.0 (0.94) (0.87) (10.2) (9.7) 152.2 (5.99) 111.2 (4.38) Frame C - 22-JBAC Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 138 180.0 (7.1) 92.2 (3.63) 116.0 (4.57) 69.2 (2.72) ∅ 28.5 45.7 (1.80) (1.12) 22.2 (0.87) ∅ 22.2 (0.87) FAULT (12.6) (10.2) 179.8 (7.08) (9.7) 144.8 (5.70) 109.8 (4.32) Frame C - 22-JBCC 138 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 139 106.3 (4.19) 94.3 63.1 (3.71) (2.48) (9.61) (8.43) 20A-DG01 FAULT FAULT (9.84) 22D-CCB 119.3 (4.70) Frame B 117.8 (4.64) 105.8 138.2 (11.81) (4.17) (5.44) 20A-DG01 FAULT FAULT (12.8) 22D-CCC 130.3 (5.13) Frame C Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 140 (7.76) (8.27) (8.86) 98.5 (3.88) (0.21) (0.30) (1.22) (1.93) (0.55) (3.86) (6.30) Frame B (6.46) (0.21) (0.31) 307.5 (12.11) 230.6 (9.08) 291.5 (11.48) 153.8 (6.06) 76.9 (3.03) (3.54) (0.31) (7.09) Frame C 140 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 141 FAULT (7.56) (7.09) (8.03) 22D-CCB (3.78) (0.21) (4.45) (3.94) Frame B (6.10) 110.5 (5.59) (4.35) 98.5 (3.15) (3.88) (0.37) 20A-DG01 FAULT FAULT (10.71) (11.18) (10.24) 22D-CCC (5.35) 123.5 (0.21) (4.86) (5.12) Frame C Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 142 AC Inp ut F AUL T (Inp ut cont actor) M R (L1) S (L2) T (L3) Pow er O Pow er On Pow er Source DB resist or ther mosta t 142 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 143 86 (3.40) 63 (2.48) 51 (2.00) 5.4 (12) 1321-3R25-A 183 (7.20) 146 (5.76) 85 (3.35) 60 (2.35) 76 (3.00) 4.9 (11) 1321-3R35-A 193 (7.60) 146 (5.76) 91 (3.60) 66 (2.60) 76 (3.00) 6.3 (14) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 144 Figure 17 – Frame B EMC Line Filters Dimensions are in millimeters and (inches). Catalog Numbers: 22-RF0P8-BL; 22-RF012-BS, 22-RF012-BL (Series B); 22-RF021-BS, 22-RF021-BL (1.97) (3.94) 29.8 (3.07) (1.17) (8.54) (9.02) (8.50) 17.8 5.5 (0.22) (0.70) 24.0 (0.94) 144 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 145 Figure 18 – Frame C EMC Line Filters Dimensions are in millimeters and (inches). Catalog Numbers: 22-RF018-CS, 22-RF018-CL; 22-RF025-CL; 22-RF026-CS, 22-RF026-CL; 22-RF034-CS, 22-RF034-CL (2.36) (5.12) (3.54) (1.26) (11.69) (12.17) (11.69) 5.5 (0.22) (0.67) (1.18) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 146 Appendix B Accessories and Dimensions Figure 19 – Remote (Panel Mount) HIM Dimensions are in millimeters and (inches). Catalog Number: 22-HIM-C2S (0.98) (3.66) (7.09) (2.64) (2.36) (6.06) 19.1 (3.03) (0.75) (0.19) 23.5 (0.93) 146 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 147 Accessories and Dimensions Figure 20 – NEMA Type 1 Bezel Dimensions are in millimeters and (inches). Catalog Number: 22-HIM-B1 11.1 (0.44) (3.66) 25.2 (0.99) (7.09) (2.64) (2.36) (6.06) 19.1 (3.03) (0.75) (0.19) 23.5 (0.93) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 148 Appendix B Accessories and Dimensions Notes: 148 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 149: Network Wiring

    RS-485 (DSI) Protocol PowerFlex 40P drives support the RS-485 (DSI) protocol to allow efficient operation with Rockwell Automation peripherals. In addition, some Modbus functions are supported to allow simple networking. PowerFlex 40P drives can be multi-dropped on an RS-485 network using Modbus protocol in RTU mode.
  • Page 150 Only pins 4 and 5 on the RJ45 plug should be wired. The other pins on the PowerFlex 40P RJ45 socket must not be connected because they contain power, and so on. for other Rockwell Automation peripheral devices. Wiring terminations on the master controller will vary depending on the master controller used and “TxRxD+”...

