Adjustable

Frequency AC Drive
Phase I Control

Reference Manual

www.abpowerflex.com
Important User Information Solid state equipment has operational characteristics differing from those of
electromechanical equipment. “Safety Guidelines for the Application,
Installation and Maintenance of Solid State Controls” (Publication SGI-1.1
available from your local Rockwell Automation Sales Office or online at
http://www.ab.com/manuals/gi) describes some important differences
between solid state equipment and hard-wired electromechanical devices.
Because of this difference, and also because of the wide variety of uses for
solid state equipment, all persons responsible for applying this equipment
must satisfy themselves that each intended application of this equipment is
acceptable.

In no event will the Rockwell Automation be responsible or liable for

indirect or consequential damages resulting from the use or application of
this equipment.

The examples and diagrams in this manual are included solely for
illustrative purposes. Because of the many variables and requirements
associated with any particular installation, the Rockwell Automation cannot
assume responsibility or liability for actual use based on the examples and
diagrams.

No patent liability is assumed by Rockwell Automation with respect to use

of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without

written permission of the Rockwell Automation is prohibited.

Throughout this manual we use notes to make you aware of safety

considerations.

ATTENTION: Identifies information about practices or

! circumstances that can lead to personal injury or death, property
damage, or economic loss.

Attentions help you:

• identify a hazard

• avoid the hazard

• recognize the consequences

Important: Identifies information that is especially important for successful

application and understanding of the product.

Shock Hazard labels may be located on or inside the drive to

alert people that dangerous voltage may be present.

DriveExplorer, DriveTools32, and SCANport are trademarks of Rockwell Automation.

PLC is a registered trademark of Rockwell Automation.
ControlNet is a trademark of ControlNet International, Ltd.
DeviceNet is a trademark of the Open DeviceNet Vendor Association.
COLOR-KEYED is a registered trademark of Thomas & Betts Corporation.
 Summary of Changes

This information summarizes the changes made to this manual since the last
release.

Manual Updates
Change See Page...
Updated specifications and dimensions 1-1
“Alarms” section updated 2-1
Added “Copy Cat” section 2-18
“Digital Inputs” section updated 2-26
“Direction Control and Bipolar Reference” section updated 2-31
Added “Drive Overload Temperature (Frame 9 Only)” section 2-35
Updated the Efficiency” section 2-36
Updated the “Faults” section 2-38
New “Flying Start” section 2-45
Updated drive ratings tables in the “Fuses and Circuit Brakers” section 2-48
Updated the “HIM Operations” section 2-57
Added compatible PMM tables to the “Permanent Magnet Motors” section 2-68
Updated the “Position Loop - Follower (Electronic Gearing)” section 2-70
Added the “Position Loop - In Position Detect” section 2-74
Updated the “Position Loop - Point to Point” section 2-75
Added the “Position Loop - Registration” section 2-78
Updated the “Power Loss/Ride Through” section 2-81
Added the “Reflected Wave” section 2-88
Updated the “Speed/Position Feedback” section 2-102
Updated the “Speed PI Regulator” section 2-119
Updated the “Speed/Torque Selection” section 2-128
Updated the “User Functions” section 2-149
soc-2

Notes:
 Table of Contents
Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Summary of Manual Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i-1

Changes

Chapter 1 Specifications & Dimensions

PowerFlex 700S Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Input/Output Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Input Voltage Range/Tolerance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Heat Dissipation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Derating Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Chapter 2 Detailed Drive Operation

Accel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Auto/Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Auxiliary Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Bus Regulation/Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Cable, Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Cable, Motor Lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Cable, Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Cable Trays and Conduit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Carrier (PWM) Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Common Bus Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
ControlNet (20-COMM-C) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
Copy Cat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-18
Current Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Datalinks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19
Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
DeviceNet (20-COMM-D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-26
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-29
Direction Control and Bipolar Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
Drive Peripheral Interface (DPI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
DriveLogix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
Drive Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-34
Drive Over Temperature
(Frame 9 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-35
Dynamic Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
Electronic Gearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
CE Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
ii

Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
Flying Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-45
Friction Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
Fuses and Circuit Breakers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
Grounding, General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57
HIM Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57
HIM Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-57
Inertia Adaptation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-58
Inertia Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-59
Input Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-59
Input Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-60
Input Power Conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-60
Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-60
Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-60
Masks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62
Motor Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62
Motor Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-62
Motor Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-63
Motor Start/Stop Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-64
Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-64
Output Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-64
Output Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-65
Overspeed Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-66
Owners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-66
Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-68
PET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-69
Position Loop - Follower (Electronic Gearing) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-70
Position Loop - In Position Detect. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-74
Position Loop - Point to Point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-75
Position Loop - Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-78
Position Loop - Position Watch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-80
Power Loss/Ride Through . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-81
Preset Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-86
Process PI Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-86
Reflected Wave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-88
Remote I/O Adapter (20-COMM-R) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-90
RFI Filter Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-101
S-Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-101
Speed Control, Speed Mode, Speed Regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-101
Speed/Position Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-102
Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-113
Speed PI Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-119
Speed/Torque Select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-128
Start Inhibits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-132
Start/Stop Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-132
Start-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-135
Stop Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-135
SynchLink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-135
Sync Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-146
Test Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-147
Thermal Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-147
 iii

Torque Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-147

Unbalanced or Ungrounded Distribution Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-148
User Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-149
Voltage Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-152
Watts Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-153

Index
iv
 Chapter 1

Specifications & Dimensions

PowerFlex 700S
Specifications
Category Specification
Frames 1-6 Frames 9 & up
Protection 200-208V 240V 380/400V 480V 600V 690V 380/400V 480V 600V 690V
Drive Drive Drive Drive Drive Drive Drive Drive 500V Drive Drive Drive
AC Input Overvoltage Trip: 247VAC 285VAC 475VAC 570VAC 690VAC 863VAC 475VAC 570V AC 611V AC 690VAC 863VAC
Bus Overvoltage Trip: 350VDC 405VDC 675VDC 810VDC 1013VDC 1164VDC675VDC 810VDC 810VDC 1013VDC 1164VDC
Bus Undervoltage Trip: Adjustable Adjustable
Nominal Bus Voltage: 281VDC 324VDC 540VDC 648VDC 810VDC 931VDC 540VDC 648VDC 645VDC 810VDC 931VDC
Heat Sink Thermistor: Monitored by microprocessor overtemp trip Monitored by microprocessor overtemp trip
Drive Overcurrent Trip
Software Current Limit: Calculated value, 105% of motor rated to 200% of drive rated Calculated value, 105% of motor rated to 200% of drive rated
Hardware Current Limit: 105% of 3 sec. rating (158%-210%) 360% of rated Heavy Duty current (typical)
Instantaneous Current Limit: 143% of 3 sec rating (215%-287%) —
Line Transients: Up to 6000 volts peak per IEEE C62.41-1991 up to 6000 volts peak per IEEE C62.41-1991
Control Logic Noise Immunity: Showering arc transients up to 1500V peak Showering arc transients up to 1500V peak
Power Ride-Thru: 15 milliseconds at full load 15 milliseconds at full load
Logic Control Ride-Thru 0.25 sec., drive not running 0.25 seconds, drive not running
Ground Fault Trip: Phase-to-ground on drive output Phase-to-ground on drive output
Short Circuit Trip: Phase-to-phase on drive output Phase-to-phase on drive output
Agency The drive is designed to meet applicable requirements of the The drive is designed to meet applicable requirements of the
Certification following codes/standards: following codes/standards:
IEC 61800-2 Adjustable speed electrical power drive systems - IEC 61800-2 Adjustable speed electrical power drive systems -
General requirements General requirements
IEC 61800-5-1 Adjustable speed electrical power drive systems IEC 61800-5-1 Adjustable speed electrical power drive systems
- Safety requirements - Safety requirements
NFPA 70 – US National Electric Code NFPA 70 - US National Electrical Code
NEMA 250 – Enclosures for Electrical Equipment
UL and cUL Listed to UL508C and CAN/CSA - 22.2 No. 14-95 UL and cUL Listed to UL508C and CAN/CSA - 22.2 No. 14-95

C UL® US
Marked for all applicable European Directives Marked for all applicable European Directives
EMC Directive (89/336/EEC) EMC Directive (89/336/EEC)
Emissions Emissions
EN 61800-3 Adjustable Speed electrical power drive EN 61800-3 Adjustable Speed electrical power drive
systems Part 3 systems Part 3
Immunity Low Voltage Directive (73/23/EEC)
EN 61800-3 Second Environment, Restricted Distribution EN 50178 Electronic Equipment for use in Power
Low Voltage Directive (73/23/EEC) Installations
EN 50178 Electronic Equipment for use in Power
Installations
TUV Rheinland (applies to frames 1 - 6, 200/400V, and frames 5 TUV functional safety report only (no FS mark on the label)
..
W & 6, 690V only)
TUV
Rheinland
Product Safety
E
Production inspected
C TUV Functional Safety Report only for frames 1 - 4, 600V (no FS
mark on the label)
EN 50178

Bauart geprüft
Functional

..
TUV Safety
Rheinland Type approved
 1-2 Specifications & Dimensions

Category Specification
Frames 1-6 Frames 9 & up
Environment Altitude: 1000 m (3300 ft.) max. without derating 1000 m (3300 ft) max. without derating
Surrounding Air Temperature Based on drive rating, refer to Drive Frame chapters
without Derating:
Open Type: 0 to 50° C (32 to 122° F)
IP20: 0 to 50° C (32 to 122° F)
NEMA Type 1: 0 to 40° C (32 to 104 ° F)
IP56, NEMA Type 4X: 0 to 40 ° C (32 to 104 ° F)
Note: Frames 9 & 10 are rated 0 to 40 ° C (32 to 104 ° F)
surrounding air.
Storage Temperature (all -40 to 70° C (-40 to 158° F) –40 to 70 degrees C (–40 to 158 degrees F)
const.):
Relative Humidity: 5 to 95% non-condensing 5 to 95% non-condensing
Shock: 10G peak for 11 ms duration (+/- 1.0 ms) 15G peak for 11ms duration (±1.0 ms)
Vibration: 0.152 mm (0.006 in.) displacement, 1G peak, 5.5 Hz 2 mm (0.0787 in.) displacement, 1G peak
EN50178 / EN60068-2-6
Atmosphere — Important: Drive must not be installed in an area where the
ambient atmosphere contains volatile or corrosive gas, vapors
or dust. If the drive is not going to be installed for a period of
time, it must be stored in an area where it will not be exposed to
a corrosive atmosphere.
Electrical AC Input —
Voltage Tolerance: See Input Voltage Range/Tolerance on page 1-6 for Full Power
and Operating Range
Frequency Tolerance: 47-63 Hz 47-63 Hz.
Input Phases: Three-phase input provides full rating for all drives. Single-phase Three-phase input provides full rating for all drives.
operation provides 50% of rated current. Single-phase operation provides 50% of rated current.
DC Input
Voltage Tolerance +/- 10% of Nominal Bus Voltage (above) —
Displacement Power Factor: 0.98 across speed range 0.98 across speed range
Efficiency: 97.5% at rated amps, nominal line volts. 97.5% at rated amps, nominal line volts.
Max. Short Circuit Current Maximum short circuit current rating to match specified fuse/ ≤ 200,000 Amps
Rating: circuit breaker capability.
Using Recommended Fuse ≤ 200,000 Amps
or Circuit Breaker Type
Maximum Drive to Motor Power The drive to motor rating cannot exceed a 2:1 ratio The drive to motor rating cannot exceed a 2:1 ratio
Ratio
 Specifications & Dimensions 1-3

Category Specification
Frames 1-6 Frames 9 & up
Control Method Sine coded PWM with programmable carrier frequency, Indirect Sine coded PWM with programmable carrier frequency, Indirect
Induction Motor: Self-Organized, Field-Oriented Control, Current-regulated. Self-Organized, Field-Oriented Control, Current-regulated.
Brushless Motor: Ratings apply to all drives (refer to the Derating Guidelines on Ratings apply to all drives (refer to the Derating Guidelines on
page 1-8). The drive can be supplied as 6 pulse or 12 pulse in a page 1-8). The drive can be supplied as 6 pulse or 12 pulse in a
configured package. configured package.
Carrier Frequency Drive rating: 4 kHz Drive rating: 2 kHz
Settings: 2, 4, 8, 10 kHz Settings: 2, 4, 8, 10 kHz
Output Voltage Range: 0 to rated motor voltage 0 to rated motor voltage
Output Frequency Range: 0 – 320 Hz 0 – 320 Hz
Speed Control Speed regulation - without feedback Speed regulation - without feedback
0.1% of base speed across 120:1 speed range 0.1% of base speed across 120:1 speed range
120:1 operating range 120:1 operating range
50 rad/sec bandwidth 50 rad/sec bandwidth
Speed regulation - with feedback Speed regulation - with feedback
0.001% of base speed across 120:1 speed range 0.001% of base speed across 120:1 speed range
1000:1 operating range 1000:1 operating range
300 rad/sec bandwidth 300 rad/sec bandwidth
Torque Regulation Torque Regulation - without feedback Torque Regulation - without feedback
+/-10%, 600 rad/sec bandwidth +/-10%, 600 rad/sec bandwidth
Torque Regulation - with feedback Torque Regulation - with feedback
+/-2%, 2500 rad/sec bandwidth +/-5%, 2500 rad/sec bandwidth
Selectable Motor Control: Field Oriented Control with and without a feedback device and Field Oriented Control with and without a feedback device and
permanent magnet motor control permanent magnet motor control
Stop Modes: Multiple programmable stop modes including – Ramp, Coast Multiple programmable stop modes including – Ramp, Coast
and Current Limit and Current Limit
Accel/Decel Independently programmable accel and decel times adjustable Independently programmable accel and decel times adjustable
from 0 to 6553.5 in 0.1 second increments. from 0 to 6553.5 in 0.1 second increments.
S-Curve Time Adjustable from 0.5 to 4.0 seconds Adjustable from 0.5 to 4.0 seconds
Intermittent Overload: 110% Overload capability for up to 1 minute 110% Overload capability for up to 1 minute
150% Overload capability for up to 3 seconds 150% Overload capability for up to 3 seconds
Current Limit Capability: Independent Motoring and Regenerative Power Limits Independent Motoring and Regenerative Power Limits
programmable to 800% of rated output current programmable to 800% of rated output current
Electronic Motor Overload Class 10 protection with speed sensitive response. Investigated Class 10 protection with speed sensitive response. Investigated
Protection by U.L. to comply with N.E.C. Article 430 U.L. File E59272, by U.L. to comply with N.E.C. Article 430 U.L. File E59272,
volume 12. volume 12.
 1-4 Specifications & Dimensions

Category Specification
Frames 1-6 Frames 9 & up
Feedback Encoder Inputs (2): Dual Channel Plus Marker, Isolated with differential transmitter Dual Channel Plus Marker, Isolated with differential transmitter
Output (Line Drive) Incremental, Dual Channel Quadrature type Output (Line Drive) Incremental, Dual Channel Quadrature type
Encoder Voltage Supply: 5V DC or 12 V DC 320 mA/channel 5V DC or 12 V DC 320 mA/channel
5V DC requires an external power supply. 5V DC requires an external power supply.
12 V DC minimum high state voltage of 7V DC, maximum low 12 V DC minimum high state voltage of 7V DC, maximum low
state voltage of 0.4V DC state voltage of 0.4V DC
Maximum Input Frequency: 400 kHz 500 kHz
Stegmann Option:
Encoder Voltage Supply: 11.5V DC @ 130 mA 11.5V DC @ 130 mA
Hi-Resolution Feedback: Sine/Cosine 1V P-P Offset 2.5 Sine/Cosine 1V P-P Offset 2.5
Maximum Cable Length: 182 m (600 ft.) 182 m (600 ft.)
RS-485 Interface: Hi-Resolution Feedback Option card obtains the following Hi-Resolution Feedback Option card obtains the following
information via the Hiperface RS-485 interface shortly after information via the Hiperface RS-485 interface shortly after
power-up: Address, Command Number, Mode, Number of turns, power-up: Address, Command Number, Mode, Number of
Number of Sine/Cos cycles, Checksum turns, Number of Sine/Cos cycles, Checksum
Customer-I/O Plug (P1) - Hi Allen-Bradley PN: S94262912 Allen-Bradley PN: S94262912
Res: Weidmuller PN: BL3.50/90/12BK Weidmuller PN: BL3.50/90/12BK
Resolver Option:
Excitation Frequency: 2400 Hz 2400 Hz
Excitation Voltage: 4.25-26 Vrms 4.25-26 Vrms
Operating Frequency Range: 1 - 10 kHz 1 - 10 kHz
Resolver Feedback Voltage: 2V ± 300 mV 2V ± 300 mV
Maximum Cable Length: 304.8 meters (1000 ft.) 304.8 meters (1000 ft.)
DriveLogix User Available MemoryBase: 256 kbytes 256 kbytes
With Memory Expansion 768 kbytes 768 kbytes
Board:
Battery: 1756-BA1 (Allen-Bradley PN 94194801) 0.59g lithium 1756-BA1 (Allen-Bradley PN 94194801) 0.59g lithium
Serial Cable: 1761-CBLPM02 to 1761-NET-AIC 1761-CBLPM02 to 1761-NET-AIC
1761-CBLPA00 to 1761-NET-AIC 1761-CBLPA00 to 1761-NET-AIC
1756-CP3 directly to controller 1756-CP3 directly to controller
1747-CP3 directly to controller 1747-CP3 directly to controller
category 3 (2) category 3 (2)
Flex I/O Connection: Up to (8) modules Up to (8) modules
FLEXBUS Current Output: 640 mA maximum @ 5.1V dc 640 mA maximum @ 5.1V dc
Cable: 4100-CCF3 4100-CCF3
 Specifications & Dimensions 1-5

Input/Output Ratings Each PowerFlex has heavy duty torque capabilities. The drive ratings can be found
on pages 2-49 - 2-56. Also see Drive Overload on page 2-34.

The drive’s IT protection dictates overload cap’s amount and duty cycle. Ratings
are in the tables listed below. Table 1.A shows expected times.

Table 1.A IT Curve

10000000.0

1000000.0

100000.0

10000.0

Time (sec)
1000.0

100.0

10.0

1.0

8%

0%

0%
5%

2%

0%
4%

6%

0%

4%

0%
10

12

15
2.

11

14
10

10

11

11

13
10

Current (%)

Current Time On(s) Time Off(s) Duty Cycle

150% 3.0 57 5.0%
145 3.4 58 5.6
140 3.9 59 6.3
135 4.7 61 7.1
130 5.7 63 8.3
125 7.4 66 10.0
120 10.4 73 12.5
115 17.8 89 16.7
114 20.7 95 17.9
113 24.7 104 19.2
112 3038 117 20.8
111 40.7 138 22.7
110 60.0 180 25.0
109 69.2 180 27.8
108 81.8 180 31.2
107 100.0 180 35.7
106 128.6 180 41.7
105 180.0 180 50.0
104 300.0 180 62.5
103 900.0 180 83.3
102.5 4500000 180 100.0
Time On(s) =time at current level shown
Time Off(s) = time at 100% current
Duty Cycle % =time on/(time on +time of)*100

The On Times/Off Times ratio is fixed. If only 1/2 of the listed time is spent at a
given level, the only 1/2 the off time is necessary to reset the cycle.
1-6 Specifications & Dimensions

Input Voltage Range/

Drive
Tolerance Nominal Line Nominal Motor Drive Full Operating
Drive Rating Voltage Voltage Power Range Range
200-240 200 200† 200-264 180-264
208 208 208-264
240 230 230-264
380-400 380 380† 380-528 342-528
400 400 400-528
480 460 460-528
500-600 600 575† 575-660 432-660
(Frames 1-4 Only)
500-690 600 575† 575-660 475-759
(Frames 5 & 6 Only) 690 690 690-759 475-759

Drive Full Power Range = Nominal Motor Voltage to Drive Rated Voltage + 10%.
Rated current is available across the entire Drive Full Power Range
Drive Operating Range = Lowest† Nominal Motor Voltage - 10% to Drive Rated Voltage +
10%.
Drive Output is linearly derated when Actual Line Voltage is less
than the Nominal Motor Voltage
HP @ Motor (Drive Output)

Derated Power Range

No Drive
Output Full Power Range
Drive Operating Range

Nominal Motor Voltage -10% Drive Rated Voltage

Nominal Motor Voltage Drive Rated Voltage +10%
Actual Line Voltage (Drive Input)
Example:

Calculate the maximum power of a 5 HP, 460V motor connected to a 480V rated
drive supplied with 342V Actual Line Voltage input.

• Actual Line Voltage / Nominal Motor Voltage = 74.3%

• 74.3% × 5 HP = 3.7 HP
• 74.3% × 60 Hz = 44.6 Hz

At 342V Actual Line Voltage, the maximum power the 5 HP, 460V motor can
produce is
3.7 HP at 44.6 Hz.
5 HP
HP @ Motor (Drive Output)

3.7 HP

No Drive
Output

342V 480V
460V 528V
Actual Line Voltage (Drive Input)

Heat Dissipation See Watts Loss on page 2-153

 Specifications & Dimensions 1-7

Mounting Figure 1.1 Minimum Mounting Clearance Requirements

101.6mm No Adhesive Label

(4.0 in.) (see below)

50.8mm (2.0 in) 101.6mm

With Adhesive Label (4.0 in.)
(see below)

101.6mm
(4.0 in.)