  • Page 151: Parameter Configuration

    +1. For example, Logic Command may be register address 8192 for some master devices (for example, ProSoft 3150-MCM SLC™ Modbus scanner) and 8193 for others (for example, PanelView™). Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 152: Writing (06) Logic Command Data

    011 = Freq. Source = Comms (Addr 8193) 14,13,12 100 = A070 [Preset Freq 0] 101 = A071 [Preset Freq 1] 110 = A072 [Preset Freq 2] 111 = A073 [Preset Freq 3] Not Used 152 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 153: Writing (06) Reference

    Speed Reference. Reference Address (Decimal) Description A decimal value entered as xxx.xx where the decimal point is fixed. For 8193 example, a decimal “100” equals 1.00 Hz and “543” equals 5.43 Hz. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 154: Reading (03) Logic Status Data

    1 = Sync Hold, 0 = Not Syc Hold 1 = Sync Ramp, 0 = Not Syc Ramp 1 =Traverse On, 0 = Traverse Off 1 = Traverse Decel, 0 = Not Trav Decel 154 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 155: Reading (03) Feedback

    Phase UW Short Phase VW Short Parameters Defaulted Software Overcurrent Drive Overload Power Unit Fail Network Loss Fault AutoTune Fail Communication Loss Encoder Loss Fault Parameter Checksum Error Hardware Enable Fault I/O Board Fail Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 156: Reading (03) And Writing (06) Drive Parameters

    For example, a decimal “1” is used to address Parameter d001 [Output Freq] and decimal “39” is used to address Parameter P039 [Accel Time 1]. Additional Information Go to https://www.ab.com/drives/ for additional information. 156 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 157: Rj45 Dsi Splitter Cable

    • If two peripherals will be powered up at the same time, one must be configured as the “Master” and connected to the Master port (M) and the other must be connected as the “Slave” and connected to the Slave port (S). Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 158: Dsi Cable Accessories

    PIN 8 RJ45 Two-Position Terminal Block Adapter – Catalog Number: AK-U0-RJ45-TB2P (PIN 5) PIN 8 (PIN 4) PIN 1 RJ45 Adapter with Integrated Termination Resistor – Catalog Number: AK-U0-RJ45-TR1 PIN 8 PIN 1 158 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 159: Connecting One Temporary Peripheral

    "Master" and connected to Master port (M) on RJ45 splitter cable Parameter 1 [Adapter Cfg] set to "Auto" (default) or "Slave" and connected to Slave port (S) on RJ45 splitter cable Serial converter Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 160: Connecting Two Permanent Peripherals

    4 and 5 only. Both the Master (M) and Slave (S) ports on the RJ45 splitter cable operate as standard RS-485 ports in this con guration. 160 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 161: Velocity Steplogic, Basic Logic And Timer/Counter Functions

    When the counter reaches the count programmed into the output level the output will change state. The counter can be reset via a digital input programmed as “Reset Counter”. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 162: Velocity Steplogic Using Timed Steps

    • A normal sequence begins with Step 0 and transition to the next step when the corresponding StepLogic time has expired. • Step 7 is followed by Step 0 • Sequence repeats until a stop is issued or a fault condition occurs. 162 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 163: Velocity Steplogic Using Basic Logic Functions

    For instance, the step may need to run for a minimum time period and then use the basic logic to trigger a transition to the next step. Start Step 0 Step 1 Frequency Logic In1 Logic In2 Time Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 164: Timer Function