50.8mm (2.0 in) 101.6mm

(4.0 in.)
1-8 Specifications & Dimensions

Derating Guidelines PowerFlex 700S Altitude and Efficiency

Frame Type Derate
All Altitude
100%

% of Drive Rated Amps

90%

80%

70%
0 1,000 2,000 3,000 4,000 5,000 6,000

Altitude (m)
Efficiency
(typical)
100
vs. Speed
95
vs. Load
% Efficiency

90

85
80
75
10 20 30 40 50 60 70 80 90 100
% Speed/% Load
 Specifications & Dimensions 1-9

ND
Frame Voltage Rating Enclosure Frequency(1) Derate
1 400V 11 kW • Open 2-6kHz
• NEMA Type1 50

Max. Surrounding Air Temp, C

o
• IP20 45
6 kHz
40
35
8 kHz
30
25
10 kHz
20
40 50 60 70 80 90 100
% of Output FLA

460V 15 HP • Open 2-6kHz

• NEMA Type1 50

Max. Surrounding Air Temp, C

o
• IP20 45
6 kHz
40
35
8 kHz
30
25
10 kHz
20
40 50 60 70 80 90 100
% of Output FLA

2 400V 15kW • Open

• NEMA Type1

Max. Surrounding Air Temp, C

50

o
• IP20
8 kHz

45

40
10 kHz

35
40 50 60 70 80 90 100
% of Output FLA

460V 20 HP • Open 10 kHz

• NEMA Type1 50
Max. Surrounding Air Temp, C
o

• IP20 48
10 kHz
46

44

42

40
40 50 60 70 80 90 100
% of Output FLA

25 HP • Open 6-10 kHz

• NEMA Type1 50
Max. Surrounding Air Temp, C

• IP20
o

40
6 kHz
30
8 kHz
20
10 kHz
10

0
40 50 60 70 80 90 100
% of Output FLA
1-10 Specifications & Dimensions

ND
Frame Voltage Rating Enclosure Frequency(1) Derate
3 400V 18.5 kW • Open 6-10 kHz
• NEMA Type1 50

Max. Surrounding Air Temp, C

o
• IP20 40
6 kHz
30

20 8 kHz

10
10 kHz
0
40 50 60 70 80 90 100
% of Output FLA

400V 22 kW • Open 2-10 kHz None

• NEMA Type1
• IP20
30 kW • Open 6-10 kHz
• NEMA Type1 50

Max. Surrounding Air Temp, C

•

o
IP20 6 kHz
40

8 kHz
30

20
10 kHz
10
40 50 60 70 80 90 100
% of Output FLA

37 kW • Open 4-10 kHz

• NEMA Type1 50

Max. Surrounding Air Temp, C

o
• IP20 40
4 kHz

30
6 kHz
20
10 kHz 8 kHz
10

0
40 50 60 70 80 90 100
% of Output FLA

460 V 30 HP • Open 2-10 kHz None

• NEMA Type1
• IP20
40 HP • Open 6-10 kHz
• NEMA Type1 50
Max. Surrounding Air Temp, C

•
o

IP20 6 kHz
40

30
8 kHz
20
10 kHz
10
40 50 60 70 80 90 100
50 HP • Open 6-10 kHz
• NEMA Type1 50
Max. Surrounding Air Temp, C
o

• IP20 40
6 kHz
30

20
10 kHz
8 kHz
10

0
40 50 60 70 80 90 100
% of Output FLA
 Specifications & Dimensions 1-11

ND
Frame Voltage Rating Enclosure Frequency(1) Derate
5 400V 55 kW • Open 2-8 kHz None
• NEMA Type1
• IP20
460V 75 HP • Open 2-8 kHz None
• NEMA Type1
• IP20
100 HP • Open 4 kHz None
• NEMA Type1 6-8 kHz
• IP20 50

Max. Surrounding Air Temp, C

o
6 kHz
45
40
35
30
8 kHz
25
20
15
40 50 60 70 80 90 100
% of Output FLA
(1) Consult the factory for further derate information at other frequencies.

Dimensions The following are the PowerFlex 700S dimensions.

Table 1.B PowerFlex 700S Frames

AC Input DC Input
208/240 400V 480V 600V 540V 650V
Frame ND HP HD HP ND kW HD kW ND HP HD HP ND HP HD HP ND HP HD HP ND HP HD HP
2 1.5 7.5 5.5 10 7.5 10 7.5 7.5 5.5 10 7.5
3 2 11 7.5 15 10 15 10 11 7.5 15 10
5 3 – – – – – – – – – –
1 7.5 5 – – – – – – – – – –
10 7.5 15 11 20 15 20 15 15 11 20 15
2 – – 18.5 15 25 20 25 20 18.5 15 25 20
15 10 22 18.5 30 25 30 25 22 18.5 30 25
20 15 30 22 40 30 40 30 30 22 40 30
3 – – 37 30 50 40 50 40 37 30 50 40
25 20 45 37 60 50 60 50 45 37 60 50
4 30 25 – – – – – – – – – –
40 30 55 45 75 60 75 60 55 45 75 60
5 50 40 – – 100 75 100 75 – – 100 75
60 50 75 55 125 100 – – 75 55 125 100
75 60 90 75 150 125 – – 90 75 150 125
– – 110 90 – – – – 110 90 – –
6 — — 132 110 200 150 – – 132 110 200 150
– – – – 200 150 – – – – – –
9 – – – – 250 200 – – – – – –
– – – – 300 250 – – – – – –
– – – – 350 300 – – – – – –
10 – – – – 450 350 – – – – – –
1-12 Specifications & Dimensions

Figure 1.2 PowerFlex 700S Frame 1-3 (Frame 1 Shown)

A
12.5 (0.49) D
7.0 (0.28) typ C

B E

7.0 (0.28) typ

7.0 (0.28)
D

Dimensions are in millimeters and (inches)

Weight ➋kg (lbs.)

Frame ➊ A B C D E Drive
1 200.0 (7.87) 389.0 (15.31) 202.8 (7.98) 175.0 (6.89) 375.0 (14.76) 11.3 (24.92)
2 285.0 (11.22) 389.0 (15.31) 202.7 (7.98) 250.0 (9.84) 375.0 (14.76) 18.4 (40.57)
3 285.0 (11.22) 564.0 (22.20) 202.7 (7.98) 250.0 (9.84) 550.0 (21.65) 26.6 (58.65)

➊ Refer to Table 1.B for frame information.

➋ Weights include HIM, DriveLogix controller with ControlNet daughtercard, Hi-Resolution Encoder Option, and
20-COMM-C ControlNet adapter.
 Specifications & Dimensions 1-13

Figure 1.3 PowerFlex 700S Frame 4

A
D 13.0 (0.55)
7.0 (0.27) 2 Places
7.5 (0.30)
15.1 (0.59) C

369.5 (14.53)

348.9 (13.76)
S

8.0 (0.31)
8.0
Lifting Holes 3 Places (0.31)
4 Places

Dimensions are in millimeters and (inches)

Approx. Weight ➋ kg (lbs.)

Drive &
Frame ➊ A (Max.) B C (Max.) D E Drive Packaging
4 220.8 (8.69) 758.8 (29.9) 201.8 (7.94) 192.0 (7.56) 741.7 (29.2) 28.4 (62.5) 29.03 (63.9)

➊ Refer to Table 1.B for frame information.

➋ Weights include HIM, DriveLogix controller with ControlNet daughtercard, Hi-Resolution Encoder Option, and
20-COMM-C ControlNet adapter.
1-14 Specifications & Dimensions

Figure 1.4 PowerFlex 700S Frame 5

369.4 (14.54)

70.1 (2.76) D 41.9 (1.65)

6.50 (0.26) 6.50 (0.26)

7.5 (0.30)
7.5 (0.30) C

369.0 (14.53) B
Overall
Height
349.5 (13.76)
75 HP
Frame 5

689.6 (27.15)
Overall
Height
100HP
Frame 5

6.50 (0.26)

A Conduit Box
NOT Present
On 75 HP Frame 5

Dimensions are in millimeters and (inches)

Frame A B C D E Approx Weight ➊ kg (lbs.)

5 308.9(12.16) 644.5(25.37) 275.4(10.84) 225.0(8.86) 625.0(24.61) 37.19 (82)
➊ Refer to Table 1.B for frame information.
➋ Weights include HIM, DriveLogix controller with ControlNet daughtercard, Hi-Resolution Encoder Option, and
20-COMM-C ControlNet adapter.
➌ When using the supplied junction box (100 HP drives Only), add an additional 45.1 mm (1.78 in.) to this dimension.
 Specifications & Dimensions 1-15

Figure 1.5 PowerFlex 700S Frame 6

8.5 (0.33)
466.7 (18.38)

A 18.0 (0.71)
6.50 (0.26)
360.6 (14.20) Detail
15.5 (0.61) 2 Places
8.0 (0.31) D 11.5 (0.45) C

369.0 (14.53)

349.5 (13.76)
S

E B

8.5 (0.33)
126.3 Lifting Holes - 4 Places
(4.97) 12.7 (0.50) Dia.

Dimensions are in millimeters and (inches)

Approx. Weight ➋ kg (lbs.)

Drive and
Frame ➊ A (Max.) B C (Max.) D E Drive Packaging
6 403.80 (15.90) 850.00 (33.46) 275.50 (10.85) 300.00 (11.81) 825.0 (157.5) 70.31 (154.70) 89.09 (196.00)

➊ Refer to Table 1.B for frame information.

➋ Weights include HIM, DriveLogix controller with ControlNet daughtercard, Hi-Resolution Encoder Option, and
20-COMM-C ControlNet adapter.
➌ When using the supplied junction box (100 HP drives Only), add an additional 45.1 mm (1.78 in.) to this
dimension.
1-16 Specifications & Dimensions

Figure 1.6 PowerFlex 700S Frame 9

480.0 (18.90)
5.0 (0.20) 400.0 (15.75) 363.3 (14.32)
14.0 (0.55) 240.0 (9.45) 9.0 (0.35) 339.5 (13.37)
45.0 (1.77)

Nameplate

Wire Way

1150.0
(45.28)

1120.0
(44.09)
Nameplate

9.0 (0.35)
Lifting Hole
21.0 (0.83)

Dimensions are in millimeters and (inches).

Weight kg (lbs.)
Frame A B C D E Drive Drive & Packaging
9 480 (18.9) 1150 (45.28) 339 (13.37) 400 (15.75) 1120 (44.09) 142.9 (315) 176.9 (390)
 Specifications & Dimensions 1-17

Figure 1.7 PowerFlex 700S Bottom View Dimensions, Frame 1, 2 & 3

Frame 1 Frame 2

173.5 (6.83) 22.4 (0.88) Dia. 28.7 (1.13) Dia.

152.5 (6.00) 2 Places 3 Places
132.5 (5.22)
25.5
72.5 (2.85)
(1.00)

187.6
(7.39)
160.3
190.4 (6.31)
187.9 153.7
(7.50) (7.40) (6.05)
114.9
(4.52)
136.1
(5.36)

65.0 (2.56)
104.3 (4.11)
122.2 (4.81)
137.7 (5.42)
108.0 (4.25) 171.0 (6.73)
135.0 (5.31) 201.4 (7.93)
242.4 (9.54)
140.9 (5.55)
161.0 (6.34)

Frame 3 - All Drives, except 50 HP, 480V Frame 3 - 50 HP, 480V Normal Duty Drive

170.3 (6.70)
170.3 (6.70)
159.7 (6.29) 34.9 (1.37) Dia.
159.7 (6.29)
22.2 (0.87) Dia. 28.7 (1.13) Dia. 2 Places
46.7 (1.84) Dia.
28.7 (1.13) Dia. 37.3 (1.47) Dia. 2 Places
2 Places
2 places 2 places

167.9 167.9 162.9

187.3
162.9 (6.61) (6.41)
(6.61) (7.37)
153.9 (6.41) 130.5
187.3 (5.14)
(6.06)
130.5 (7.37)
(5.14)

87.7 (3.45)
87.7 (3.45) 94.0 (3.70)

94.0 (37.0) 131.0 (5.16)

202.2 (7.96)
131.0 (5.16)
252 (9.92)
162.0 (6.38)
202.2 (7.96)

252.0 (9.92)

Dimensions are in millimeters and (inches).

1-18 Specifications & Dimensions

Figure 1.8 PowerFlex 700S Bottom View Dimensions, Frame 4, 5 & 6

Phase I Frame 4 Frame 5 - 75 HP, 480 V (55kW, 400V)
47.0 (1.85) Dia. 169.0 (6.65)
76.0 (2.99)
28.7 (1.13) Dia. 2 Places 34.9 (1.37) Dia.
2 Places 22.2 (0.87) Dia.
65.3 (2.57) 54.1 (2.13) Dia. 158.2 (6.23) 2 Places
22.2 (0.87) Dia. 2 Places 2 Places

62.7 (2.47) Dia.

241.9 2 Places
(9.52)
189.7
(7.47) 229.5
177.9 (9.04)
(7.00) 220.0
157.9 (8.66)
(6.21)
184.0
141.9 (7.24)
(5.59)
105.1 159.0
(4.14) (6.26)
95.8
(3.77)
65.0 (2.56)
26.8 (1.06)
36.8 (1.45) 65.0 (2.56)
51.5 (2.03) 93.0 (3.66)
63.8 (2.51) 110.0 (4.33)
112.8 (4.44) 150.0 (5.91)
180.8 (7.12) 215.0 (8.46)
280.0 (11.02)
320.0 (12.60)
Frame 5 - 100 HP, 480 V (55kW, 400V)

34.9 (1.37) Dia.

107.6 (4.24) 22.2 (0.87) Dia. 62.7 (2.47) Dia.
2 Places 2 Places Removable Junction Box
96.9 (3.81)

241.9
(9.52)
223.5
(8.80)
188.5
(7.42)
184.3
(7.26)
153.7
(6.05)
96.0
(3.78)

65.0 (2.56)
93.0 (3.66)
109 (4.29)
131.4 (5.17)
193 (7.60)
297.3 (11.70) Frame 6
123.5 (4.86) 34.9 (1.37) Dia. 22.2 (0.87) Dia.
62.7 (2.47) Dia. 4 Places
112.9 (4.44) 3 Places Removable Junction Box

275.5
(10.85)

219.0
(8.62)
242.0
(9.53)
222.3 185.4
(8.75) 148.5 (7.30)
(5.85) 151.8
(5.98)
116.6
(4.59)

67.3 (2.65)
114.4 (4.5)
119.4 (4.7)
136.4 (5.37)
197.4 (7.77)
297.4 (11.7)
347.4 (13.7)
397.4 (15.6)

Dimensions are in millimeters and (inches)

 Specifications & Dimensions 1-19

Figure 1.9 PowerFlex 700S Bottom View Dimensions, Frame 9

372.5 (14.67) 245.53
292.5 (11.52) (9.67)
142.5 (5.61) 59.0 (2.32)
62.5 (2.46) 191.64
(7.54) 100.12
(3.94)

285.0
(11.22)

Detail A
Brake Option Top Hat

Dimensions are in millimeters and (inches)

1-20 Specifications & Dimensions

Notes:
 Chapter 2

Detailed Drive Operation

This chapter explains PowerFlex 700S drive functions in detail. Explanations are
organized in alphabetically by topic. Refer to the Table of Contents for a listing of
topics in this chapter.

ATTENTION: Only qualified personnel familiar with the

PowerFlex 700S Drive and associated machinery should plan or
! implement the installation, start-up and subsequent maintenance
of the system. Failure to comply may result in personal injury
and/or equipment damage. Refer to Chapter 2 - “Start-Up” of the
PowerFlex 700S High Performance AC Drive Phase I Control - User
Manual, publication 20D-UM001 for detailed information on applying
power to a drive.

Accel Time Parameter 32 [Accel Time] sets the rate at which the drive ramps up its output after
a Start command or during an increase in desired speed (speed change).

The rate established is the result of the programmed Accel Time and the
programmed motor rated speed, parameter 4 [Motor NP RPM].

Parameter 4 [Motor NP RPM]

------------------------------------------------------------------------ = Accel Rate
Parameter 32 [Accel Time]

Times are adjustable in 0.0001 second increments from 0.01 to 6553.5 seconds.

Alarms Alarms indicate conditions within the drive that could affect drive operation or
application operation. Alarms are selected during commissioning of the drive.
Examples of alarms include: Encoder loss, communication loss or other exceptions
within the drive.

Configuration:
Parameters 365 [Fdbk LsCnfg Pri] through 394 [VoltFdbkLossCnfg] and
parameters 940 [+Sft OvrTrvlCnfg] through 944 [Positin Err Cnfg] program the
response of the drive to various conditions. Responses include Ignore, Alarm, Fault
Coast Stop, Fault Ramp Stop, and Fault Current Limit Stop.

Parameters 326 [Alarm Status 1] through 328 [Alarm Status 3] indicated any
alarms that are active.

Application Example:
Parameter 376 [Inv Ol Pend Cnfg] is set to a value of 1 "Alarm". This configures
the drive to set the alarm bit, parameter 326 [Alarm Status 1] bit 15 "Inv OL Pend"
2-2 Detailed Drive Operation

when the inverter overload pending event occurs. This alarm will allow the drive to
continue running. The user can make the decision as to what action to take in
relation to the alarm.

Analog Inputs Analog Input Specifications

There are 2 analog inputs located on TB1 - Row B (Bottom Terminals). Each input
accepts a +/-10V or +/-1V bipolar, differential signal. Dip switches SW1-1 and
SW1-2 are used to select whether the analog inputs are +/-10V or +/-1V. The A/D
converter is 14 bits including the sign bit (13 bits plus the sign bit).

Analog Input Configuration

Once the Analog Input is converted, [Anlg Inx Offset] can be applied. This
parameter has a range of +/-20V. [Anlg Inx Volts] is the sum of the A/D output and
[Anlg Inx Offset]. [Anlg Inx Volts] are displayed as +/-10V.

[Anlg Inx Scale] scales [Anlg Inx Volts] to the range of [Anlg Inx Data]. A
destination parameter, such as a speed reference can then be linked to [Anlg Inx
Data].

- 801 Anlg ln1 Volts

TB1-B11
A/D
14bit Anlg ln1 Data
TB1-B10 +
+ (kn * s) + wn
X s + wn
800

Anlg ln1 Offset 803 Lead Lag

Anlg ln1 Scale 802

Al 1 Filt Gain 804

Anlg ln1 Filt BW 805

Shield
TB1-B9

- 807 Anlg ln2 Volts

TB1-B8
A/D
14bit Anlg ln2 Data
TB1-B7 +
+ (kn * s) + wn
X s + wn
806

Anlg ln2 Offset 809 Lead Lag

Anlg ln2 Scale 808

Al 2 Filt Gain 810

Anlg ln2 Filt BW 811

[AIx Filt Gain] and [Anlg Inx Filt BW] are used to filter the analog input data.
 Detailed Drive Operation 2-3

Configuration Example:

This example illustrates how to setup a speed reference to follow a 0-10V analog
input signal and null out a small amount of offset from the A/D converter on the
analog input.

• 803 [Anlg ln1 Offset] = -0.0144V

• 802 [Anlg ln1 Scale] = 0.1 per 1V
• 804 [Anlg ln1 Filt Gain] = 1
• 805 [Anlg ln1Filt BW] = 0
• 10 [Spd Ref 1] is linked to 800 [Anlg ln1 Data]

With a desired [Anlg In1 Volts] of 0V, the drive was reading 0.0144V. To null out
analog input 1, [Anlg In1 Offset] was set to -0.0144V.

[Spd Ref 1] is a per unit parameter, meaning that a value of 1 equates to base motor
RPM. Therefore, to scale [Anlg In1 Data] to give us a value from 0 to 1 for a 0-10V
signal, [Anlg In1 Scale] was set to 0.1 per 1V.

[Anlg In1 Filt BW] was set to 0 so that no filtering took place on analog input 1.

Analog Outputs Analog Output Specifications

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

Analog Output Configuration

The analog outputs can be linked to either an integer parameter or a real parameter.
Use [Anlg Outx Real] when you are linking to a real parameter and use [Anlg Outx
Integer] when you are linking to an integer parameter.

Anlg Out1 Offset 812

Anlg Out1 Integer 814 + 816 Anlg Out1 Volts

-
Anlg Out1 Real 815
X TB1-B5
+ D/A
Limit 12bit
TB1-B6
+
Anlg Out1 Scale 817 10 [x] 818

Anlg Out1 Zero

1
[x]
Shield
TB1-B4

Anlg Out2 Offset 813

Anlg Out2 Integer 819 + 816 Anlg Out1 Volts

-
Anlg Out2 Real 820
TB1-B5
X
+ D/A
Limit 12bit
TB1-B6
+
Anlg Out2 Scale 822 10 [x] 823

Anlg Out1 Zero

1
[x]
2-4 Detailed Drive Operation

[Anlg Outx Offset] is added to [Anlg Outx Real] or [Anlg Outx Integer] before the
scaling and limiting blocks. [Anlg Outx Offset] has a range of +/-20V.

The result of [Anlg Outx Offset] plus [Anlg Outx Real] or [Anlg Outx Integer] is
limited by 10 times the value of [Anlg Outx Scale].

Then that limited value is divided by the value of [Anlg Outx Scale].

[Anlg Outx Zero] is added after the scaling and limiting of the analog output value.
[Anlg Outx Zero] can be used to null out any offset from the D/A converter.

Example Configuration 1:
This configuration sends the motor torque current reference value to a 0-10V
analog output signal.

• [Anlg Out1 Real] is linked to [Mtr TrqCurr Ref]

• [Anlg Out1 Scale] = 0.1 per Volt

[Mtr TrqCurr Ref] is a real parameter expressed in per unit. Therefore a value of 1
corresponds to 100% motor torque. [Anlg Out1 Real] is used because [Mtr TrqCurr
Ref] is a real parameter.

[Anlg Out1 Scale] is set to 0.1 per 1V so that when [Mtr TrqCurr Ref] = 1p.u., the
analog output = 1 / 0.1 = 10V.

Example Configuration 2:
This configuration sends [Position Error] out to a 0-10V analog output signal.

• [Anlg Out1 Integer] is linked to [Position Error]

• [Anlg Out1 Scale] is set to 214748664.8 per Volt

[Position Error] is an integer parameter with a range from -2147483648 to

+2147483648. [Anlg Out1 Integer] is used because [Position Error] is an integer
parameter.

[Anlg Out1 Scale] is set to 214748364.8 per Volt so the analog output will give
-10V when the position error is -2147483648 and will give +10V when the position
error is +2147483648.

Auto/Manual The Auto/Manual function on the LCD HIM is not functional on the PowerFlex®
700S.

Autotune Auto-tuning is a procedure that involves running a group of tests on the motor/drive
combination. Some tests are checking the drive hardware while others configure the
drive parameters to maximize the performance of the attached motor.

The auto-tuning procedure can be completed using the Start-Up menu of the HIM.
Please refer to Chapter 2 - “Start-Up” of the PowerFlex 700S High Performance AC
Drive Phase I Control - User Manual, publication 20D-UM001, for information on
starting-up the PowerFlex 700S AC drive and running the auto-tune procedure.
 Detailed Drive Operation 2-5

Autotune - Start-Up Menu

The Start-Up menu prompts the user for information and yes/no responses as
required. The “Motor Control,” “Motor Data,” “Feedback Configuration,” “Power
Circuit Test,” “Direction Test,” “Motor Tests,” and “Inertia Measure” submenus of
the Start-Up Menu are all related to the autotuning of the drive/motor combination
and will be covered in this section.

Motor Control
The Motor Control submenu asks you to select the motor control operating mode
which sets the parameter 485 [Motor Ctrl Mode]. Choices are “FOC,” “FOC2,”
“Pmag Motor” and “Test.”

• “FOC” selects field oriented control. This should be the selection for AC
squirrel cage induction motors
• “FOC2” selects field oriented control and is only used for a specific type of AC
induction motor with motor thermal feedback.
• “Pmag Motor” selects control for permanent magnet motors
• “Test” puts the drive in a test mode to perform the direction test. “Test” is
automatically selected during the direction test portion of the Start-Up routine,
and does not need to be set manually by the user.

Next, the motor control submenu asks you to select whether you have no dynamic
braking, an internal resistor for dynamic braking, or an external resistor for
dynamic braking. When no dynamic braking is selected, the bus regulator is turned
on (see Bus Regulation/Braking of this manual for more details).

Motor Data
This submenu asks you to enter whether the motor power is in units of kW or HP.
Then you are prompted to enter the motor nameplate data. Accurate motor
nameplate data is important for tuning the drive to the connected motor.

Feedback Configuration
The Feedback Configuration submenu asks you to select the feedback device type.
Possible selections are “Encoder 0,” “Encoder 1,” “Aux Speed,” “Motor Sim,” or
“Option Card.” Encoder 0 and Encoder 1 are for the encoders on the I/O board.
When “Encoder 0” or “Encoder 1” are selected, you must also enter the encoder
ppr. “Motor Sim” is to simulate a motor when there is no motor connected to the
drive. “Option Card” can be chosen when either the Resolver or Hi-Resolution
Encoder option cards are installed.

Power Circuit Test

This submenu allows you to perform a diagnostic check to check the output section
of the drive power circuit for shorts or open circuits.

Direction Test
The direction test checks the actual direction relative to the commanded direction,
and checks for proper encoder feedback. The test prompts you to answer if the
motor direction is correct. When it is not, you can either power down and swap two
2-6 Detailed Drive Operation

of the motor leads, or change the drive’s logic to change the motor direction. Then
the test is performed again. The test then checks if the feedback is positive. When it
is not, you can either power down and swap two of the encoder signals, or you can
change the drive’s logic to change the sign of the feedback. Then the test is
performed again.

Motor Tests
This submenu performs the tests to measure the motor characteristics. These tests
can be performed with the motor coupled or uncoupled to the load, but be aware
that the motor will rotate during some of the tests.

For Field Oriented Control the following motor tests are performed:
Stator Resistance Test
This test identifies the motor stator resistance and stores the value into parameter
491 [StatorResistance]. The motor should not rotate during this test.
Stator Inductance Test
This test identifies the motor stator inductance and stores the value into parameter
490 [StatorInductance]. The motor should not rotate during this test.
Leakage Inductance Test
This test measures the inductance characteristics of the motor. A measurement of the motor
inductance is required to determine references for the regulators that control torque. The motor
should not rotate during this test. The test runs for approximately 1 minute and then stores the
calculated value into parameter 492 [LeakInductance]. A typical value is between 15 and 25%.
Flux Current Test
This test is used to identify the value of motor flux current required to produce rated motor torque
at rated current. When the flux test is performed, the motor will rotate. The drive accelerates the
motor to the speed set in parameter 19 [Atune Spd Ref] (default is 85% of base speed) and then
coasts for several seconds. This cycle may repeat several times, then decelerate to a low speed
and shut off. This test stores the value for flux current in parameter 488 [Flux Current].

For Permanent Magnet Control the following motor tests are performed:
Stator Resistance Test
This test identifies the motor stator resistance and stores the value into parameter 522 [PM Stator
Resist]. The motor should not rotate during this test.
Stator Inductance Test
This test identifies the motor stator inductance and stores the value into parameter 520 [PM Q
Inductance] and 521 [PM D Inductance]. The motor should not rotate during this test.
Encoder Offset
The absolute position sensor counter offset from the rotor flux center position for a Permanent
Magnet (PM) motor. This value is determined by an automated measurement procedure, which
uses parameter 505 [PM TestWait Time], 506 [PM Test Idc Ramp], 507 [PM Test FreqRamp], 508
[PM Test Freq Ref] and 509 [PM Test I Ref]. First, the Flux Producing (d-axis) current is applied to
the stator, starting with 0A and with 0 Hz. Current increases with the ramp rate defined by
parameter 506 [PM Test Idc Ramp] to the peak current value defined by parameter 509 [PM Test I
Ref]. The current is continuously applied at this level for the time interval defined by parameter 505
[PM TestWait Time]. Then, the DC excitation position will be changed by 90 electrical degrees with
the frequency defined by parameter 508 [PM Test Freq Ref] and the rate change of the frequency
defined by parameter 507 [PM Test FreqRamp]. The 90 degree phase shifted d-axis current with
the current value defined by parameter 509 [PM Test I Ref] is continuously applied for the time
interval defined by parameter 505 [PM TestWait Time] The value of parameter 504 [PM AbsEnc
Offst] is determined by value in the absolute position sensor counter.
Back EMF
Measures the permanent magnet motor CEMF (motor voltage feedback) coefficient and stores the
value in parameter 523 [PM Mtr CEMF Coef].
 Detailed Drive Operation 2-7

Inertia Test
The final test is the inertia calculation. The motor and load (machine) inertia is used
to set the bandwidth of the speed regulator. During the test the motor will accelerate
to the speed set in parameter 19 [Atune Spd Ref] at a specified torque set by
parameter 129 [Atune Torq Ref]. The test then calculates the time in seconds to
accelerate the motor at rated torque from zero to base speed and stores that value in
parameter 9 [Total Inertia].

Troubleshooting a “MC Commissn Fail” Fault during Autotune

The “MC Commissn Fail” fault occurs when either the Power Circuits diagnostics
test fails or one of the Motor Tests fails. To find out specifically why the fault
occurred, before clearing the fault, check the bits in the following parameters: 552
[MC Diag Error 1], 553 [MC Diag Error 2], or 554 [MC Diag Error 3].

Auxiliary Power Supply You may use an auxiliary power supply to keep the 700S Control Assembly
energized when input power is de-energized. This allows the Main Control
Board, DriveLogix controller and any feedback option cards to continue
operation. Refer to User Manual for connection information.
Frames 1-6
Refer to the Auxiliary Power Supply option (20-24V-AUX1) and publication
PFLEX-IN010.

Frames 9 & Up
You must set Par 153 [Control Options]/bit 17 [Aux Pwr Sply] to enable this
feature.
Auxiliary Power Supply Specifications
Voltage Current (Min) Power (Min)
24V DC ± 5% 3 A 75 W

Bus Regulation/Braking Description

This information serves as a supplement to the PowerFlex® 700S - Phase I Control
User Manual, publication 20D-UM001, addressing items specific to the PowerFlex
700S bus regulation and dynamic braking. Please refer to the User Manual for
details on the PowerFlex 700S dynamic braking wiring and setup and the
PowerFlex® Dynamic Braking Resistor Calculator Selection Guide, publication
PFLEX-AT001, for application techniques on dynamic braking. These publications
are available online at:

http://literature.rockwellautomation.com/literature

Technical Information
The bus regulator limits the maximum bus voltage for systems that do not have (or
have limited) braking or regenerative capabilities. The bus regulator limits the bus
voltage by comparing the DC bus voltage feedback to a DC bus voltage reference.
2-8 Detailed Drive Operation

It then limits the regenerative power allowed back onto the DC bus to keep the DC
bus voltage at or below the reference value and prevent a “DC Bus Overvolt” fault.

Dynamic braking uses a 7th insulated gate bipolar transistor (IGBT) and braking
resistor to dissipate regenerative energy. The drive switches the 7th IGBT on and
off to keep the DC bus voltage at or below the DC bus voltage reference.
Parameters in the PowerFlex 700S specify whether the resistor is an internal or
external resistor. For an external resistor, the user can program the resistor
specifications for protection of the resistor. Only resistors specifically designed for
pulse and high energy dissipation (dynamic braking) should be used.

The PowerFlex® 700S allows the user to select bus regulation, dynamic braking, or
a combination of bus regulation and dynamic braking.

Bus/Reg Brake Ref Motor Spd Fdbk 300

Power
Mtring Power Lim 127
415 Limit Calc
100 / DC Bus Voltage Regen Power Lim 128 Torque PosLim Actl
Rated Volts +
306 Min 123
401 X Torque Pos Limit 125
+ Bus Volt
X
2 + - Regulator
Iq Actual Lim Torque NegLim Actl
X Limit
0.045 Max
Brake/Bus Confg 353 -1 124
(Brake Enable) 414 00 Brake/Bus Cnfg
& 414 03 Torque Neg Limit 126
(BusRef Hi/Lo) 02 (Bus Reg En)

Bus Regulator/Braking Configuration

Parameter 414 [Bus/Brake Cnfg] determines the configuration of bus regulation
and dynamic braking. Parameter 414 is broken down into the following bits:

Bit 0 - Brake Enable

When this bit is set to 1 it enables the internal brake transistor (7th IGBT). When this bit is set to
0 then the internal brake transistor is disabled.
Bit 1 - Brake Extern
When this bit is set to a 1 it configures the brake operation for an external resistor. Then the
external brake resistor protection is based on the peak watts entered into parameter 416 [Brake
PulseWatts] and the continuous watts entered in parameter 417 [Brake Watts]. When this bit is
set to 0 it configures the brake operation for an internal resistor. Then 416 [Brake PulseWatts]
and 417 [Brake Watts] are not active.
Bit 2 - BusRef Hi/Lo
This bit configures whether bus regulation or dynamic braking turns on first. This bit is only active
when parameter 414 [Bus/Brake Cnfg] bits 0 and 3 are both set to 1. When this bit is set to 1 the
dynamic braking turns on first (at the DC bus voltage set by parameter 415 [Bus Reg/Brake Ref]),
and then the bus regulator turns on if the DC bus voltage continues to rise (at the DC bus voltage
set by 415 [Bus Reg/Brake Ref] plus 4.5%). When this bit is set to 0 the bus regulator turns on
first (at the DC bus voltage set by 415 [Bus Reg/Brake Ref]) and then the dynamic braking turns
on when there are any transients above 415 [Bus Reg/Brake Ref].
Bit 3 - Bus Reg En
When this bit is set to 1, bus regulation is enabled. When this bit is set to 0, bus regulation is
disabled.

Set the appropriate 414 [Bus/Brake Config] for your configuration. The following
is a summary of possible settings for [Bus/Brake Config]:

[Bus/Brake Config]
Desired Operation Setting
External regeneration 0000
Dynamic braking with internal resistor 0001
Dynamic braking with external resistor 0011
Bus regulation only 1000
Bus regulation first, then dynamic braking with internal resistor 1001
 Detailed Drive Operation 2-9

Dynamic braking with internal resistor first, then bus regulation 1101
Bus regulation first, then dynamic braking with external resistor 1011
Dynamic braking with external resistor first, then bus regulation 1111
Parameter 415 [Bus Reg/Brake Ref] sets the turn-on bus voltage threshold for the
bus regulator and the dynamic brake. Actual values are modified by the
configuration selected in [Bus/Brake Config]. When using common DC bus drives,
adjustment of [Bus Reg/Brake Ref] allows a limited coordination of brake
operation with other drives. For example, when you have two common bus drives,
and one drive is larger than the other, set the larger drive to turn on at a lower
voltage than the smaller drive. In this manner, the smaller drive does not try to
dissipate all of the dynamic braking energy.

Note: Actual bus voltage reference values are determined as a percentage

of parameter 401 [Rated Volts] and the selected voltage class.

2 × Par 401 [Rated Volts] × Par 415 [Bus Reg/Brake Ref]

bus voltage reference = ----------------------------------------------------------------------------------------------------------------------------------------------- VDC
100

For example, with a 480V rated drive and [BusReg/Brake Ref]=111%:

2 × 480 × 111 = 753.5 VDC

bus voltage reference = -------------------------------------
100

Note: When the low voltage class is selected an additional multiplier of

1.2 is used. For example parameter 401 [Rated Volts] = 400V AC,
then parameter 401 * 1.2 = 480 VAC is used to determine the bus
voltage reference:

( 2 × 400 × 1.2 × 111 )

bus voltage reference = -------------------------------------------------------- = 753.5 VDC
100

In this case, if a drive has a selected low voltage class, but is run on a high voltage
class AC line, the dynamic brake will not automatically turn on.

Parameter 416 [Brake PulseWatts] sets the peak power reference for determining
the protection for an external brake resistor. Parameter 416 is active only if the
configuration is selected for an external brake (parameter 414 [Bus/Brake Cnfg] bit
1 is set to 1). When the internal brake resistor is used then the protection is
determined from the drive-internal values. Normally this value is specified by the
resistor vendor as the energy rating (in Joules) or a 1 second power rating (in Watts)
with typical values in the range of 30 to 100 times higher than the resistor’s
continuous power rating.

Parameter 416 [Brake Pulse Watts] = (Resistors peak energy in Joules)/1 Sec;
where the resistor package’s peak energy rating is obtained from the resistor
manufacturer.

When the resistor package’s peak energy rating cannot be obtained, there are a few
other ways to approximate parameter 416 [Brake Pulse Watts]:
2-10 Detailed Drive Operation

1. [Brake Pulse Watts] = 75,000 (watts/lbs) x Resistor element weight (lbs); where
75,000 represents a specific heat of 0.11 cal/Kg oC (steel or nichrome) and a
temperature rise of 350oC, and the resistor element weight is the total weight of
the resistor wire element in pounds (not the entire weight of the resistor cage).

For example a resistor with a nichrome element that weights 10 lbs. would have:

Parameter 416 [Brake Pulse Watts] = 75,000 × 10 = 750,000 Watts

2. [Brake Pulse Watts] = (Time Constant) x parameter 417 [Brake Watts]; where
the Time constant equals the amount of time for the resistor to reach 63% of its
rated temperature with applied rated watts (parameter 417 [Brake Watts]).

Parameter 417 [Brake Watts] sets the continuous watts for determining the
protection for an external brake. Enter the continuous watt rating of the resistor
cage (found on the resistor cage nameplate or from the resistor manufacturer) for
this parameter. This parameter is active only if the configuration is selected for an
external brake ([Bus/Brake Cnfg] bit 1 set to 1). When the internal brake resistor is
used then the protection is determined from the drive-internal values.

Parameter 369 [Brake OL Cnfg] determines how the drive reacts when the brake
protection is exceeded. Regardless of the parameter 369 [Brake OL Cnfg] setting,
the drive does not command the 7th IGBT to switch when the brake resistor
protection is exceeded. Some possible settings for this parameter are:

Parameter 369 [Brake OL Cnfg]

Setting Drive Operation
0 - “Ignore” The drive does not generate the fault 38 “Brake OL Trip” or alarm
“Brake OL Trip.”
1 - “Alarm” The drive generates an alarm “Brake OL Trip,” but does not
generate the fault 38 “Brake OL Trip.”
2 - “FltCoastStop” The drive generates the fault 38 “Brake OL Trip” and issues a
coast stop.
3 - “FltRampStop” The drive generates the fault 38 “Brake OL Trip” and issues a
ramp stop.
4 - “FltCurLimStop” The drive generates the fault 38 “Brake OL Trip” and issues a
current limit stop.

Parameter 418 [Brake TP Sel] selects a value to monitor for diagnostics of the
dynamic brake protection. Possible selections for parameter 418 [Brake TP Sel]
are:

Parameter 418 [Brake TP Sel]

Setting Description
0 - “Zero” Do not monitor any test point for the brake protection.
1 - “Duty Cycle” Actual duty cycle of the dynamic brake IGBT where a value of 0 in
parameter 419 [Brake TP Data] = full open and 1 = full on.
2 - “Power Actual” Actual power applied to the resistor (Watts).
3 - “Max BodyTemp” Maximum temperature that the resistor body can handle (°C).
4 - “Max ElemTemp Act” Maximum temperature that the resistor element can handle (°C).
5 - “BodyTemp Act” Predicted temperature of the resistor body (°C).
6 - “ElemTemp Act” Predicted temperature of the resistor element (°C).
7 - “BTmpTrip Stat” Maximum resistor body temperature has been exceeded when
parameter 419 [Brake TP Data] = 1.
8 - “ETmpTripStat” Maximum resistor element temperature has been exceeded when
parameter 419 [Brake TP Data] = 1.
9 - “Int DB Ohms” Rating of internal resistor when internal resistor is installed (Ohms).
 Detailed Drive Operation 2-11

10 - “Data State” A value of 0 in parameter 419 [Brake TP Data] = initial state, 1 =

internal resistor data loaded, 2 = external resistor data loaded.
11 - “MC BrakeEnbl” A value of 0 in parameter 419 [Brake TP Data] = dynamic braking
disabled, 1 = dynamic braking enabled.
12 - “1/rdb” Inverse of the resistance (1/Ohms).
13 - “1/th_eb” Inverse of the thermal impedance from the resistor element to body
(Watts/°C).
14 - “1/ce” Inverse of the resistor element thermal mass (°C/W*sec).
15 - “tamax” Maximum ambient temperature of resistor (°C).
16 - “1/th_ba” Inverse of the thermal impedance from the resistor body to element
(Watts/°C).
17 - “1/cb” Inverse of the resistor body thermal mass (°C/W*sec).
18 - “DB IGBT Amp” IGBT current rating (Amps).
Parameter 419 [Brake TP Data] displays the data selected in parameter 418 [Brake
TP Sel].

Cable, Control Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

Cable, Motor Lengths Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

Cable, Power Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

Cable Trays and Conduit Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

Carrier (PWM) Frequency See Chapter 1 for derating guidelines as they travel to carrier frequency.

Parameter 402 [PWM Frequency] sets the switching frequency. In general, the
lowest possible switching frequency that is acceptable for any particular application
is the one that should be used. There are several benefits to increasing the switching
frequency. Refer to Figure 2.1 and Figure 2.2. Note the output current at 2 kHz and
4kHz. The “smoothing” of the current waveform continues all the way to 10 kHz.
2-12 Detailed Drive Operation

Figure 2.1 Current at 2kHz PWM Frequency

Figure 2.2 Current at 4kHz PWM Frequency

The benefits of increased carrier frequency include less motor heating and lower
audible noise. An increase in motor heating is considered negligible and motor
failure at lower switching frequencies is very remote. The higher switching
frequency creates less vibration in the motor windings and laminations making
lower audible noise. This may be desirable in some applications. Some undesirable
effects of higher switching frequencies include derating ambient temperature vs.
load characteristics of the drive, higher cable charging currents and higher potential
for common mode noise.

A very large majority of all drive applications will perform adequately at 2-4 kHz.

Common Bus Systems Information not available at time of printing. For information on the 1336R Regen
unit, see Bus Regulation/Braking.

Refer to “Common Bus” publication DRIVES-IN001 for detailed information.

Communications See individual adapters - ControlNet (20-COMM-C), DeviceNet (20-COMM-D),

Remote I/O Adapter (20-COMM-R), etc.
 Detailed Drive Operation 2-13

ControlNet (20-COMM-C) This information serves as a supplement to the PowerFlex® ControlNet Adapter
Users Manual, publication 20COMM-UM003, addressing items specific to the
PowerFlex 700S. Please refer to the User Manual for details on 20-COMM-C
set-up, configuration, I/O messaging, and explicit messaging. This document does
not apply to the DriveLogix communications to the 700S.

Setup Information
Parameters 25 [M-S Input] and 26 [M-S Output] of the 20-COMM-C must be
configured for the Datalinks that are to be used. If changes are made to these
parameters or others, parameter 9 [Reset Module] must be set to reset module for
the change to take effect. Set rotary switches to the correct node address. Node 02 is
used for all Datalinks in this example.

To use the 20-COMM-C on the PowerFlex 700S with ControlLogix use following
setup when adding to the ControlNet device list. Use the values from Table 2.A
Node Configuration Input and Output Sizes for the input and output sizes. The
Configuration Assembly Instance = 6 and Configuration Size = 0.