    • After the timer is complete, the output is turned off releasing the preset speed command. The drive defaults to following the analog input reference as programmed. 164 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 165 Digital In1 Counter In Digital In2 Reset Counter Limit Switch Note that a “Reset Timer” input is not required for this example since the “Timer Start” input both clears and starts the timer. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 166: Counter Function

    A052 [Digital In2 Sel] set to 21 to select “Reset Countr” – A055 [Relay Out Sel] set to 17 to select “Counter Out” – A056 [Relay Out Level] set to 5.0 (Counts) 166 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 167 Jump to Step 2 Jump to Step 3 Jump to Step 4 Jump to Step 5 Jump to Step 6 Jump to Step 7 End Program (Normal Stop) End Program (Coast-to-Stop) End Program and Fault (F2) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 168 Step after [Stp Logic Time x] and “Logic In1” is not active (logically false) TIMED OR Step after [Stp Logic Time x] and “Logic In2” is not active (logically false) TIMED OR Use logic programmed in Digit 1 IGNORE 168 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 169: Encoder Usage And Position Steplogic Application

    E221 [Kp Speed Loop] are used in this control loop. The primary benefit of this mode is increased speed accuracy when compared to open-loop slip compensation. It does not provide speed bandwidth improvement. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 170: Wiring Notes

    (up to 8 positions) or in conjunction with a controller for more flexibility. Please note that this is not intended to replace high end servo controllers or any application that needs high bandwidth or very high torque at low speeds. 170 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 171: Common Guidelines For All Applications

    [Torque Perf Mode] default setting of 1 “Sensrls Vect” is recommended for most applications to improve the low speed torque for positioning applications. The autotune routine can be completed to further improve the drive-motor performance. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 172 This will determine how close the drive must be to the commanded position before the drive will indicate “At Home” or “At Position” in units of raw encoder pulses. This has no effect on the actual positioning control of the motor. 172 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 173: Positioning Operation

    Logic step to begin. This only affects the initial step. After start, the drive will move through the steps in the same manner as if option 2 was selected. This allows a process to be stopped and then restarted at the position where it stopped. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 174 5.0 seconds. Note that this is the total time in that step, not the time at that position. Therefore, it will include the time needed to accelerate, run, and decelerate to that position. 174 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 175 Note: Incremental move commands will cause the drive to move the amount specified based on the current position. Absolute commands are always with reference to “Home”. E246 [Pos Reg Filter] provides a low pass filter at the input of the position regulator. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 176: Homing Routine

    Program one of the digital inputs to option 33 “Home Limit”. Normally, the “Home Limit” input would be wired to a proximity switch or photo-eye and will indicate the system is in the home position. 176 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 177: Encoder And Position Feedback

    [Encoder Speed] to indicate a value. Parameter d306 is the number value to the left of the decimal (whole number) and d307 is the number to the right of the decimal (the portion less than 1). Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 178: Use Over Communications

    Important: Parameter values set prior to setting option 1 “RAM only” will be saved in drive non-volatile memory (EEPROM). E249 [Cmd Stat Select] Selects velocity-specific or position/fibers-specific Command and Status Word bit definitions for use over a communication network. 178 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 179: Setup Notes

    The programming tools (Connected Components Workbench and DriveTools SP software) can make setup of the positioning functions much easier. See the latest versions for additional tools or wizards which can aid in the setup. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 180 Appendix F Encoder Usage and Position StepLogic Application Notes: 180 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 181: Pid Set Up

    To enable the PID loop, parameter A132 [PID Ref Sel] must be set to an option other than 0 “PID Disabled”. Exclusive Control and Trim Control are two basic configurations where the PID loop may be used. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 182 • When the PID Control Loop is disabled, the Commanded Speed is the Ramped Speed Reference. PID Feedback = Pressure transducer signal Pump PID Reference = Desired system pressure 182 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 183: Trim Control

    • As tension increases or decreases during winding, the Speed Reference is trimmed to compensate. Tension is maintained near the Equilibrium set point. PID Reference = PID Feedback = Equilibrium set point Dancer pot signal P038 [Speed Reference] Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 184: Pid Reference And Feedback