Table 2.A Node Configuration Input and Output Sizes

Node Configured for: Input Size Output Size
Logic Command / Reference and Logic Status / Feedback only 3 2
Plus Datalink A 5 4
Plus Datalink B 7 6
Plus Datalink C 9 8
Plus Datalink D 11 10

The following data structures will be added to the ControlLogix processor for the
communications with the 20-COMM-C module and drive.
2-14 Detailed Drive Operation

Example:
Tag names
Outputs to the Drive - PowerFlex700S_02:O[0] … [9]
Inputs from the Drive - PowerFlex700S_02:I[0] … [10] word [0]
reserved

Figure 2.3 Using Bits in ControlLogix is an example using Bits in the

ControlLogix processor to write to the output bits associated to parameter 158
[Drive Logic Rslt]

PowerFlex700S_02:O[0].0 -.9 map to parameter 158 [Drive Logic Rslt]

Figure 2.3 Using Bits in ControlLogix

PF700S_Start PowerFlex700S_02:0.Data[0].1

PF700S_Normal_Stop PowerFlex700S_02:0.Data[0].0

PF700S_Jog1 PowerFlex700S_02:0.Data[0].2

PF700S_Clear_Fault PowerFlex700S_02:0.Data[0].3

PF700S_UniPol_Fwd PowerFlex700S_02:0.Data[0].4

PF700S_UniPol_Rev PowerFlex700S_02:0.Data[0].5

PF700S_Jog2 PowerFlex700S_02:0.Data[0].7

PF700S_CurrLim_Stop PowerFlex700S_02:0.Data[0].8

PF700S_Coast Stop PowerFlex700S_02:0.Data[0].9

Technical Information
To use the 20-COMM-C with the PowerFlex® 700S, the 20-COMM-C must be
v1.003 firmware or later.
 Detailed Drive Operation 2-15

The Logic Command and Logic Status are 32 bit data, but only the first 16 are used.
The bit definitions of the Logic Command word follow the same pattern as
parameter 158 [Drive Logic Rslt]. The bit definitions of the Logic Status word
follow the same pattern as bits 0-15 of parameter 155 [Logic Status].

Reference and Feedback are 16 bit unsigned integer data. Datalinks are 32 bit data.
Figure 2.4 ControlLogix I/O shows I/O Image table for a ControlLogix system.

Figure 2.4 ControlLogix I/O

ControlNet DPI

ControlLogix Adapter PowerFlex 700S

Output Image
O.Data[0] DINT 0 Logic Cmd (16- P158 Drive Logic

O.Data[1] DINT 1 Reference (16 P20 SpeedRef DPI

O.Data[2] DINT 2 Datalink A1 P707 Data In A1 Int

P708 Data In A1
O.Data[3] DINT 3 Datalink A2 P709 Data In A2 Int
P710 Data In A2
O.Data[4] DINT 4 Datalink B1 P711 Data In B1 Int
P712 Data In B1
O.Data[5] DINT 5 Datalink B2 P713 Data In B2 Int
P714 Data In B2
O.Data[6] DINT 6 Datalink C1 P715 Data In C1 Int
P716 Data In C1
O.Data[7] DINT 7 Datalink C2 P717 Data In C2 Int
P718 Data In C2
O.Data[8] DINT 8 Datalink D1 P719 Data In D1 Int
P720 Data In D1
O.Data[9] DINT 9 Datalink D2 P721 Data In D2 Int
P722 Data In D2

ControlNet DPI

ControlLogix Adapter PowerFlex 700S

Output Image
I.Data[1] DINT 0 Logic Status (16 P158 Drive Logic

I.Data[2] DINT 1 Feedback (16 P722 SpeedRef DPI

I.Data[3] DINT 2 Datalink A1 P707 Data In A1 Int

P708 Data In A1
I.Data[4] DINT 3 Datalink A2 P709 Data In A2 Int
P710 Data In A2
I.Data[5] DINT 4 Datalink B1 P711 Data In B1 Int
P712 Data In B1
I.Data[6] DINT 5 Datalink B2 P713 Data In B2 Int
P714 Data In B2
I.Data[7] DINT 6 Datalink C1 P715 Data In C1 Int
P716 Data In C1
I.Data[8] DINT 7 Datalink C2 P717 Data In C2 Int
P718 Data In C2
I.Data[9] DINT 8 Datalink D1 P719 Data In D1 Int
P720 Data In D1
I.Data[10] DINT 9 Datalink D2 P721 Data In D2 Int
P722 Data In D2

CIP Generic Message Message Message

Source and Destination Buffer Handler
Tags

1
Bits 0 - 15
2
Not affected by parameter 73 [Spd Fdbk Scale]
I.Data[0] is reserved
2-16 Detailed Drive Operation

Parameter 723 [Dlink OutDataType] needs to be set for the type of data used. The
most common will be Real Data (i.e. Current, Voltage, Torque are all Real Values in
the drive). The PowerFlex® 700S drive default for this parameter is all Datalinks
set for Integer values. If the check mark is not set then the datalink is not set for an
Integer value (From DriveExecutive).

ControlLogix Programming
To setup the PowerFlex® 700S drive to follow a speed reference from the
20-COMM-C, parameter 691 [DPI Ref Select] must be set to “Port 5.” Parameter
16 [Speed Ref Sel] must be set to “Speed Ref DPI.”

Reference and Feedback values are floating-point values in the PowerFlex 700S.
Use the following logic to transmit and receive reference and feedback data as
unsigned integer data.
(Commanded RPM ⁄ Base Motor Speed)-
Reference to 700S = -------------------------------------------------------------------------------------------------
32767

Speed Reference Via ControlNet to a PowerFlex 700S using a 20-COMM-C module.

The first move instruction is only for visual indication of the speed reference.

Move
MOV
Source CNet_Ref_RPM
1200.0
Dest CNet_Ref_RPM
1200.0

Compute CPT
Dest CNet_700S_Ref_Float
22114.959
Expression (CNet_Ref_RPM/Motor_Base_Speed)*Speed_Conversion_Constant

Move MOV
Source CNet_Ref_Float
22114.959
Dest PowerFlex700S_02:0.Data(1)
22115
 Detailed Drive Operation 2-17

Feedback RPM = (700S Feedback ⁄ 32767) × Base Motor Speed

Convert Speed Feedback from 700S via 20-COMM-C

Feedback is returned as a 0 to 32767 number for 0 to Base Speed

Move MOV
Source PowerFlex700S_02:1.Data[2]
22114.959
Dest CNet_700S_Fdbk_Float
34969.0

Compute CPT
Dest CNet_700S_Fdbk
1897
Expression (CNet_700S_Fdbk_Float/Speed_Conversion_Constant)*Motor_Base_Speed

Datalinks Programming
In the ControlLogix system, Datalinks are transmitted over ControlNet as 32 bit
integers (DINT). In order to send or receive floating point a COP (copy) instruction
must be utilized. The copy instruction in ControlLogix performs a bitwise copy. Set
the length of the copy instruction to a value appropriate for the destination data
type. For example, when copying a DINT data type to a REAL data type, the length
would be one since both data types contain 32 bits of data.

Figure 2.5 All Datalinks Selected is for all Datalinks selected.

Figure 2.5 All Datalinks Selected

Copy data from ControlLogix Processor to 20-COMM-C for 700S Data Links

COP
Copy File
Source PF700_Float_Data[10]
Dest PowerFlex700S_02:O.Data[2]
Length 8

Copy data from 20-COMM-C to Floating Point data file.

Parameter 723 must be set to real data links on the 700S
COP
Copy File
Source PowerFlex700S_02:I.Data[3]
Dest PF700_Float_Data[0]
Length 8

Explicit Messaging
When using explicit messaging in the ControlLogix system, the message type CIP
Generic is used. The data is transferred over ControlNet in the same data type as the
parameter in the PowerFlex 700S. Make sure the data type for the Source and
2-18 Detailed Drive Operation

Destination tags in your ControlLogix message instruction matches the data type in
the PowerFlex 700S. Also, the Number of Elements in the ControlLogix message
instruction must match the size of the Source data.

For example, to send an explicit message to write to parameter 12 [Speed Ref 2],
which is a floating point:

1. The Source and Destination tags would be of type REAL.

2. The Number of Elements would be 4 bytes since a REAL data type takes up 4
bytes of data.

For other types of messages refer to the 20-COMM-C user manual.

Copy Cat This feature allows you to upload a complete set of parameters to the LCD HIM.
This information can then be used as backup or can be transferred to another drive
by downloading the memory. Generally, the transfer process manages all conflicts.
If a parameter from HIM memory does not exist in the target drive, the value stored
is out of range for the drive, or the parameter cannot be downloaded because the
drive is running, the download will stop and a text message will be issued. The user
than has the option of completely stopping the download or continuing after noting
the discrepancy for the parameter that could not be downloaded. These parameters
can then be adjusted manually. The LCD HIM will store a number of parameter sets
(memory dependant) and each individual set can be named for clarity.
 Detailed Drive Operation 2-19

Current Limit [Mtr Current Lim]

The following methods are available for a drive to use to protect itself from an
overcurrent or overload condition.

• Instantaneous Over Current Trip - This is a feature that instantaneously trips

or faults the drive if the output current exceeds this value. The value is fixed by
hardware and is typically 250% of drive rated amps. This feature cannot be
disabled.

• Software Over Current Trip - This is a configurable trip function. If parameter

377 [Inv OL Trip Cnfg] is set to Fault Coast to Stop, the drive will trip on
inverter overload. This will occur when the Open Loop or Closed Loop IT
function has detected an overload condition. See the Drive Overload section for
a description of the Open Loop and Closed Loop IT functions.

• Software Current Limit - This feature selectively limits the current the drive
will provide based on the several factors. The [Mtr Current Lim] parameter
setting will limit the current to the user changeable level, range is 105% of
Motor Flux Current to 800% of the motor nameplate entered in 2 [Motor NP
FLA]. The Open Loop IT function can also limit the output current if the
calculation determines it is in the overload area of operation. The Open Loop IT
function and the Motor Current Limit parameters are routed to a minimum
selection, the algebraic minimum of the inputs is used as the current limit. Also,
the Closed Loop IT function can limit the current output by the drive. The
Closed Loop IT function and the Torque Current Reference are compared and
the algebraic minimum is used for the Torque Current Reference. See the Drive
Overload section for a description of the Open Loop and Closed Loop IT
Functions.

Datalinks Datalinks are used to transfer I/O data from a communication adapter, i.e.
ControlNet (20-COMM-C), DeviceNet (20-COMM-D), to a controller. Datalinks
allow parameter values to be changed without using messaging.

Configuring Datalinks
This section contains information on configuring the Datalink parameters for the
PowerFlex 700S. There are also parameters in the communication adapters that
must be configured to use Datalinks. Refer to the ControlNet (20-COMM-C) and
DeviceNet (20-COMM-D) sections for more information.

“Data In” Parameters

[Data In x Int] and [Data In x Real] parameters are inputs to the drive from the
controller and are used to write to parameters. A total of 8 parameters can be
written with the “Data In” parameters. In the 700S, each parameter is either a 16 bit
integer, a 32 bit integer or a 32 bit floating point (real). This means the datalinks
parameters are 32 bits.

To write to a 16 bit or 32 bit integer parameter, that parameter must be linked to one
of the [Data In x Int] parameters.

To write to a real parameter, that parameter must be linked to one of the [Data In x
Real] parameters.
2-20 Detailed Drive Operation

Example Configuration 1:
Writing an Integer parameter using a Datalink:

• 740 [Position Control] is linked to 707 [Data In A1 Int]

The value that is sent to [Data In A1 Int] from the controller will show up in
[Postion Control]. [Data In A1 Int] is used because [Position Control] is an
integer parameter.

Example Configuration 2:
Writing a Real Parameter using a Datalink:

• 111 [Torque Ref 1] is linked to 708 [Data In A1 Real]

The value that is sent to [Data In A1 Real] from the controller will show up in
[Torque Ref 1]. [Data In A1 Real] is used because [Torque Ref 1] is a real
integer parameter.

“Data Out” Parameters

[Data Out x Int] and [Data Out x Real] parameters are outputs from the drive to the
controller and are used to read parameters. A total of 8 parameters can be read with
the “Data Out” parameters. In the 700S, each parameter is either a 32 bit integer or
a 32 bit floating point (real). This means that the datalink parameters are 32 bits.
Parameter 723 [Dlink OutDataTyp] is used to select whether each of the 8 “Data
Out” data is an integer or real.

To read a 16 bit or 32 bit integer parameter, one of the [Data Out x Int] parameters
must be linked to the desired integer parameter. Then the bit corresponding to the
[Data In x Int] parameter in [Dlink OutDataType] is set to 0.

To read to a real parameter, one of the [Data Out x Real] parameters must be linked
to the desired real parameter. Then bit corresponding to the [Data Out x Real]
parameter in [Dlink OutData Type] is set to 1.

Example Configuration 3:
Reading an Integer Parameter Using a Datalink

• 724 [Data Out A1 Int] is linked to 741 [Position Status]

• 723 [Dlink OutData Type] bit 0 is set to 0

The value from [Data Out A1 Int] to the controller contains the value of
[Position Status]. [Data Out A1 Int] is used and [Dlink OutDataType] bit 0 is
set to 0 because [Position Status] is an integer parameter.

Example Configuration 4:
Reading a Real Parameter using a Datalink

• [Data Out A1 Real] is linked to [Output Current]

• [Dlink OutDataType] bit 1 is set to 1

The value from [Data Out A1 Real] to the controller contains the value of
[Output Current]. [Data Out A1 Real] is used and [Dlink OutDataType] bit 0 is
set to 1 because [Output Current] is a real parameter.
 Detailed Drive Operation 2-21

Decel Time Parameter 33 [Decel Time] sets the rate at which the drive ramps down its output
during a ramp Stop command or during a decrease in commanded speed.

The rate established is the result of the programmed Decel Time and the
programmed motor rated speed parameter 4 [Motor NP RPM] as follows:
Motor RPM (Parameter 4)- = Decel Rate (RPM/sec)
----------------------------------------------------------------
Decel Time (Parameter 33)

Times are adjustable in 0.0001 second increments from 0.01 to 6553.5 seconds.

DeviceNet (20-COMM-D) This serves as a supplement to the PowerFlex® DeviceNet Adapter Users Manual,
publication 20COMM-UM002, addressing items specific to the PowerFlex 700S.
Please refer to the user manual for details on 20-COMM-D set-up, configuration, I/
O messaging, and Eing.

Technical Information
The 20-COMM-D device must be v1.005 firmware or later in order to be used with
the PowerFlex 700S.

The Logic Command and Logic Status are 16 bits plus a 16 bit pad word for a total
of 32 bit data. The bit definitions of the Logic Command word follow the same
pattern as parameter 158 [Drive Logic Rslt]. The bit definitions of the Logic Status
word follow the same pattern as bits 0-15 of parameter 155 [Logic Status].
Reference, Feedback, and Datalinks are 32 bit data. This means with just the Logic
Command/Status and Speed Ref/Fdbk I/O enabled, the 20-COMM-D would map 8
bytes of I/O in the DeviceNet Scanner. With the Logic Command/Status, Speed
Ref/Fdbk and all of the Datalinks enabled, the 20-COMM-D would have a total of
40 bytes of I/O mapped in the DeviceNet scanner. The I/O Image table for a
ControlLogix system is shown.
DeviceNet DPI

ControlLogix Adapter PowerFlex 700S

Output Image
O.Data[0] DINT 0 Logic Command P158 Drive Logic
1 Pad Word
1
O.Data[1] DINT 2 Reference P20 SpeedRef DPI
3 Reference
O.Data[2] DINT 4 Datalink A1 P707 Data In A1 Int
5 Datalink A1 P708 Data In A1
O.Data[3] DINT 6 Datalink A2 P709 Data In A2 Int
7 Datalink A2 P710 Data In A2
O.Data[4] DINT 8 Datalink B1 P711 Data In B1 Int
9 Datalink B1 P712 Data In B1
O.Data[5] DINT 1 Datalink B2 713 Data In B2 Int
1 Datalink B2 P714 Data In B2
O.Data[6] DINT 1 Datalink C1 P715 Data In C1 Int
1 Datalink C1 P716 Data In C1
O.Data[7] DINT 1 Datalink C2 P717 Data In C2 Int
1 Datalink C2 P718 Data In C2
O.Data[8] DINT 1 Datalink D1 P719 Data In D1 Int
1 Datalink D1 P720 Data In D1
O.Data[9] DINT 1 Datalink C2 P721 Data In D2 Int
1 Datalink C2 P722 Data In D2

1
The speed reference comes into the 20-COMM-D as a double integer. The PowerFlex® 700S firmware
automatically converts that speed reference into floating point, so that parameter 20 [Speed Ref DPI] is a
floating-point value.
2-22 Detailed Drive Operation

DeviceNet DPI
ControlLogix Adapter PowerFlex 700S

Input Image
I.Data[0] DINT 0 Logic Status P1551 Logic Status
1 Pad Word
2
I.Data[1] DINT 2 Feedback (LSW) P72 Speed Ref DPI
3 Feedback
I.Data[2] DINT 4 Datalink A1 P724 Data Out A1
5 Datalink A1 P725 Data Out A1
I.Data[3] DINT 6 Datalink A2 P726 Data Out A2
7 Datalink A2 P727 Data Out A2
I.Data[4] DINT 8 Datalink B1 P728 Data Out B1
9 Datalink B1 P729 Data Out B1
I.Data[5] DINT 1 Datalink B2 P730 Data Out B2
1 Datalink B2 P731 Data Out B2
I.Data[6] DINT 1 Datalink C1 P732 Data Out C1
1 Datalink C1 P733 Data Out C1
I.Data[7] DINT 1 Datalink C2 P734 Data Out C2
1 Datalink C2 P735 Data Out C2
I.Data[8] DINT 1 Datalink D1 P736 Data Out D1
1 Datalink D1 P737 Data Out D1
I.Data[9] DINT 1 Datalink D21 P738 Data Out D2
P739 Data Out D2

CIP Generic Message Message Message

Source and Destination Buffer Handler
Tags
1
Bits 0-15 only of parameter 155 [Logic Status] appear in the Input Image table of the ControlLogix controller.
2 The speed feedback sent from the PowerFlex® 700S to the 20-COMM-D is not affected by parameter 73 [Spd
Fdbk Scale]. Furthermore, the PowerFlex 700S automatically coverts parameter 72 [Scaled Spd Fdbk], which
is a floating-point parameter, to a double integer before the value is transferred to the 20-COMM-D.
To setup the PowerFlex 700S to follow a speed reference from the 20-COMM-D,
Parameter 691 [DPI Ref Select] must be set to “Port 5.” Parameter 16 [Speed Ref
Sel] must be set to “Speed Ref DPI.”
Reference and Feedback values are floating-point values in the PowerFlex 700S.
Use the following logic to transmit and receive reference and feedback data as
integer data.
Point Reference (RPM) × 32768-
Transmitted Reference = Floating
--------------------------------------------------------------------------------------------------
Base Motor RPM

received × Base Motor RPM-

Floating point Feedback (RPM) = Feedback
--------------------------------------------------------------------------------------------
32768

In the ControlLogix system, Datalinks are transmitted over DeviceNet as 32 bit

integers (DINT). In order to send or receive floating point a COP (copy) instruction
must be used. The copy instruction in ControlLogix performs a bitwise copy. Set
the length of the copy instruction to a value appropriate for the destination data
type. For example, when copying a DINT data type to a REAL data type, the length
would be one (1) since both data types contain 32 bits of data.
When using explicit messaging in the ControlLogix system, the message type CIP
Generic is used. The data is transferred over DeviceNet in the same data type as the
parameter in the PowerFlex 700S. Make sure that the data type for the Source and
Destination tags in your ControlLogix message instruction matches the data type in
the PowerFlex 700S. Also, the Number of Elements in the ControlLogix message
instruction must match the size of the Source data. For example, to send an explicit
message to write to parameter12 [Speed Ref 2], which is floating point:
1. The Source and Destination tags would be type REAL.
2. The Number of Elements would be 4 bytes since a REAL data type takes up 4
bytes of data.
 Detailed Drive Operation 2-23

SLC/PLC-5 System

Reference/Feedback Programming
The reference is scaled so that base motor speed = 32768. The SLC/PLC-5 does not
use DINT, and only handles 16 bit integers, so the reference has to be handled
differently to account for references above 32767 or below -32768. The example on
the following page shows how to transmit references less than twice base motor
speed.
2-24 Detailed Drive Operation

The feedback is also scaled so that base motor speed = 32768. The SLC/PLC-5
does not use DINT, and only handles 16 bit integers, so the feedback has to be
handled differently to account for references above 32767 or below -32768. The
following example shows how to read feedback values less than twice base motor
speed.
\

Datalink Programming
Datalinks are transmitted and received through block transfer I/O. The SLC/PLC-5
is limited to 16 bit integers and floating point. Because the SLC/PLC-5 does not
support 32-bit integers, 32-bit integer datalinks remain split into (2) 16 bit integers.
In order to send or receive floating-point datalinks the LSW and MSW must be
swapped and the COP (copy) instruction must be utilized. The following examples
are for transmitting and receiving the floating-point Datalinks.
 Detailed Drive Operation 2-25

Reading Floating-Point Datalink in a SLC/PLC-5

Writing Floating-Point Block Datalinks in a SLC/PLC-5

Explicit Messaging
Explicit messaging is used to configure the drive and monitor data from the drive.
Chapter 6 of the 20-COMM-D User Manual shows the format of the explicit
message request and response data in an SLC and PLC-5.

Because the SLC/PLC-5 does not support 32-bit integers, 32-bit integer data from
the explicit message request and response data remains split into (2) 16 bit integers.
In order to send or receive floating-point data the Least Significant Word (LSW)
and Most Significant Word (MSW) must be swapped and the COP (copy)
instruction must be utilized. The following examples are for transmitting and
receiving floating-point data for explicit messages.
2-26 Detailed Drive Operation

Reading Floating-Point Explicit Message Data in an SLC/PLC-5

Writing Floating-Point Explicit Message Data in an SLC/PLC-5

Digital Inputs Technical Information

There are 4 digital inputs on the I/O board. One of the inputs is dedicated for the
Enable and cannot be configured. The other 3 inputs can be configured. Digital
Input 1 is 24VDC and Digital Inputs 2 and 3 can accept a 12-24VDC signal. There
is a 24VDC power supply on the I/O board to supply power for those inputs.

Digital Inputs 2 and 3 are high speed digital inputs with a maximum input
frequency of 350 kHz.
 Detailed Drive Operation 2-27

Digital Input Configuration

TB1-T10 24 VDC

TB1-T11 24 VDC Common

{Logic Common} DigIn 1 Sel 838

TB1-T9
824 01 824 01
TB1-T8 Local I/O Status
829 Debounce (DigIn 1) DigIn1 User Data
TB1-T7
DigIn 1 Debounce Selector Bit 828
Combine
DigIn1 Data 826
824 00
Local I/O Status DigIn1 Bit 827
825 Debounce (Enable In)
En In Debounce

{Return "Common"} Selections per Par 839

DigIn 2 Sel 840
TB1-T5
SyncLink 824 02 824 02
TB1-T6 Local I/O Status
Bit Filter Debounce (DigIn 2) DigIn2 User Data
Port0 Regis
Cnfg Selector Bit 836
(Ext Filt 0)
236 08 833 Combine
DigIn 2 Debounce
(Ext Filt 1) 236 09 DigIn2 Data 830
(Ext Filt 2) 236 10 DigIn2 Bit 831
(Ext Filt 3) 236 11

{Return "Common"} Selections per Par 840

DigIn 3 Sel 840
TB1-T3
SyncLink 824 03 824 03
TB1-T4
Bit Filter Debounce DigIn3 User Data
Port0 Regis
Cnfg Selector Bit 836
(Ext Filt 0)
246 08 837 Combine
DigIn 3 Debounce
(Ext Filt 1) 246 09
DigIn3 Data 834
10
DigIn3 Bit 835
(Ext Filt 2) 246
(Ext Filt 3) 246 11

[DigIn 1 Sel] can be set to the following values:

Value Description Value Description

0 Not Used 8 Fwd/Reverse
1 Normal Stop 9 Cur Lim Stop
2 Start 10 Coast Stop
3 Run 11 Aux Fault
4 Clear Faults 12 Aux Fault Inv
5 Stop - CF 13 User Select
6 Jog 1 14 Precharge/Disc
7 Jog 2

[DigIn 2 Sel] can be set to the following values:

Value Description Value Description

0 “Not Used” 14 “Normal Stop”
1 “Enable” 15 “Spd Ref Sel1”
2 “Clear Faults” 16 “Spd Ref Sel2”
3 “Ext Fault” 17 “Spd Ref Sel3”
4 “Norm Stop-CF” 18 “CurLim Stop”
5 “Start” 19 “Coast Stop”
6 “Reverse” 21 “BscIndx Step”
7 “Run” 22 “BscIndxStpRv”
8 “Fwd/Reverse” 26 “PI Trim En”
9 “CurLim Stop” 29 “Trend Trig”
10 “Jog 1” 30 “PreCharge En”
11 “Aux Fault” 31 “Regis 1 Ltch”
12 “AuxFault Inv” 32 “+Hrd OvrTrvl”
13 “Jog 2” 33 “-Hrd OvrTrvl”
2-28 Detailed Drive Operation

[DigIn 3 Sel] can be set to the following values:

Value Description Value Description

0 “Not Used” 9 “CurLim Stop”
1 “Normal Stop” 10 “Coast Stop”
2 “Start” 11 “Aux Fault”
3 “Run” 12 “AuxFault Inv”
4 “Clear Faults” 13 “User Select”
5 “Stop-CF” 23 “Logix Motion”
6 “Jog 1” 24 “+Hrd OvrTrvl”
7 “Jog 2” 25 “-Hrd OvrTrvl”
8 “Fwd/Reverse”

[DigIn x Debounce] sets a delay time to allow any bounce in the digital input to
settle out. This parameter has a range of 0 to 15.5 milliseconds.

When [DigIn x Sel] is set to “User Select,” the function of the digital input is
determined by the following:

• [DigIn x Data] determines any bits that should be permanently set. [DigIn x
Data] sets the value of [DigIn x User Data] except for the bit chose in [DigIn x
Bit]

• [DigIn x Data] determines the bit you wish to toggle based on whether the
digital input is on or off

• [DigIn x User Data] will have the same bits that are set in [DigIn x Data]. Then
the bit that was chosen in [Digin x Bit] will toggle based on whether the digital
input is on or off. A designation (sink) parameter is then linked to [DigIn x User
Data] so that it determines the value of that sink parameter

Configuration Example
DigIn 1 will be setup to determine the value of [Speed Ref Sel]. DigIn 1 will toggle
[Speed Ref Sel] between a value of 1 “Speed Ref 1” and 5 “Speed Ref 5.”

• [DigIn 1 Sel] = “User Select”

• [DigIn 1 Data] = 0000 0000 0000 0000 0000 0000 0000 0001
• [DigIn 1 Bit] = 2. This means when we toggle Digital Input 1, bit 2 of [DigIn 1
User Data] will toggle.

When Digital Input 1 is off [DigIn 1 User Data] will be equal to [DigIn 1 Data]. In
other words, [DigIn 1 User Data] will equal 0000 0000 0000 0000 0000 0000 0000
0001 (a value of 1).

When Digital Input 1 is on [DigIn 1 User Data] will be equal to [DigIn 1 Data] plus
whatever bit was set in [DigIn 1 Bit]. In other words [DigIn 1 User Data] will equal
0000 0000 0000 0000 0000 0000 0000 0101 (a value of 5).

[Speed Ref Sel] is linked to [DigIn 1 User Data]. Now [Speed Ref Sel] will toggle
between a value of 1 and 5.
 Detailed Drive Operation 2-29

Digital Input Status Bits

[Local I/O Status], bits 0-4 give the status of the digital inputs and can be used for
troubleshooting the digital inputs. The bits are broken down as follows:

• Bit 0 - “Enable Input”

• Bit 1 - “Digital Input 1”
• Bit 2 - “Digital Input 2”
• Bit 3 - “Digital Input 3”

When the bit in [Local I/O Status] associated with the digital input is on, this means
the PowerFlex® 700S sees that the digital input is on. When the bit associated with
the digital input is off, this means the PowerFlex 700S sees the digital input is off.

Digital Outputs Technical Information

There are 3 digital outputs on the I/O board.

Digital Outputs 1 and 2 are 24VDC open collector (sinking logic). They are rated
25mA maximum. Figure 2.6 is an example of how Digital Outputs 1 and 2 would
be used with a light.

Note: The transistor in the diagram is the internal circuitry of the Digital
Output. When the logic for Digital Output 1 becomes true, the
transistor turns on, tying the transistor's collector to ground and
completing the circuit. Then the light will turn on.

Figure 2.6 Digital Outputs

T6 G + 24V DC
Sinking
Ouput
Digital
Output
Logic

Digital
Output
Common
(Return)
T4

Digital Output 3 is a relay output rated for 24VDC. The relay output is rated 5A @
24VDC for a resistive load, and 2A @ 24VDC for an inductive load.
2-30 Detailed Drive Operation

Digital Output Configuration

Local I/O Status
824 16
(Output Relay)
TB2-B5
Relay Out Data 841 TB2-B4
Relay Out Bit 842

Local I/O Status

824 17
(Aux Out 1)
TB1-T6
Dig Out 1 Data 843 TB1-T5
Data Out 1 Bit 844
TB1-T4

Local I/O Status {Return "Common"}

824 18
(Aux Out 2)

Dig Out 2 Data 845

Data Out 2 Bit 846

The [Relay x Data] parameter and [Dig Out x Data] parameters are linked to a
parameter used to turn on the digital output.

The [Relay x Bit] parameter and [Dig Out x Bit] parameters select which bit of the
data you wish to use to turn on the digital output.

Configuration Example
This example configures Digital Output 1 for “Enabled.” “Enabled” indicates the
inverter section of the drive is active (IGBTs switching).

• [Dig Out 1 Data] is linked to [Logic Status]

• [Dig Out 1 Bit] is set to 0

When the “Enabled” bit of [Logic Status] turns on, Digital Output 1 turns on.

Digital Output Status Bits

[Local I/O Status], bits 16-18 give the status of the digital outputs and can be used
for troubleshooting the digital outputs. The bits are broken down as follows:

• Bit 16 - “Digital Output 3” (Output Relay)

• Bit 17 - “Digital Output 1” (Aux Out 1)
• Bit 18 - “Digital Output 2” (Aux Out 2)

When the bit in [Local I/O Status] associated with the digital output is on, this
means that the logic in the PowerFlex 700S is telling that digital output to turn on.
When the bit associated with the digital output is off, this means that the logic in the
PowerFlex 700S is telling that digital output to turn off.
 Detailed Drive Operation 2-31

Direction Control and The direction of rotation of the motor can be controlled by a forward/reverse
command or by the use of a bipolar signal. Parameter 153 [Control Options] bit 0 -
Bipolar Reference
"Bipolar Sref" selects this option.

When this bit is enabled (1) a bipolar speed reference is used. In bipolar reference
mode, Par 40 [Selected Spd Ref] indicates both the speed magnitude and the
direction: Positive speed reference values (+) = forward direction and negative
speed reference values (–) = reverse direction. When this bit is disabled a unipolar
speed reference is used. In unipolar mode, the speed reference is limited to a
minimum value of zero (0), shown by the Max selection block (as shown in the
diagram below). In this case Par 40 [Selected Spd Ref] supplies only the speed
magnitude. The direction is determined by Par 153 [Applied LogicCmd] bits 20
“UniPol Fwd” and 21 “UniPol Rev”. The forward/reverse direction button on the
HIM is one possible source for the [Applied Logic Command] direction bits. The
following chart explains the effect that the direction button on the HIM has based
on the condition of the “Bipolar SRef” bit:

Bipolar Reference Controlled By HIM? HIM Direction Button

Enabled Yes Changes the motor direction due to a HIM supplied (+)
or (-) command signal.
Enabled No Has no effect on motor direction. Direction determined
by sign of Par 40 [Selected SpdRef].
Disabled Yes Changes the motor direction due to a HIM supplied
forward or reverse [Applied LogicCmd] bit.
Disabled No Changes the motor direction due to a HIM supplied
forward or reverse [Applied LogicCmd] bit.

In either Bipolar or Unipolar mode, the selected direction can be determined from
the sign of Par 41 [Limited Spd Ref]. Positive values indicate forward rotation and
negative values indicate reverse rotation.

Control Options 153 00

Selected Spd Ref
1
40

0
Max
0 X
Applied Logic Cmd

152 20 152 21

1
(Unipol Fwd) +1

1
(Unipol Rev) -1

Drive Peripheral Interface DPI is an enhancement to SCANport that provides more functions and better
performance. SCANport was a CAN based, Master-Slave protocol, created to
(DPI)
provide a standard way of connecting motor control products and optional
peripheral devices together. It allows multiple (up to 6) devices to communicate
with a motor control product without requiring configuration of the peripheral.
SCANport and DPI both provide two basic message types called Client/Server (C/
S) and Producer/Consumer (P/C). C/S messages are used to transfer parameter and
configuration information in the background (relative to other message types). P/C
messages are used for control and status information. DPI adds a higher baud rate,
brand specific enabling, Peer-to-Peer (P/P) communication, and Flash Memory
2-32 Detailed Drive Operation

programming support. This communication interface is the primary way to interact

with, and control the drive.

ATTENTION:
! • The PowerFlex® 700S only supports the DPI communication pro-
tocol.
• The PowerFlex 700S will not communicate with SCANport
devices.
• The PowerFlex 700S does not support LED HIMs.

Client/Server
C/S messages operate in the background (relative to other message types) and are
used for non-control purposes. The C/S messages are based on a 10ms “ping” event
that allows peripherals to perform a single transaction (i.e. one C/S transaction per
peripheral per time period). Message fragmentation (because the message
transaction is larger than the standard CAN message of eight data bytes) is
automatically handled by C/S operation. The following types of messaging are
covered:

• Logging in peripheral devices

• Read/Write of parameter values
• Access to all parameter information (limits, scaling, default, etc.)
• User set access
• Fault/Alarm queue access
• Event notification (fault, alarm, etc.)
• Access to all drive classes/objects (e.g. Device, Peripheral, Parameter, etc.)

Producer/Consumer Operation Overview

P/C messages operate at a higher priority than C/S messages and are used to
control/report the operation of the drive (e.g. start, stop, etc.). A P/C status message
is transmitted every 5ms (by the drive) and a command message is received from
every change of state in any attached DPI peripheral. Change of state is a button
being pressed or error detected by a DPI peripheral. P/C messages are of a fixed
size, so support of message fragmentation is not required. The following types of
messaging are covered:

• Drive status (running, faulted, etc.)

• Drive commands (start, stop, etc.)
• Control logic parsing operations (e.g., mask and owner parameters)
• Entering Flash programming mode
• “Soft” login and logout of peripheral devices (enabling/disabling of peripheral
control)

Peer-to-Peer Operation
Peer-to-Peer messaging allows two devices to communicate directly rather than
through the master or host (i.e. drive). They are the same priority as C/S messages
and will occur in the background. If an LCD HIM is attached to the PowerFlex®
700S drive, it will be able to directly request off-board parameters using
Peer-to-Peer messages (i.e. no proxy support needed in the drive). PowerFlex 700S
drives can use all six communication ports because Peer-to-Peer proxy operations
 Detailed Drive Operation 2-33

are not needed. All Peer-to-Peer operations occur without any intervention from the
user (regardless whether proxy or normal P/P operation), no setup is required. No
Peer-to-Peer proxy operations are required while the drive is in Flash mode.

All the timing requirements specified in the DPI system, Control, and Messaging
specifications are supported. Peripheral devices will be scanned (“pinged”) at a
10ms rate. Drive status messages will be produced at a 5ms rate, while peripheral
command messages will be accepted (by the drive) as they occur (i.e. change of
state). Based on these timings, the following worst case conditions can occur
(independent of the baud rate and protocol):

• Change of peripheral state (e.g. Start, Stop, etc.) to change in the drive - 10ms
• Change in reference value to change in drive operation - 10ms
• Change in Datalink data value to change in the drive - 10ms
• Change of parameter value into drive - 20ms times the number of attached
peripherals

The maximum time to detect the loss of communication from a peripheral device is
500ms.

The following timing specifications apply to DPI devices:

• Host status messages only go out to peripherals once they log in and at least
every 125ms (to all attached peripherals). Periphals will time-out if more than
250ms passes without a response. Actual time is dependent on the number of
peripherals attached. The minimum time goal is 5ms (may have to be depen-
dent on the Port Baud Rate). DPI allows a minimum 5ms status at 125k and
1ms status at 500k.
• The host determines the Minimum Update Time (MUT) based on the number
of attached peripherals. Range of values from 2 to 125ms. Minimum goal time
of 5ms. DPI allows 2ms at 500k and 5ms minimum at 125k.
• Peripheral command messages (including Datalinks) generated on
change-of-state, but not faster than Host MUT and at least every 250ms. Host
will time out if it is more then 500ms.
• Peer messages requests cannot be sent any faster than 2x of MUT.
• Host must ping every port at least every 2 seconds. Peripherals time if more
then 3 seconds pass. Host will wait a maximum of 10ms (125k) or 5ms (500k)
for peripheral response to ping. Peripherals typical response time is 1ms.
Periphals allow only one pending explicit message (i.e. ping response or peer
request) at a time.
• Response to an explicit request or fragment must occur within 1 second or
device will time out (applies to Host or Peripheral). Time-out implies retry
from beginning. Maximum number of fragments per transaction is 16. Flash
memory is exception with 22 fragments allowed.
• During Flash mode, host stops ping, but still supports status/command mes-
sages at a 1-5 second rate. drive will use 1 second rate. Data transfer occurs via
explicit message as fast as possible (i.e. peripheral request, host response,
peripheral request, etc.) but only between two devices.

The MUT, is based on the message type only. A standard command and Datalink
command could be transmitted from the same peripheral faster than the MUT and
still be O.K. However, two successive Datalink commands will have to be separated
by the MUT.

DriveLogix See the DriveLogix Controller User Manual, publication 20D-UM002.

2-34 Detailed Drive Operation

Drive Overload Theory of Operation

The following discussion assumes that the IT curve does not change with Pulse
Width Modulated (PWM) carrier frequency or drive output frequency.

A drive has three rated current values; a continuous current rating, a 1-minute
current rating, and a 3-second current rating. Typically, the 1-minute rating will be
close to 110% of the continuous rating, and the 3-second rating will be close to
150% of the continuous rating. This may vary from drive to drive to optimize the
performance of each frame size. In the following examples the 1-minute rating is
110% and the 3-second rating is 150%.

Open Loop Current Limit

The drive can thermally allow 102.5%.

The 1-minute current rating assumes a duty cycle of 1 minute on, followed by 3
minutes at 100%. This results in an average current of 102.5%.

110% * 60 sec + 100%*180 sec

average current = ------------------------------------------- = 102.5%

The 3-second current rating assumes a duty cycle of 3 seconds on, followed by 57
seconds at 100%. This results in an average current of 102.5%.

150% * 3 sec + 100%*57 sec

average current = ------------------------------------------- = 102.5%

Typically the drive will have a sixty-second rating of 110% of continuous current
and a three-second rating at 150% of the continuous current. Under normal
operating conditions, the open loop function sets this current limit to the short term
(three-second) rating. If the function detects an overload, it lowers the limit to the
continuous level. If the function is in the continuous level limit, this can be lower
than the Motor Current limit. After a period of time (typically one to three minutes),
the function returns the limit to the short term rating.

Closed Loop IT Function

The drive will also adjust the Torque Current limit level based on the values in
Parameter 358 [Iq Ref Limited], parameter 313 [Heatsink Temp] and the thermal
characteristics of the drive contained in the power EE memory. Under normal
operating conditions, the function typically sets the limit at 250% of the continuous
drive rating. If the function determines that the power device junction temperature
is approaching maximum, it will reduce this limit to the level required to prevent
additional heating of the inverter. This level could be as low as the continuous
rating of the drive output amps. If the inverter temperature decreases, the function
will raise the limit to a higher level.
 Detailed Drive Operation 2-35

Drive Overload Status

Drive Overload Status can be monitored in parameter 346 [Drive OL Status].

• Bit 0 [NTC Shorted] indicates the Negative Temperature Coefficient (NTC)

device has a short circuit.

• Bit 1 [NTC Open] indicates the NTC has an open circuit.

• Bit 2 [HS OverTemp] indicates heatsink temperature is above: 105° C for

ratings 1.1-11.0A, 115° C for 14-34A, 100 °C for 40-52A.

• Bit 3 [HS Pending] indicates heatsink temperature is above: 95° C for ratings
1.1 -11A, 105° C for 14- 34A, 90° C for 40- 52A.

• Bit 4 [IT Trip] indicates the drive has exceed the 3 second rating of either the
150% normal duty rating or 200% of the heavy duty rating.

• Bit 5 [IT Pending] indicates the drive OL integrator is at 50% of the time out
time.

• Bit 6 [IT Foldback] indicates the drive closed loop current limit is in a fold back
condition. The value of the fold back is proportional to the calculated junction
temperature.

• Bit 7 [Jnc Over Temp] indicates the junction temperature has exceeded the
maximum temperature for the power semiconductor device.

Drive Over Temperature The drive over temperature is 90º C. The fault is detected if the heat-sink
temperature, parameter 313 [Heatsink Temp] or parameter 345 [Drive OL
(Frame 9 Only)
JnctTmp] exceeds 90º C.

The open loop current limit is originally designed for 25% of the duty cycle at
110% output current. On the other side, the High Horsepower drive allows 10% of
duty cycle at 110% output current. The open loop current limit function can not
protect the drive over temperature fault.

Droop Droop is used to "shed" load and is usually used when a soft coupling of two
motors is present in an application. The master drive speed regulates and the
follower uses droop so it does not "fight" the master. The input to the droop block
comes from the torque output of the speed regulator before limiting. The output of
the droop block reduces the speed reference. Parameter 86 [Spd Reg Droop] sets
the amount of base motor speed that the speed reference is reduced when at full
load torque. [Spd Reg Droop] is in units of per unit torque/per unit speed. For
example, when [Spd Reg Droop] is set to 0.1 and the drive is running at 100% rated
motor torque, the droop block would subtract 10% from the speed reference.

Droop

Spd Reg Droop 86

2-36 Detailed Drive Operation

Dynamic Braking See Bus Regulation/Braking.

This module contains a second order thermal model of the internal. For resistor
sizing, refer to the PowerFlex® Dynamic Braking Resistor Calculator Selection
Guide, publication PFLEX-AT001. This publication is available online at:

http://literature.rockwellautomation.com/literature

Efficiency The following chart shows typical efficiency for PWM variable frequency drives,
regardless of size. Drives are most efficient at full load and full speed.

100
vs. Speed
95
vs. Load
% Efficiency

90

85
80
75
10 20 30 40 50 60 70 80 90 100
% Speed/% Load

Electronic Gearing See Position Loop - Follower (Electronic Gearing)

CE Conformity Conformity with the Low Voltage (LV) Directive and Electromagnetic
Compatibility (EMC) Directive has been demonstrated using harmonized European
Norm (EN) standards published in the Official Journal of the European
Communities. PowerFlex® drives comply with the EN standards listed below when
installed according to the User and Reference Manual.

Declarations of Conformity are available online at:

http://www.ab.com/certification

Low Voltage Directive (73/23/EEC)

• EN50178 Electronic equipment for use in power installations.
• EN60204-1 Safety of machinery - Electrical equipment of machines.