    [Maximum Freq] = 60 Hz, a value of 600 sent over the network would represent 100% Feedback. 3 “Encoder” Encoder or Pulse train is used as an input for the PID Feedback. 184 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 185: Analog Pid Reference Signals

    • A113 [Anlg In4 20 mA Hi] = 0.0% … • A132 [PID Ref Sel] = 3 “4 20 mA Input” … 30 40 50 60 70 80 90 100 PID Reference (%) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 186 PID output in trim mode. Note that when the PID reaches the Hi or Lo limit, the PID regulator stops integrating so that windup does not occur. 186 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 187 In many applications, the D gain is not needed. Setting [PID Diff Rate] to 0.00 (factory default) disables the differential component of the PID loop. Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 188 A134 [PID Prop Gain] and A135 [PID Integ Time]: – Response is still slow after a step change, increase A136 [PID Diff Rate]. – Response is still unstable, decrease A136 [PID Diff Rate]. 188 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 189 Figure 24 – Slow Response – Over Damped PID Reference PID Feedback Time Figure 25 – Oscillation – Under Damped PID Reference PID Feedback Time Figure 26 – Good Response – Critically Damped PID Reference PID Feedback Time Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 190 Appendix G PID Set Up Notes: 190 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 191: Plate Drive Installation Instructions

    Note that the standard 480V 11 kW (15 HP) drive includes an internal inductor. This inductor cannot be included in the plate drive. Therefore, this rating requires the use of an external DC inductor or an AC input reactor as described in Table Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 192: Heatsink Thermal Capacity

    Figure 27 – Approximate Heatsink Dimensions for One Drive without Heatsink Fan Drive Frame Size mm (in.) mm (in.) mm (in.) 214 (8.43) 250 (9.84) 63.1 (2.48) 300 (11.81) 325 (12.8) 138.2 (5.44) 192 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 193: Heatsink Surface And Flatness Requirements

    Figure 28 – Smoothness Tolerance and Surface Pad Thickness +0.0127 mm (+0.0005 in.) –0.0127 mm (–0.0005 in.) 0.127 mm (0.005 in.) Figure 29 – Trueness Tolerance +0.0381 mm (+0.0015 in.) –0.0381 mm (–0.0015 in.) Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...

  • Page 194: Mounting Dimensions And Requirements

    It should not exceed 75 °C (167 °F) at its hottest point. Also, parameter b024 [Drive Temp] should be monitored and should not exceed 80 °C (176 °F). 194 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 195 Motor Overload, 117 Cover, Opening, 11 Motor Stalled, 117 Cross Reference, Parameter OverVoltage, 117 by Name, 112 Parameter Checksum, 119 Phase Short, 118 Dimensions Phase to Ground Short, 118 Drive, 137 Power Loss, 117 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 196 Reflective Wave Protection, 22 Motor Cable Length, 22 Removing Cover, 11 Motor Overload, 117 Repeated Start/Stop, 24 Motor Overload Fault, 117 Repeated Start/Stop Precautions, 24 Motor Stalled Fault, 117 RFI, see EMC/RFI 196 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 197 Ungrounded Supply, 14 Unshielded Power Cables, 20 Watts Loss, 130 Wire Control, 25 Wiring, 11 Block Diagram, 26, 28 Encoder, 30 I/O, 24 I/O Examples, 33, 37 Potentiometer, 33 Power, 20 PTC Example, 33 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 198 Index Notes: 198 Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 199 PowerFlex 40P Adjustable Frequency AC Drive User Manual Rockwell Automation Publication 22D-UM001F-EN-E - September 2024...
  • Page 200 At the end of life, this equipment should be collected separately from any unsorted municipal waste. Rockwell Automation maintains current product environmental compliance information on its website at rok.auto/pec. Allen-Bradley, Connected Components Workbench, DriveTools SP, DriveExecutive, DriveGuard, expanding human possibility, PanelView, PowerFlex, Rockwell Automation, SLC, StepLogic, and TechConnect are trademarks of Rockwell Automation, Inc.

Table of Contents