EMC Directive (89/336/EEC)

EN61800-3 Adjustable speed electrical power drive systems Part 3: EMC product
standard including specific test methods.
 Detailed Drive Operation 2-37

General Notes
• If the adhesive label is removed from the top of the drive, the drive must be
installed in an enclosure with side openings less than 12.5 mm (0.5 in.) and top
openings less than 1.0 mm (0.04 in.) to maintain compliance with the LV
Directive.
• The motor cable should be kept as short as possible in order to avoid
electromagnetic emission as well as capacitive currents.
• Use of line filters in ungrounded systems is not recommended.
• PowerFlex® drives may cause radio frequency interference if used in a
residential or domestic environment. The user is required to take measures to
prevent interference, in addition to the essential requirements for CE
compliance listed below, if necessary.
• Conformity of the drive with CE EMC requirements does not guarantee an
entire machine or installation complies with CE EMC requirements. Many
factors can influence total machine/installation compliance.

Essential Requirements for CE Compliance

Conditions 1-6 listed below must be satisfied for PowerFlex drives to meet the
requirements of EN61800-3.

1. Standard PowerFlex 700S CE compatible drive.

2. Review important precautions/attentions statements throughout this document

and the PowerFlex 700S User Manual, publication 20D-UM001 before
installing drive.

3. Grounding as described on page 1-4 of the user manual.

4. Output power, control (I/O) and signal wiring must be braided, shield cable with
a coverage of 75% or better, metal conduit or equivalent attention.

5. All shielded cables should terminate with proper shielded connector.

6. Conditions in Table 2.B PowerFlex 700S EN61800-3 EMC Compatibility(1).

Table 2.B PowerFlex 700S EN61800-3 EMC Compatibility(1)

Second Environment First Environment Restricted Distribution
Frame(s)

Restrict Motor Cable to 30 m (98 ft.) Restrict Motor Cable to 150 m (492 ft.)
Any Drive and Option Any Drive and Option External Filter Required
1-6 ✔ ✔ ✔

(1) External filters for First Environment installations and increasing motor cable lengths in Second Environment
installations are available. Roxburgh models KMFA (RF3 for UL installations) and MIF or Schaffner FN3258
and FN258 models are recommended. Refer to http://www.deltron-emcon.com and http://www.mtecorp.com
(USA) or http://www.schaffner.com, respectively.
2-38 Detailed Drive Operation

Faults Faults occur due to conditions within and/or outside the drive that could affect drive
operation or application operation. These events or conditions are considered to be
of significant magnitude that drive operation should or must be discontinued. Faults
are brought to the user’s attention via the HIM, communications and/or contact
outputs. Faults are selected during commissioning of the drive. Example of faults
include: Encoder loss, communication loss or other exceptions within the drive.

Configuration:
Parameters 365 [Fdbk LsCnfg Pri] through 394 [VoltFdbkLossCnfg] and
parameters 940 [+Sft OvrTrvlCnfg] through 944 [Positin Err Cnfg] program the
response of the drive to various conditions. Responses include Ignore, Alarm, Fault
Coast Stop, Fault Ramp Stop, and Fault Current Limit Stop.

Parameters 323 [Fault Status 1] through 325 [Fault Status 3] indicated any faults
that are active.

Application Example:
Parameter 371 [Mtr OL Trip Cnfg] is set to a value of 2 "FltCoastStop". This
configures the drive to set the fault bit, parameter 323 [Fault Status 1] bit 10 "Mtr
OL Trip" when the motor overload trip event occurs.

Filters The PowerFlex 700s has various filters used to assist tuning of the drive. The
following section will assist the user in using the filter using frequency and time
domain analysis.

Key Words
Frequency response, radians, filter, notch,

Nomenclature:

Symbol Description of Symbol Units

s Laplace Operator
ω Frequency radians/sec
ωco Cut-off Frequency radians/sec

Low Pass Filter

A low pass filter is designed to pass low frequencies and attenuate high frequencies.
The break point between high and low is called the cut off frequency.
 Detailed Drive Operation 2-39

Figure 2.7 Bode Plot Low Pass Filter (ωco = 10 rad/sec)

The Process Control Loop has a low pass filter immediately after the error signal.
The break frequency is set by parameter 184 [PI Lpass Filt BW]. The filter is used
to eliminate unwanted noise in the feedback. Typical range is between 10 rad/sec to
50 rad/sec.

Second Order Low Pass Filter

A second order low pass filter is similar to a low pass filter, however the magnitude
rolls off twice as fast as a first order low pass filter. Also the phase shift of a second
order filter is from 0 to 180º compared to 0 to 90º of a first order filter.

Figure 2.8 Second Order Low Pass Filter

There is a second order low pass filter in the Speed Control-Regulator. This filter is
located after the speed error signal. The break frequency is set by parameter 89
[Spd Err Filt BW]. The break frequency is set to five times (5x) the Speed Loop
Bandwidth. This filter is used to attenuate any high frequency noise that the speed
loop would not be able to control.
2-40 Detailed Drive Operation

Lead-Lag Filter
The PowerFlex® 700S incorporates a generic lead lag filter. The filter has the
following Laplace transfer function:
Kn × s + wn-
----------------------------
s + wn

Kn is the gain term for the filter and Wn is the frequency term for the filter.

Lead-Lag Filter "lag"

When Kn is less than one (Kn<1) the filter behaves like a low pass filter.

Figure 2.9 Kn < 1 “Lag Filter”

Figure 2.9 shows the lead lag in a "lag configuration.” The unique aspect of this
filter is that the gain stops once the input frequency is equal to Wn/Kn. Another
aspect to this filter is that there is a mild phase shift during the attenuation.

Figure 2.10 shows the bode plot of the lag configuration. Kn is set to 0.7 and Wn is
set to 35 rad/sec. The time domain shows a 100 rad/sec sinusoidal input. Notice that
the phase shift between input and output are marginal.

Figure 2.10 Bode Plot and Time Domain of Lag

 Detailed Drive Operation 2-41

The lag configuration is good for eliminating unwanted noise and disturbance such
as backlash. There are two lead-lag blocks used in the speed regulator loop. One is
in the forward path and the other is in the feedback path.

Kn Wn
Forward Path Parameter 95 [SRegOut FiltGain] Parameter 96 [SReg Out Filt BW]
Feedback Path Parameter 93 [SRegFB Filt Gain] Parameter 94 [SReg FB Filt BW]

For moderate filtering:

Set Kn=0.7, Wn=0.35

For Heavy filtering:

Set Kn=0.5, Wn=20

Both the Forward and Feedback filters can be set to the same value to increase their
effectiveness.

Lead-Lag Filter "Lead"

When Kn is greater than one (Kn>1), the lead-lag filter operates as lead filter. The
original equation is re-written into a term that can be used to utilize the lead
function. Wn is divided throughout the equation. Two new terms are developed.
The lead term (Wld) is used to display the lead of the filter. The lag term (Wlg) is
used to show the lag of the filter.
Kn × s + wn-
----------------------------
s + wn
Kn × s ⁄ ( wn + 1 )-
----------------------------------------
s ⁄ ( wn + 1 )
⁄ ( Wld + 1 )
s------------------------------
s ⁄ ( Wlg + 1 )
wn = Wlg

Kn = Wlg
----------
Wld

Figure 2.11 Kn > 1 “Lead Filter”

Figure 2.11 shows the bode plot of the lead function. The lead term is used to
counteract lags in the system. The speed loop bandwidth appears to the position
loop as a low pass filter or a lag. The lead filter can be used to cancel the speed loop
lag and replace it with a faster lag.
2-42 Detailed Drive Operation

In the following example:

– The system appears as a lag with a 5 radian/second response.

– The lead filter was set to compensate for the 5 radian/second response
(Wld=5)

– The lag filter was set to 50 radian/second response (Wlg=50)

– Kn is set to Wlg/Wld (50/5) = 10

– Wn is set to Wlg = 50

Figure 2.12 Lead Filter Added to System

Figure 2.12 shows the results of adding the lead-lag. The system had a response of
5 radians/second. By adding the lead-lag filter the system response was increased to
50 radians/second.

There is lead lag filter for the position loops speed reference. The parameters are
Kn=Parameter 25 [STrim2 Filt Gain], Wn=Parameter 26 [SpdTrim2 Filt BW].

A typical use would be to set the lead function (Wld) to the velocity bandwidth
(parameter 90 [Spd Reg BW]) and the lag (Wlg) function to approximately five
times (5x) the lead term.

Notch Filter
A Notch Filter is used to remove a specific frequency. On analog inputs and
outputs, a notch filter could be used to eliminate any 60Hz noise received from
adjacent 120 volt digital input and output wires.

The PowerFlex® 700S has a notch filter that is used to eliminate any resonant
signal created by mechanical gear train. The mechanical gear train consists of two
masses (the motor and the load) and spring (mechanical coupling between the two
loads). This is shown in Figure 2.13.
 Detailed Drive Operation 2-43

Figure 2.13 Mechanical Gear Train

Bm BL
Kspring

Jm Jload

The resonant frequency is defined by the following equation:

( Jm + Jload )
resonance = Kspring × ---------------------------------
Jm × Jload

Jm is the motor inertia (seconds).

Jload is the load inertia (seconds).

Kspring is the coupling spring constant (rad2/sec).

Figure 2.14 shows a two mass system with a resonant frequency of 62 radians/
second. One Hertz is equal to 2π radians/second.

Figure 2.14 Resonance

The small inset shows a better representation of resonant frequency better.

The PowerFlex® 700S has a notch filter in the torque reference loop to eliminate
such noise from the system. The notch filter frequency is parameter 118 [Notch Filt
Freq]. Due to the fact that most mechanical frequencies are described in Hertz,
[Notch Filt Freq] is in Hertz as well.

Figure 2.15 shows the same mechanical gear train as in Figure 2.14. [Notch Filt
Freq] is set to 10.
2-44 Detailed Drive Operation

Figure 2.15 10 Hz Notch

Conclusion
There are several filters used in the PowerFlex 700S for various applications.

The process trim uses a simple low pass filter to eliminate undesirable noise in the
feedback circuit. The cut off frequency of the low pass filter is set by parameter
184 [PI Lpass Filt BW]. Typical values would range from 15-20 radians/second.

The speed loop uses a second order low pass filter after the speed error term is
developed. The cut off frequency of the second order low pass filter is by parameter
89 [Spd Err Filt BW]. Typical value for this parameter is five times (5x) the speed
loop bandwidth (parameter 90 [Spd Reg BW]).

There are several lead lag filters used in the PowerFlex 700S. The lead lag filter has
two terms. The first term is the filter gain (Kn) and the second term is the filter
frequency (Wn). The filter can be used as "lag" to eliminate noise from entering the
control loop. The filter can be used as a "lead" to increase overall system
performance.

To eliminate noise (lag) use with the light or heavy filter.

Kn Wn
Light 0.7 35
Heavy 0.5 20

To use the lead function:

1. Set Wld equal to the desired lead in radians/second

2. Set Wlg equal to 5x Wld

3. Wn=Wlg

4. Kn=Wlg/Wld

The torque reference has a notch filter used to eliminate resonance signals. The
notch frequency is set by parameter 118 [Notch Filt Freq]. This frequency is set to
the mechanical resonance in hertz.
 Detailed Drive Operation 2-45

Flying Start The Flying Start feature is used to start into a rotating motor, as quick as possible,
and resume normal operation with a minimal impact on load or speed.

When a drive is started in its normal mode it initially applies a frequency of 0 Hz

and ramps to the commanded speed. If the drive is started in this mode with the
motor already spinning, large currents will be generated. An overcurrent trip may
result if the current limiter cannot react quickly enough. The likelihood of an
overcurrent trip is further increased if there is residual voltage on the spinning
motor when the drive starts. Even if the current limiter is fast enough to prevent an
overcurrent trip, it may take an unacceptable amount of time for synchronization to
occur and for the motor to reach its desired frequency. In addition, larger
mechanical stress is placed on the application, increasing downtime and repair costs
while decreasing productivity.

The sensorless flying start function implements a frequency search algorithm that
searches for the rotor speed and when found provides flux up time for the motor
before transitioning to normal operation. The frequency search algorithm searches
for a motor voltage that corresponds with the excitation current applied to the
motor. This function is useful where very large inertia systems that would take an
extended period to come to a stop if a drive trip would occur or in cases where an
external source may be moving the motor before the drive would be started.

The PowerFlex 700S Phase I must be version 1.017 or later to support flying start.

ATTENTION: The user must determine the safe frequency search

configuration at the system level. Incorrect selection(s) may result in
! personal injury due to machine motion.
ATTENTION: The Flying Start function is only used for sensorless
operation. In all other cases the motor speed is known from the
! feedback device and a normal start may be used even if the motor is
rotating providing the user has determined that the system is safe for
re-starting while rotating.

Sensorless Flying Start Operation

There two modes available for the frequency search: last known frequency and
preset frequency search.

Last Know Frequency

The last know frequency is the fastest method of flying start, with an initial search
frequency starting at the last known operating frequency. This mode will search
from the last known frequency toward zero frequency and, if the motor speed is not
found, perform a start from zero speed. If the motor speed could reverse or
increases to a larger speed a pull out or over voltage fault could occur. If a reversal
or increase in motor speed could occur the preset frequency search should be used.

Preset Frequency Search

The preset frequency search starts the frequency search at the value set in parameter
451 [SrLss Preset Spd]. From this initial search frequency the search will move
towards zero. Once zero frequency is reached the algorithm will reset to the
opposite direction at the same initial frequency and again search toward zero. If
zero is reached a second time the drive will perform a start from zero speed. The
preset frequency search routine may take the longest to execute. The value entered
2-46 Detailed Drive Operation

into parameter 451 [SrLss Preset Spd] should always be greater than the expected
speed of the motor. If the motor speed is greater than the initial search frequency
overvoltage trips could occur or the algorithm may not find the correct motor speed.

If the flying start function is active and the drive is started with the motor at zero
speed the flying start search will add considerable extra delay to actually starting
the motor.

Figure 2.16 Sensorless Flying Start From Last Known Speed

Flying Start Frequency Search

1.4 tracking rotor speed

1.2
Frequency search
1
from last known
motor at
Frequency

0.8 speed
50% speed
tracking lost Rotor Speed Found
0.6
Pwm stopped frequency= 0
Accel to set speed and
0.4
resume normal operation
0.2
drive re-started
0
0 2 4 6 8
Time (seconds)

Motor Frequency

Figure 2.17 Sensorless Flying Start From Preset Speed

Sensorless Flying Start Configuration

Parameters 30 [Rev Speed Limit] and 31 [Fwd Speed Limit] must be set to
magnitudes greater than the value set in parameter 451 [SrLss Preset Spd] to avoid
over speed faults during the preset frequency search.

Parameter 222 [Motor Fdbk Sel] selects the primary speed feedback device. This
parameter must be set to “2” for sensorless flying start if this is the active feedback
device.

Parameter 223 [Mtr Fdbk Alt Sel] selects the alternate speed feedback device. This
parameter must be set to “2” for sensorless flying start if this is the active feedback
device.
 Detailed Drive Operation 2-47

Settings for parameter 222 [Motor Fdbk Sel] and 223 [Mtr Fdbk Alt Sel]:

Value Description
0 Encoder 0
1 Encoder 1
2 Sensorless
3 Reserved
4 Motor Sim
5 FB Opt Port0
6 FB Opt Port1

Parameter 451 [SrLss Preset Spd] sets the initial frequency for the flying start
frequency search. This value should always be set greater than the expected motor
speed to avoid regeneration and the chance of an over voltage fault.

Parameter 510 [FOC Mode Config] bit 23 "SrLssFStrtEn" determines whether

flying start is enabled or disabled. Setting this parameter to “1” enables the flying
start function. When set to “0” the flying start function is disabled.

Parameter 510 [FOC Mode Config] bit 26 "FS PresetSpd" set to “1 uses parameter
451 [SrLss Preset Spd] as initial frequency for the flying start. When set to “0” the
flying start frequency search uses the last known frequency.

Friction Compensation The friction compensation block is used to calculate breakaway torque and the
torque needed just to keep the motor running at a constant speed due to friction.

Parameter 140 [FricComp Spd Ref] is linked to parameter 43 [S Curve Spd Ref].
The speed reference is needed because the torque needed due to friction is much
more near 0 speed than at higher speeds.

Friction compensation is enabled by setting parameter 151 [Logic Command] bit

11 - "Frict Comp" to “1”.

Parameter 141 [FricComp Setup] is used to configure the friction compensation

algorithm. This is a packed word of 3 digits. Each digit has a possible selection of
10 levels.

• The least significant digit sets the speed threshold in intervals of 0.0005 pu
speed.

• The next (middle) digit sets the hysteresis band for the "units" digit in intervals
of 0.0005 pu velocity.

• The most significant digit sets the number of time steps from stick to slip, each
step is 0.002 sec.

N N N

Number of
Time Stops Units

Hysteresis

Example: Fsetup = 524 means: 5 time steps between stick and slip, each of
0.002 sec. duration, 2 counts of hysteresis or 0.001 pu_speed (each count is
0.0005 pu speed), and 4 counts or 0.002 pu_speed is the trigger threshold (each
count is 0.0005 pu speed).
2-48 Detailed Drive Operation

Parameter 142 [FricComp Stick] sets the torque reference needed to break away
from zero speed. Breakaway torque due to friction is always greater than running
torque due to friction. This parameter is in per unit, so a value of 1 equals 100%
motor torque.

Parameter 143 [FricComp Slip] sets the torque level to sustain very low speed once
breakaway has been achieved. Again, the torque required to run very close to 0
speed due to friction will be greater than the torque required to run at higher speeds
due to friction. This parameter is in per unit, so a value of 1 equals 100% motor
torque.

Parameter 144 [FricComp Rated] sets the torque needed to keep the motor running
at base motor speed and with no process loading. This parameter is in per unit, so a
value of 1 equals 100% motor torque. The friction compensation algorithm assumes
a linear or viscous component of friction between [FricComp Slip] and [FricComp
Rated].

The friction compensation block calculates the torque needed due to friction, which
shows up in parameter 145 [FricComp TorqAdd]. [FricComp TorqAdd] is summed
with the output of the inertia compensation block and the torque generated by the
speed reference loop. That summed torque enters the torque selection block refer to
Torque Reference for more information).

S Curve Spd Ref FricComp Spd Ref FricComp TorqAdd

43 Link 140 145

151 11 Friction Comp to Torque

Control [4B2]
FricComp Setup 141

FricComp Stick 142

FricComp Slip 143
FricComp Rated 144

Fuses and Circuit Breakers The following tables provide drive ratings (including continuous, 1 minute and 3
second) and recommended AC line input fuse and circuit breaker information. Both
types of short circuit protection are acceptable for UL and IEC requirements. Sizes
listed are the recommended sizes based on 40o C and the U.S. N.E.C. Other
country, state or local codes may require different ratings.

Fusing
If fuses are chosen as the desired protection method, refer to the recommended
types listed below. If available amp ratings do not match the tables provided, the
closest fuse rating that exceeds the drive rating should be chosen. IEC - BS88
(British Standard) Parts 1 & 2 (1), EN60269-1, Parts 1 & 2, type gG or equivalent
should be used.

UL - UL Class CC, T, RK1 or J must be used.

Circuit Breakers
The “non-fuse” listings in the following tables include both circuit breakers
(inverse time or instantaneous trip) and 140M Self-Protecting Motor Starters. If one
of these is chosen as the desired protection method, the following requirements
apply. IEC and UL - Both types of devices are acceptable for IEC and UL
installations.
208 Volt AC Input Protection Devices, Frames 1 - 6 (See page 55 for Notes)
Drive Dual Element Time Non-Time Delay Circuit Motor Circuit Power
Catalog HP Rating Input Ratings Output Amps Delay Fuse Fuse Breaker(3) Protector (4) 140M Motor Starter with Adjustable Current Range(5)(6) Dissipation
(1) (2) (1) (2) (10)

Frame
Number ND HD Amps kVA Cont. 1 Min. 3 Sec. Min. Max. Min. Max. Max. Max. (10) Available Catalog Numbers (7) Watts
208 Volt AC Input
20DB4P2 1 1 0.75 3.7 1.3 4.8 5.6 7.0 6 10 6 17.5 15 7 140M-C2E-B63 140M-D8E-B63 – – NA
20DB6P8 1 2 1.5 6.8 2.4 7.8 10.4 13.8 10 15 10 30 30 15 140M-C2E-C10 140M-D8E-C10 140M-F8E-C10 – NA
20DB9P6 1 3 2 9.5 3.4 11 12.1 17 12 20 12 40 40 15 140M-C2E-C16 140M-D8E-C16 140M-F8E-C16 – NA
20DB015 1 5 3 15.7 5.7 17.5 19.3 26.3 20 35 20 70 70 30 140M-C2E-C20 140M-D8E-C20 140M-F8E-C20 – NA
20DB022 1 7.5 5 23.0 8.3 25.3 27.8 38 30 50 30 100 100 30 140M-C2E-C25 140M-D8E-C25 140M-F8E-C25 140M-CMN-2500 NA
20DB028 2 10 7.5 29.6 10.7 32.2 38 50.6 40 70 40 125 125 50 – – 140M-F8E-C32 140M-CMN-4000 NA
20DB042 3 15 10 44.5 16.0 48.3 53.1 72.5 60 100 60 175 175 70 – – 140M-F8E-C45 140M-CMN-6300 NA
20DB052 3 20 15 51.5 17.1 56 64 86 80 125 80 200 200 100 – – – 140M-CMN-6300 NA
20DB070 4 25 20 72 25.9 78.2 93 124 90 175 90 300 300 100 – – – 140M-CMN-9000 NA
20DB080 4 30 25 84.7 30.5 92 117 156 110 200 110 350 350 150 – – – 140M-CMN-9000 NA
20DB104 5 40 – 113 40.7 120 132 175 150 250 150 475 350 150 – – – – NA
– 30 84.7 30.5 92 138 175 125 200 125 350 300 150 – – – 140M-CMN-9000 NA
20DB130 5 50 – 122 44.1 130 143 175 175 275 175 500 375 250 – – – – NA
– 40 98 35.3 104 156 175 125 225 125 400 300 150 – – – – NA
20DB154 6 60 – 167 60.1 177 195 266 225 350 225 500 500 250 – – – – NA
– 50 141 50.9 150 225 300 200 300 200 500 450 250 – – – – NA
20DB192 6 75 – 208 75.0 221 243 308 300 450 300 600 600 400 – – – – NA
– 60 167 60.1 177 266 308 225 350 225 500 500 250 – – – – NA
20DB260 6 66 – 255 91.9 260 286 390 250 450 250 600 600 400 – – – – NA
– 55 199 71.7 205 305 410 350 550 350 750 750 400 – – – – NA

240 Volt AC Input Protection Devices, Frames 1 - 6 (See page 55 for Notes)
Drive Dual Element Time Non-Time Circuit Motor Circuit Power
Catalog HP Rating Input Ratings Output Amps Delay Fuse Delay Fuse Breaker(3) Protector(4) 140M Motor Starter with Adjustable Current Range(5)(6) Dissipation
(1) (2) (1) (2)

Frame
Number ND HD Amps kVA Cont. 1 Min. 3 Sec. Min. Max. Min. Max. Max. (10) Max. (10) Available Catalog Numbers (7) Watts
240 Volt AC Input
20DB4P2 1 1 0.75 3.3 1.4 4.2 4.8 6.4 5 8 5 15 15 7 140M-C2E-B63 140M-D8E-B63 – – NA
20DB6P8 1 2 1.5 5.9 2.4 6.8 9 12 10 15 10 25 25 15 140M-C2E-C10 140M-D8E-C10 140M-F8E-C10 – NA
20DB9P6 1 3 2 8.3 3.4 9.6 10.6 14.4 12 20 12 35 35 15 140M-C2E-C10 140M-D8E-C10 140M-F8E-C10 – NA
20DB015 1 5 3 13.7 5.7 15.3 16.8 23 20 30 20 60 60 30 140M-C2E-C16 140M-D8E-C16 140M-F8E-C16 – NA
20DB022 1 7.5 5 19.9 8.3 22 24.2 33 25 50 25 80 80 30 140M-C2E-C25 140M-D8E-C25 140M-F8E-C25 140M-CMN-2500 NA
20DB028 2 10 7.5 25.7 10.7 28 33 44 35 60 35 100 100 50 – – 140M-F8E-C32 140M-CMN-4000 NA
20DB042 3 15 10 38.5 16.0 42 46.2 63 50 90 50 150 150 50 – – 140M-F8E-C45 140M-CMN-6300 NA
20DB052 3 20 15 47.7 19.8 52 63 80 60 100 60 200 200 100 – – – 140M-CMN-6300 NA
20DB070 4 25 20 64.2 26.7 70 78 105 90 150 90 275 275 100 – – – 140M-CMN-9000 NA
20DB080 4 30 25 73.2 30.5 80 105 140 100 180 100 300 300 100 – – – 140M-CMN-9000 NA
20DB104 5 40 – 98 40.6 104 115 175 125 225 125 400 300 150 – – – – NA
– 30 73 30.5 80 120 160 100 175 100 300 300 100 – – – 140M-CMN-9000 NA
20DB130 5 50 – 122 50.7 130 143 175 175 275 175 500 375 250 – – – – NA
– 40 98 40.6 104 156 175 125 225 125 400 300 150 – – – – NA
20DB154 6 60 – 145 60.1 154 231 308 200 300 200 600 450 250 – – – – NA
– 50 122 50.7 130 195 260 175 275 175 500 375 250 – – – – NA
20DB192 6 75 – 180 74.9 192 211 288 225 400 225 600 575 250 – – – – NA
– 60 145 60.1 154 231 308 200 300 200 600 450 250 – – – – NA
20DB260 6 100 – 233 96.7 260 286 390 250 450 250 600 600 400 – – – – NA
Detailed Drive Operation

– 75 169 70.1 205 305 410 350 550 350 750 750 400 – – – – NA
2-49
400 Volt AC Input Protection Devices, Frames 1 - 6 (See page 55 for Notes)
2-50

Dual Element Non-Time Delay Circuit Motor Circuit Power

Drive kW Rating Input Ratings Output Amps Time Delay Fuse Fuse Breaker(3) Protector(4) 140M Motor Starter with Adjustable Current Range(5)(6) Dissipation
Catalog
ND HD Amps kVA

Frame
Number Cont. 1 Min. 3 Sec. Min. (1) Max. (2) Min. (1) Max. (2) Max. (10) Max. (10) Available Catalog Numbers (7) Watts
400 Volt AC Input
20DC2P1 1 0.75 0.55 1.8 1.3 2.1 2.4 3.2 3 6 3 8 15 3 140M-C2E-B25 140M-D8E-B25 – NA
20DC3P5 1 1.5 0.75 3.2 2.2 3.5 4.5 6.0 6 7 6 12 15 7 140M-C2E-B40 140M-D8E-B40 – NA
20DC5P0 1 2.2 1.5 4.6 3.2 5.0 5.5 7.5 6 10 6 20 20 7 140M-C2E-B63 140M-D8E-B63 – NA
20DC8P7 1 4 2.2 7.9 5.5 8.7 9.9 13.2 15 17.5 15 30 30 15 140M-C2E-C10 140M-D8E-C10 140M-F8E-C10 NA
20DC011 1 5.5 4 10.8 7.5 11.5 13 17.4 15 25 15 45 45 15 140M-C2E-C16 140M-D8E-C16 140M-F8E-C16 NA
Detailed Drive Operation

20DC015 1 7.5 5.5 14.4 10.0 15.4 17.2 23.1 20 30 20 60 60 20 140M-C2E-C20 140M-D8E-C20 140M-F8E-C20 NA
20DC022 1 11 7.5 20.6 14.3 22 24.2 33 30 45 30 80 80 30 140M-C2E-C25 140M-D8E-C25 140M-F8E-C25 NA
20DC030 2 15 11 28.4 19.7 30 33 45 35 60 35 120 120 50 – – 140M-F8E-C32 NA
20DC037 2 18.5 15 35.0 24.3 37 45 60 45 80 45 125 125 50 – – 140M-F8E-C45 NA
20DC043 3 22 18.5 40.7 28.2 43 56 74 60 90 60 150 150 60 – – – NA
20DC056 3 30 22 53 36.7 56 64 86 70 125 70 200 200 100 – – – NA
20DC072 3 37 30 68.9 47.8 72 84 112 90 150 90 250 250 100 – – – NA
20DC085 (8) 4 45 – 81.4 56.4 85 94 128 110 200 110 300 300 150 – – – NA
– 37 68.9 47.8 72 108 144 90 175 90 275 300 100 – – – NA
20DC105 5 55 – 100.5 69.6 105 116 158 125 225 125 400 300 150 – – – NA
– 45 81.4 56.4 85 128 170 110 175 110 300 300 150 – – – NA
20DC125 5 55 – 121.1 83.9 125 138 163 150 275 150 500 375 250 – – – NA
– 45 91.9 63.7 96 144 168 125 200 125 375 375 150 – – – NA
20DC140 6 75 – 149 103 140 154 210 200 300 200 550 400 250 – – – NA
– 55 111 76 105 158 210 150 225 150 400 300 150 – – – NA
20DC170 6 90 – 164 126 170 187 255 250 375 250 600 500 250 – – – NA
– 75 136 103 140 210 280 200 300 200 550 400 250 – – – NA
(9)
20DC205 6 110 – 199 148 205 220 289 250 450 250 600 600 400 – – – NA
– 90 164 126 170 255 313 250 375 250 600 500 250 – – – NA
20DC260 6 132 – 255 177 260 286 390 350 550 350 750 750 400 – – – NA
– 110 199 138 205 308 410 250 450 250 600 600 400 – – – NA
400 Volt AC Input Protection Devices, Frames 9 - 11 (See page 55 for Notes)
Input Circuit Motor Circuit 140M Motor Starter with Power
kWRating Ratings Output Amps Dual Element Time Delay Fuse Non-Time Delay Fuse Breaker(3) Protector(4) Adjustable Current Range(5)(6) Dissipation
Drive
Catalog Cont 1 3 (1)
ND HD Amps kVA Max. (2) Min. (1) Max. (2) Max. (10) Max. (10) Available Catalog Numbers (7)

Frame
Number . Min. Sec. Min. Watts
400 Volt AC Input
20DC261 9 132 - 256 171 261 287 410 325 500 325 700 700 400 – – – NA
- 110 201 139 205 308 410 250 400 250 550 600 400 – – – NA
20DC300 9 160 - 294 204 300 330 500 375 675 375 800 800 400 – – – NA
- 132 240 166 245 368 490 325 500 325 650 700 400 – – – NA
20DC385 10 200 - 377 261 385 424 600 500 800 500 1000 800 800 – – – NA
- 160 294 204 300 450 600 375 675 375 800 800 600 – – – NA
20DC460 10 250 - 451 312 460 506 770 575 900 575 1200 1200 800 – – – NA
- 200 377 261 385 578 770 500 800 500 1000 800 800 – – – NA
20DC500 10 250 - 490 339 500 550 750 625 1100 625 1400 1200 800 – – – NA
- 200 411 285 420 630 840 525 1000 525 1000 1200 800 – – – NA
20DC590 11 315 - 590 408 590 649 956 750 (1 per phs) 1300 (1 per phs) 750 (1 per phs) 1700 (1 per phs) 1600 1200 – – – NA

375 (2 per phs) 600 (2 per phs) 375 (2 per phs) 850 (2 per phs)
- 250 520 360 520 780 956 650 (1 per phs) 1100 (1 per phs) 650 (1 per phs) 1500 (1 per phs) 1200 800 – – – NA

325 (2 per phs) 550 (2 per phs) 325 (2 per phs) 750 (2 per phs)
20DC650 11 355 - 650 450 650 715 1062 900 (1 per phs) 1300 (1 per phs) 900 (1 per phs) 1700 (1 per phs) 1600 1200 – – – NA
450 (2 per phs) 650 (2 per phs) 450 (2 per phs) 850 (2 per phs)
- 315 590 408 590 885 1062 750 (1 per phs) 1300 (1 per phs) 750 (1 per phs) 1700 (1 per phs) 1600 1200 – – – NA

375 (2 per phs) 650 (2 per phs) 375 (2 per phs) 850 (2 per phs)
20DC730 11 400 - 730 506 730 803 1095 1000 (1 per phs) 1500 (1 per phs) 1000 (1 per phs) 2000 (1 per phs) 2000 2000 – – – NA

500 (2 per phs) 750 (2 per phs) 500 (2 per phs) 1000 (2 per phs)
- 355 650 450 650 975 1170 900 (1 per phs) 1300 (1 per phs) 900 (1 per phs) 1700 (1 per phs) 1600 1200 – – – NA
450 (2 per phs) 650 (2 per phs) 450 (2 per phs) 850 (2 per phs)
Detailed Drive Operation
2-51
 2-52

480 Volt AC Input Protection Devices, Frame 1 - 6 (See page 55 for Notes)
Dual Element Non-Time Delay Circuit Motor Circuit Power
Drive HP Rating Input Ratings Output Amps Time Delay Fuse Fuse Breaker(3) Protector(4) 140M Motor Starter with Adjustable Current Range(5)(6) Dissipation
Catalog
ND HD Amps kVA

Frame
Number Cont. 1 Min. 3 Sec. Min. (1) Max. (2) Min. (1) Max. (2) Max. (10) Max. (10) Available Catalog Numbers (7) Watts
480 Volt AC Input
20DD2P1 1 1 0.75 1.6 1.4 2.1 2.4 3.2 3 6 3 8 15 3 140M-C2E-B25 – – – 103
20DD3P4 1 2 1.5 2.6 2.2 3.4 4.5 6.0 4 8 4 12 15 7 140M-C2E-B40 140M-D8E-B40 – – 117
20DD5P0 1 3 2 3.9 3.2 5.0 5.5 7.5 6 10 6 20 20 7 140M-C2E-B63 140M-D8E-B63 – – 135
20DD8P0 1 5 3 6.9 5.7 8.0 8.8 12 10 15 10 30 30 15 140M-C2E-C10 140M-D8E-C10 140M-F8E-C10 – 210
Detailed Drive Operation

20DD011 1 7.5 5 9.5 7.9 11 12.1 16.5 15 20 15 40 40 15 140M-C2E-C16 140M-D8E-C16 140M-F8E-C16 – 243
20DD014 1 10 7.5 12.5 10.4 14 16.5 22 17.5 30 17.5 50 50 20 140M-C2E-C16 140M-D8E-C16 140M-F8E-C16 – 271
20DD022 1 15 10 19.9 16.6 22 24.2 33 25 50 25 80 80 30 140M-C2E-C25 140M-D8E-C25 140M-F8E-C25 140-CMN-2500 389
20DD027 2 20 15 24.8 20.6 27 33 44 35 60 35 100 100 50 – – 140M-F8E-C32 140-CMN-4000 467
20DD034 2 25 20 31.2 25.9 34 40.5 54 40 70 40 125 125 50 – – 140M-F8E-C45 140-CMN-4000 519
20DD040 3 30 25 36.7 30.5 40 51 68 50 90 50 150 150 50 – – 140M-F8E-C45 140-CMN-4000 543
20DD052 3 40 30 47.7 39.7 52 60 80 60 110 60 200 200 70 – – – 140M-CMN-6300 708
20DD065 3 50 40 59.6 49.6 65 78 104 80 125 80 250 250 100 – – – 140M-CMN-9000 NA
20DD077 4 60 – 72.3 60.1 77 85 116 100 170 100 300 300 100 – – – 140M-CMN-9000 NA
– 50 59.6 49.6 65 98 130 80 125 80 250 250 100 – – – 140M-CMN-9000 NA
20DD096 5 75 – 90.1 74.9 96 106 144 125 200 125 350 350 125 – – – – NA
– 60 72.3 60.1 77 116 154 100 170 100 300 300 100 – – – 140M-CMN-9000 NA
20DD125 5 100 – 117 97.6 125 138 163 150 250 150 500 375 150 – – – – NA
– 75 90.1 74.9 96 144 168 125 200 125 350 350 125 – – – – NA
20DD156 6 125 – 147 122 156 172 234 200 350 200 600 450 250 – – – – NA
– 100 131 109 125 188 250 175 250 175 500 375 250 – – – – NA
20DD180 6 150 – 169 141 180 198 270 225 400 225 600 500 250 – – – – NA
– 125 147 122 156 234 312 200 350 200 600 450 250 – – – – NA
20DD248 6 200 233 194 248 273 392 300 550 300 700 700 400 – – – – NA
150 169 141 180 270 360 225 400 225 600 500 250 – – – – NA
480 Volt AC Input Protection Devices, Frame 9 - 11 (See page 55 for Notes)
Circuit Motor Circuit 140M Motor Starter with Power
Drive HP Rating Input Ratings Output Amps Dual Element Time Delay Fuse Non-Time Delay Fuse Breaker(3) Protector(4) Adjustable Current Range(5)(6) Dissipation
Catalog
ND HD Amps kVA

Frame
Number Cont. 1 Min. 3 Sec. Min. (1) Max. (2) Min. (1) Max. (2) Max. (10) Max. (10) Available Catalog Numbers (7) Watts
480 Volt AC Input
20DD261 9 200 - 245 204 261 287 410 325 500 325 700 700 400 – – – – 2700
- 150 193 160 205 308 410 250 400 250 550 600 400 – – – – 2700
20DD300 9 250 - 282 234 300 330 450 375 675 375 800 800 400 – – – – 3100
- 200 230 191 245 368 490 325 500 325 650 700 400 – – – – 3100
20DD385 10 300 - 362 301 385 424 600 500 800 500 1000 800 800 – – – – 4700
- 250 282 234 300 450 600 375 675 375 800 800 600 – – – – 4700
20DD460 10 350 - 432 359 460 506 770 575 900 575 1200 1200 800 – – – – 5500
- 300 362 301 385 578 770 500 800 500 1000 800 800 – – – – 5500
20DD500 10 450 - 469 390 500 550 750 625 1100 625 1400 1200 800 – – – – 6400
- 350 394 328 420 630 840 525 1000 525 1000 1200 800 – – – – 6400
20DD590 11 500 - 590 490 590 649 956 750 (1 per phs) 1300 (1 per phs) 750 (1 per 1700 (1 per 1600 1200 – – – – NA
phs) phs)
375 (2 per phs) 600 (2 per phs)
375 (2 per 850 (2 per
phs) phs)
- 450 520 532 520 780 956 650 (1 per phs) 1100 (1 per phs) 650 (1 per 1500 (1 per 1200 800 – – – – NA
phs) phs)
325 (2 per phs) 550 (2 per phs)
325 (2 per 750 (2 per
phs) phs)
20DD650 11 500 - 650 540 650 715 1062 900 (1 per phs) 1300 (1 per phs) 900 (1 per 1700 (1 per 1600 1200 – – – – NA
phs) phs)
450 (2 per phs) 650 (2 per phs)
450 (2 per 850 (2 per
phs) phs)
- 500 590 490 590 885 1062 750 (1 per phs) 1300 (1 per phs) 750 (1 per 1700 (1 per 1600 1200 – – – – NA
phs) phs)
375 (2 per phs) 650 (2 per phs)
375 (2 per 850 (2 per
phs) phs)
20DD730 11 600 - 730 607 730 803 1095 1000 (1 per phs) 1500 (1 per phs) 1000 (1 per 2000 (1 per 2000 2000 – – – – NA
phs) phs)
500 (2 per phs) 750 (2 per phs)
500 (2 per 1000 (2 per
phs) phs)
- 500 650 540 650 975 1170 900 (1 per phs) 1300 (1 per phs) 900 (1 per 1700 (1 per 1600 1200 – – – – NA
phs) phs)
450 (2 per phs) 650 (2 per phs)
450 (2 per 850 (2 per
phs) phs)
Detailed Drive Operation
2-53
 2-54

600 Volt AC Input Protection Devices, Frames 1 - 6 (See page 55 for Notes)
HP Dual Element Non-Time Delay Circuit Motor Circuit
Drive PWM Power
Rating Freq. Temp. Input Ratings Output Amps Time Delay Fuse Fuse Breaker(3) Protector(4) 140M Motor Starter with Adjustable Current Range(5)(6) Dissipation
Catalog
Amps kVA

Frame
Number ND HD kHz °C Cont. 1 Min. 3 Sec. Min. (1) Max. (2) Min. (1) Max. (2) Max. (10) Max. (10) Available Catalog Numbers (7) Watts
600 Volt AC Input
20DE1P7 1 1 0.5 4 50 1.3 1.4 1.7 2 2.6 2 4 2 6 15 3 M-C2E-B16 – – – NA
20DE2P7 1 2 1 4 50 2.1 2.1 2.7 3.6 4.8 3 6 3 10 15 3 M-C2E-B25 – – – NA
20DE3P9 1 3 2 4 50 3.0 3.1 3.9 4.3 5.9 6 9 6 15 15 7 M-C2E-B40 M-D8E-B40 – – NA
20DE6P1 1 5 3 4 50 5.3 5.5 6.1 6.7 9.2 9 12 9 20 20 15 M-C2E-B63 M-D8E-B63 – – NA
Detailed Drive Operation

20DE9P0 1 7.5 5 4 50 7.8 8.1 9 9.9 13.5 10 20 10 35 30 15 M-C2E-C10 M-D8E-C10 M-F8E-C10 – NA

20DE011 1 10 7.5 4 50 9.9 10.2 11 13.5 18 15 25 15 40 40 15 M-C2E-C10 M-D8E-C10 M-F8E-C10 – NA
20DE017 1 15 10 4 50 15.4 16.0 17 18.7 25.5 20 40 20 60 50 20 M-C2E-C16 M-D8E-C16 M-F8E-C16 – NA
20DE022 2 20 15 4 50 20.2 21.0 22 25.5 34 30 50 30 80 80 30 M-C2E-C25 M-D8E-C25 M-F8E-C25 -CMN-2500 NA
20DE027 2 25 20 4 50 24.8 25.7 27 33 44 35 60 35 100 100 50 – – M-F8E-C25 -CMN-2500 NA
20DE032 3 30 25 4 50 29.4 30.5 32 40.5 54 40 70 40 125 125 50 – – M-F8E-C32 -CMN-4000 NA
20DE041 3 40 30 4 50 37.6 39.1 41 48 64 50 90 50 150 150 100 – – M-F8E-C45 -CMN-4000 NA
20DE052 3 50 40 4 50 47.7 49.6 52 61.5 82 60 110 60 200 200 100 – – – M-CMN-6300 NA
20DE062 4 60 50 2 50 58.2 60.5 62 78 104 80 125 80 225 225 100 – – – M-CMN-6300 NA
20DE077 5 75 – 2 50 72.3 75.1 77 85 116 90 150 90 300 300 100 – – – M-CMN-9000 NA
– 60 2 50 58.2 60.5 63 94 126 90 125 90 250 250 100 – – – M-CMN-6300 NA
20DE099 5 100 – 2 40 92.9 96.6 99 109 126 125 200 125 375 375 150 – – – – NA
– 75 2 40 72.3 75.1 77 116 138 100 175 100 300 300 100 – – – M-CMN-9000 NA
20DE125 6 125 – 2 50 117 122 125 – – 150 250 150 375 375 250 – – – – NA
– 100 2 50 92.9 96.6 99 – – 125 200 125 375 375 150 – – – – NA
20DE144 6 150 – 2 135 141 144 – – 175 300 175 400 400 250 – – – – NA
– 125 2 117 122 125 – – 150 275 150 375 375 250 – – – – NA
 Detailed Drive Operation 2-55

690 Volt AC Input Protection Devices (See Notes below)

Drive kW Dual Element Time Non-Time Delay Circuit Motor Circuit Power
Frame Rating PWM Freq. Temp. Input Ratings Output Amps Delay Fuse Fuse Breaker (3) Protector (4) Dissipation
Catalog
Number ND HD kHz °C Amps kVA Cont. 1 Min. 3 Sec. Min. (1) Max. (2) Min. (1) Max. (2) Max. (10) Max. (10) Watts
690 Volt AC Input
20DF052 5 45 – 4 50 46.9 56.1 52 57 78 60 110 60 175 175 – NA
– 37.5 4 50 40.1 48.0 46 69 92 50 90 50 150 150 – NA
20DF060 5 55 – 4 50 57.7 68.9 60 66 90 80 125 80 225 225 – NA
– 45 4 50 46.9 56.1 52 78 104 60 110 60 175 175 – NA
20DF082 5 75 – 2 50 79.0 94.4 82 90 123 100 200 100 375 375 – NA
– 55 2 50 57.7 68.9 60 90 120 80 125 80 225 225 – NA
20DF098 5 90 – 2 40 94.7 113 98 108 127 125 200 125 375 375 – NA
– 75 2 40 79.0 94.4 82 123 140 100 200 100 375 375 – NA
20DF119 6 110 – 2 50 115 137 119 131 179 150 250 150 400 – – NA
– 90 2 50 94.7 113 98 147 196 125 200 125 375 – – NA
20DF142 6 132 – 2 50 138 165 142 156 213 175 300 175 450 – – NA
– 110 2 50 115 137 119 179 238 150 250 150 400 – – NA
Notes:
(1) Minimum protection device size is the lowest rated device that supplies maximum protection without nuisance tripping.
(2) Maximum protection device size is the highest rated device that supplies drive protection. For US NEC, minimum size is 125% of motor FLA. Ratings shown are
maximum.
(3)
Circuit Breaker - inverse time breaker. For US NEC, minimum size is 125% of motor FLA. Ratings shown are maximum.
(4)
Motor Circuit Protector - instantaneous trip circuit breaker. For US NEC minimum size is 125% of motor FLA. Ratings shown are maximum.
(5)
Bulletin 140M with adjustable current range should have the current trip set to the minimum range that the device will not trip.
(6)
Manual Self-Protected (Type E) Combination Motor Controller, UL listed for 208 Wye or Delta, 240 Wye or Delta, 480Y/277 or 600Y/ 347. Not UL listed for use on
480V or 600V Delta/Delta systems.
(7)
The AIC ratings of the Bulletin 140M Motor Protector may vary. See publication 140M-SG001.
(8)
20BC085 current rating is limited to 45 degrees C ambient.
(9)
20BC205 current rating is limited to 40 degrees C ambient.
(10)
Maximum allowable rating by US NEC. Exact size must be chosen for each installation.

540 Volt DC Input Protection Devices (Footnotes found on page 56)

kW Rating DC Input Ratings Output Amps Non-Time Delay Fuse

Drive Catalog Number Frame ND HD Amps kW Cont. 1 Min. 3 Sec. Fuse Bussmann Style or Equiv. ➋
540 Volt DC Input
20DC2P1 1 0.75 0.55 2.1 1.1 2.1 2.4 3.2 6 JKS-6
20DC3P5 1 1.5 0.75 3.7 2.0 3.5 4.5 6.0 8 JKS-8
20DC5P0 1 2.2 1.5 5.3 2.9 5.0 5.5 7.5 10 JKS-10
20DC8P7 1 4 3.0 9.3 5.0 8.7 9.9 13.2 20 JKS-20
20DC011 1 5.5 4 12.6 6.8 11.5 13 17.4 25 JKS-25
20DC015 1 7.5 5.5 16.8 9.1 15.4 17.2 23.1 30 JKS-30
20DC022 1 11 7.5 24 13 22 24.2 33 45 JKS-45
20DC030 2 15 11 33.2 17.9 30 33 45 60 JKS-60
20DC037 2 18.5 15 40.9 22.1 37 45 60 80 JKS-80
20DC043 3 22 18.5 47.5 25.7 43 56 74 90 JKS-90
20DC056 3 30 22 61.9 33.4 56 64 86 110 JKS-110
20DC072 3 37 30 80.5 43.5 72 84 112 150 JKS-150
20DC085 4 45 – 95.1 51.3 85 94 128 200 JKS-200
– 37 80.5 43.5 72 108 144 150 JKS-150
20DH105 ➊ 5 55 – 117.4 63.4 105 116 158 200 JKS-200
– 45 95.1 51.3 85 128 170 200 JKS-200
20DH125 ➊ 5 55 – 139.8 75.5 125 138 163 225 JKS-225
– 45 91.9 63.7 96 144 168 150 Not Available at time of Print
20DH140 ➊ 6 75 – 158.4 85.6 140 154 210 300 JKS-300
– 55 117.4 63.4 105 158 210 200 JKS-200
20DH170 ➊ 6 90 – 192.4 103.9 170 187 255 350 JKS-350
– 75 158.4 85.6 140 210 280 300 JKS-300
➊
20DH205 6 110 – 232 125.3 205 220 289 400 JKS-400
– 90 192.4 103.9 170 255 313 350 JKS-350
20DH261 9 132 - 312 161 261 287 410 500 170M6608
- 110 245 127 205 308 410 500 170M6608
20DH300 9 160 - 359 186 300 330 500 630 170M6610
- 132 293 152 245 368 490 630 170M6610
20DH385 10 200 - 460 238 385 424 600 700 170M6611
- 160 359 186 300 450 600 700 170M6611
20DH460 10 250 - 550 284 460 506 770 900 170M6613
- 200 460 238 385 578 770 900 170M6613
20DH500 10 250 - 598 309 500 550 750 1000 170M6614
- 200 502 260 420 630 840 1000 170M6614
2-56 Detailed Drive Operation

kW Rating DC Input Ratings Output Amps Non-Time Delay Fuse

Drive Catalog Number Frame ND HD Amps kW Cont. 1 Min. 3 Sec. Fuse Bussmann Style or Equiv. ➋
20DH590 11 500 - 706 365 590 649 956 630 (2 per 170M6610
phs)
- 450 622 322 520 780 956 630 (2 per 170M6610
phs)
20DH650 11 500 - 777 402 650 715 1062 700 (2 per 170M6611
phs)
- 500 706 365 590 885 1062 700 (2 per 170M6611
phs)
20DH730 11 600 - 873 452 730 803 1095 700 (2 per 170M6611
phs)
- 500 777 402 650 975 1170 700 (2 per 170M6611
phs)

650 Volt DC Input Protection Devices

HP Rating DC Input Ratings Output Amps
Non-Time Delay Fuse
Drive Catalog Number Frame ND HD Amps kW Cont. 1 Min. 3 Sec. Fuse Bussmann Style or Equiv. ➋
650 Volt DC Input
20DD2P1 0 1 0.75 1.9 1.2 2.1 2.4 3.2 6 JKS-6
20DD3P4 0 2 1.5 3.0 2.0 3.4 4.5 6.0 6 JKS-6
20DD5P0 0 3 2 4.5 2.9 5.0 5.5 7.5 10 JKS-10
20DD8P0 0 5 3 8.1 5.2 8.0 8.8 12 15 JKS-15
20DD011 0 7.5 5 11.1 7.2 11 12.1 16.5 20 JKS-20
20DD014 1 10 7.5 14.7 9.5 14 16.5 22 30 JKS-30
20DD022 1 15 10 23.3 15.1 22 24.2 33 45 JKS-45
20DD027 2 20 15 28.9 18.8 27 33 44 60 JKS-60
20DD034 2 25 20 36.4 23.6 34 40.5 54 70 JKS-70
20DD040 3 30 25 42.9 27.8 40 51 68 80 JKS-80
20DD052 3 40 30 55.7 36.1 52 60 80 100 JKS-100
20DD065 3 50 40 69.7 45.4 65 78 104 150 JKS-150
20DD077 4 60 – 84.5 54.7 77 85 116 150 JKS-150
– 50 67.9 45.4 65 98 130 150 JKS-150
20DJ096 ➌ 5 75 – 105.3 68.3 96 106 144 200 JKS-200
– 60 84.5 54.7 77 116 154 150 JKS-150
20DJ125 ➌ 5 100 – 137.1 88.9 125 138 163 250 JKS-250
– 75 105.3 68.3 96 144 168 200 JKS-200
20DJ156 ➌ 6 125 – 171.2 110.9 156 172 234 300 JKS-300
– 100 137.1 88.9 125 188 250 250 JKS-250
20DJ180 ➌ 6 150 – 204.1 132.2 180 198 270 400 JKS-400
– 125 171.2 110.9 156 234 312 300 JKS-300
20DJ248 6 200 – 248 273 392 550
– 150 180 270 360 400
20DJ261 9 200 - 299 186 261 287 410 500 170M6608
- 150 235 146 205 308 410 500 170M6608
20DJ300 9 250 - 343 213 300 330 500 630 170M6610
- 200 281 174 245 368 490 630 170M6610
20DJ385 10 300 - 441 274 385 424 600 700 170M6611
- 250 343 213 300 450 600 700 170M6611
20DJ460 10 350 - 527 327 460 506 770 900 170M6613
- 300 441 274 385 578 770 900 170M6613
20DJ500 10 450 - 572 356 500 550 750 1000 170M6614
- 350 481 299 420 630 840 1000 170M6614
20DJ590 11 500 - 676 420 590 649 956 630 (2 per 170M6610
phs)
- 450 595 370 520 780 956 630 (2 per 170M6610
phs)
20DJ650 11 500 - 744 463 650 715 1062 700 (2 per 170M6611
phs)
- 500 676 420 590 885 1062 700 (2 per phs) 170M6611
20DJ730 11 600 - 836 520 730 803 1095 700 (2 per phs) 170M6611
- 500 744 463 650 975 1170 700 (2 per phs) 170M6611

➊ Also applies to “P” voltage class.

➋ The power source to Common Bus inverters must be derived from AC Voltages 600V or less, as defined in
NFPA70; Art 430-18 (NEC).
Battery supplies or MG sets are not included
The following devices were validated to break current of the derived power DC Bus:
Disconnects: Allen-Bradley Bulletin No. 1321, 30 to 400 A; Bulletin No. 194, 30 to 400 A
ABB: OESA, 600 & 800 A; OESL, all sizes
Fuses: Bussmann Type JKS, all sizes; Type 170M, Case Sizes 1, 2 and 3
Ferraz Shawmut Type HSJ, all sizes
For any other devices, please contact the factory.
➌ Also applies to “R” voltage class.
 Detailed Drive Operation 2-57

Grounding, General Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

HIM Memory See Copy Cat

HIM Operations The User Display

The User Display is shown when module keys have been inactive for a
predetermined amount of time. The display can be programmed to show
pertinent information.

Setting the User Display

Step Key(s) Example Displays
1. Press the Up Arrow or Down Arrow to scroll
to Operator Intrfc. Press Enter. Operator Intrfc:
Change Password
2. Press the Up Arrow or Down Arrow to scroll User Display
to User Display. Press Enter. Parameters

3. Select the desired user display. Press Enter.

Scroll to the parameter that the user display
will be based on. Sel

4. Press Enter. Set a scale factor.

5. Press Enter to save the scale factor and

move to the last line.

6. Press the Up Arrow or Down Arrow to

change the text.

7. Press Enter to save the new user display.

Setting the Properties of the User Display

The following HIM parameters can be set as desired:

• User Display - Enables or disables the user display.

• User Display 1 - Selects which user display parameter appears on the top
line of the user display.
• User Display 2 - Selects which user display parameter appears on the
bottom line of the user display.
• User Display Time - Sets how many seconds will elapse after the last
programming key is touched before the HIM displays the user display.
2-58 Detailed Drive Operation

Inertia Adaptation Inertia adaptation is used to compensate for lost motion, which occurs when a gear
box and/or "springy" coupling is present. Inertia adaptation can allow the user to
increase the speed regulator bandwidth by up to four (4) times.

For example, a motor connected to a gearbox is shown:

This gearbox can be represented by a spring (k) and gear back lash (BL):

When the speed of the motor increases, there is a period of time (represented by ∆x)
before the teeth of the gearbox engage. After that time, there will be some twisting
(like a spring) in the shaft after the teeth of the gearbox engage. This lost motion
causes mechanical instability and limits how high the speed regulator bandwidth
can be set without causing instability. Inertia adaptation detects the lost motion and
a higher speed regulator bandwidth can be achieved without instability.

Configuration:
See Speed Regulator Tuning - Advanced Tuning for the Speed Regulator with
Gearbox or Belt on page 2-127 for details on using inertia adaptation.

Inertia
Total Inertia 9
Adaptation
Motor Spd Fdbk 300
Inert Adapt Sel 132 00
(Inrtia Adapt )
(Load Est ) 01

Inert Adapt BW 133

Inert Adapt Gain 134

Motor Torque Ref

-
From Spd /Torque + 303 To Current
Mode Selection Control
Limit

Torque Limits
 Detailed Drive Operation 2-59

Inertia Compensation During speed changes, a certain level of torque is required due to load inertia. That
level of torque is above the torque used to run at constant speed. Inertia
compensation calculates that torque based on the acceleration or deceleration rate.
Then that acceleration or deceleration torque can be fed forward into the torque
control, making for smoother accels and decels, especially with high inertia loads.

Parameter 56 [Inertia SpeedRef] is linked to parameter 43 [S Curve Spd Ref]. This

becomes the speed reference that the inertia compensation block uses to calculate
the acceleration or deceleration rate, also known as the derivative of speed with
respect to time.

Inertia compensation is enabled by turning on parameter 151 [Logic Command], bit

10 - "Inertia Comp".

Parameter 9 [Total Inertia] is calculated during the autotune and is used along with
the calculated acceleration or deceleration rate to calculate the torque adder.

Parameter 57 [InertiaAccelGain] determines the gain for the inertia compensation

during acceleration. A gain of 1 results in 100% compensation. Parameter 58
[InertiaDecelGain] determines the gain for the inertia compensation during
deceleration.

Parameter 60 [DeltaSpeedScale] is a multiplier for the torque output of the inertia

compensation block. It is used in center wind and center unwind applications to
compensate for diameter build-up.

The inertia compensation outputs the calculated torque to the parameter 59 [Inertia
Torq Add]. [Inertia Torq Add] is summed with the output of the friction
compensation block and the torque generated by the speed reference loop. That
summed torque enters the torque selection block (refer to Torque Reference for
more information).

Parameter 55 [Speed Comp] contains the rate of acceleration or deceleration

calculated in the inertia compensation block. This parameter is used in following
applications. Link parameter 23 [Speed Trim 3] to [Speed Comp] and set parameter
24 [SpeedTrim3 Scale] to 0.002 to reduce position error in following applications.

S Curve Spd Ref Inertia SpeedRef Inertia Torq Add

∆n
43 Link 56 59
∆t
Logic Command to Torque
151 10 Inertia Comp Control [4B1]
(Inertia Comp)
Total Inertia 9
InertiaAccelGain 57
Speed Comp
InertiaDecelGain 58 55
DeltaSpeedScale 60

Input Devices Contactors

Refer to Motor Start/Stop Precautions

Circuit Breakers/Fuses
Refer to Fuses and Circuit Breakers
2-60 Detailed Drive Operation

Filters, EMC
Refer to CE Conformity

Input Modes Refer to Start/Stop Modes.

Input Power Conditioning Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

Jog A jog reference is usually used to run the motor at some preset, low speed. Two
separate jog speeds can be used as a speed reference - parameter 17 [Jog Speed 1]
or parameter 18 [Jog Speed 2]. A jog could be initiated by a Digital Input, by the
Logic Command word from a DPI Adapter such as a HIM, or by the Logic
Command word from DriveLogix. In turn, a valid jog command initiated from one
of those adapters will turn on either bit 18 in parameter 152 [Applied LogicCmd] to
select jog speed 1 or bit 23 in [Applied LogicCmd] to select jog speed 2. Note that
the jog command is a maintained type of logic, so that the jog speed will be active
while the jog command bit is maintained.

Applied LogicCmd
152 18 152 23

0 0
Jog Speed 1
1
17

1
18

Jog Speed 2

Links Links are software connections between two parameters. This allows one parameter
to receive information from another parameter.

Parameter Type Description Parameter Symbol

Source Provides information Source

Destination Receives information Dest.

 Detailed Drive Operation 2-61

Each destination parameter can only have one source parameter. However, source
parameters may be linked to multiple destination parameters. The information from
the link always flows from the source to the destination parameter.

Dest. Information
Information
Dest. Source Source

Dest. Information

Several default links are set in the drive as default. Modifying these links can be
done two ways:

Using the HIM

Access the destination parameter you wish to use for the link. (This cannot be done
from the ALT Parameter view window, only the parameter list). When you access
the parameter you want to edit, press the ALT, then the View button. This will
display a window with the mode selection. Use the up/down arrow keys on the top
row of buttons to select "Defined Link" and press Enter. When in this mode,
pressing the Select button will allow you to enter the source parameter number.

Using Drive Executive

Double-click on the destination parameter. The parameter XX dialog box displays.
Click on the Link Source tab. Select the Parameter radio button and select the
source parameter in the Selected Parameter field.
2-62 Detailed Drive Operation

Masks A mask is a parameter that contains one bit for each of the possible adapters. Each
bit acts like a valve for issued commands. Closing the valve (setting a bit value to 0)
stops the command from reaching the DriveLogix. Opening the valve (setting a bit
value to 1) allows the command to pass through the mask into the DriveLogix.

Table 2.C Mask Parameters and Functions

Parameter Function
[Logic Mask] Determines which adapters can control the drive. When the bit for an adapter
is set to “0,” the adapter will have no control functions except for stop.
[Start Mask] Controls which adapters can issue start commands.
[Jog Mask] Controls which adapters can issue jog commands.
[Direction Mask] Controls which adapters can issue forward/reverse direction commands.
[Fault Clr Mask] Controls which adapters can clear a fault.

The individual bits for each parameter are as follows:

• Bit 0 - “Digital Input”

• Bit 1 - “Adapter 1”
• Bit 2 - “Adapter 2”
• Bit 3 - “Adapter 3”
• Bit 4 - Not Used
• Bit 5 - “Adapter 5”
• Bit 6 - Not Used
• Bit 7 - “DriveLogix”
Example: A customer's process is normally controlled by a remote PLC, but the
drive is mounted on the machine. The customer does not want anyone
to walk up to the drive and reverse the motor because it would damage
the process. The local HIM (drive mounted Adapter 1) is configured
with an operator's panel that includes a “REV” Button. To assure that
only the PLC (connected to Adapter 5) has direction control, the
[Direction Mask] can be set as follows:

Direction Mask 00100000

Adapter # 76543210

This “masks out” the reverse function from all adapters except Adapter 5, making
the local HIM (Adapter 1) REV button inoperable. See Owners later in this chapter
or PowerFlex 700S User Manual for more information.

Motor Control Mode See Autotune on page 2-4.

Motor Nameplate
[Motor NP Volts]
The motor nameplate base voltage defines the output voltage, when operating at rated current,
rated speed, and rated temperature.
[Motor NP FLA]
The motor nameplate defines the output amps, when operating at rated voltage, rated speed,
and rated temperature. It is used in the motor thermal overload, and in the calculation of slip.
[Motor NP Hz]
The motor nameplate base frequency defines the output frequency, when operating at rated
voltage, rated current, rated speed, and rated temperature.
[Motor NP RPM]
The motor nameplate RPM defines the rated speed, when operating at motor nameplate base
frequency, rated current, base voltage, and rated temperature. This is used to calculate slip.
 Detailed Drive Operation 2-63

[Motor NP Power]
The motor nameplate power is used together with the other nameplate values to calculate
default values for motor parameters to and facilitate the commissioning process. This may be
entered in horsepower or in kilowatts as selected in the previous parameter or kW for certain
catalog numbers and HP for others.
[Motor NP Pwr Units]
The rated power of the motor may be entered in horsepower or in kilowatts. This parameter
determines the units on the following parameter.
[Motor Poles]
The number of motor poles - only even numbers are allowed (this may or may not appear on the
nameplate).

Motor Overload The overload capability applies to the rated speed range.

Low Overload
After continuous operation at the rated output current, overload may be 110% rated
output current (IL) for 1 minute as long as it is followed by a period of load less
than the rated current so that the output current over the duty cycle does not exceed
the rated output current (IL).
Example: If the duty cycle requires 110% rated output current for 1 minute of
every 10 minutes, the remaining 9 minutes must be at approximately
98% rated current or less to maintain output current less than 100%. If
the requirement is 1 minute out of 60 minutes, the remaining 59
minutes must be at approximately 99% rated current or less.

Figure 2.18 Illustration of IL

Current
IL
1.1 x IL

1 minute 9 minutes

Time

High Overload
After continuous operation at the rated output current, overload may be 150% rated
output current (IH) for 1 minute as long as it is followed by a period of load less
than the rated current so that the output current over the duty cycle does not exceed
the rated output current (IH).

Example: If the duty cycle requires 150% rated output current for 1 minute of
every 10 minutes, the remaining 9 minutes must be at approximately
92% rated current or less to maintain output current less than 100%. If
the requirement is 1 minute out of 60 minutes, the remaining 59
minutes must be at approximately 98% rated current or less.
2-64 Detailed Drive Operation

Motor Start/Stop Input Contactor Precautions

Precautions
ATTENTION: A contactor or other device that routinely disconnects
and reapplies the AC line to the drive to start and stop the motor can
! cause drive hardware damage. The drive is designed to use control input
signals that will start and stop the motor. If an input device is used,
operation must not exceed one cycle per minute or drive damage will
occur.

ATTENTION: The drive start/stop/enable control circuitry includes

solid state components. If hazards due to accidental contact with
moving machinery or unintentional flow of liquid, gas or solids exist,
an additional hardwired stop circuit may be required to remove the AC
line to the drive. An auxiliary braking method may be required.

Output Contactor Precaution

ATTENTION: To guard against drive damage when using output

contactors, the following information must be read and understood.
! One or more output contactors may be installed between the drive and
motor(s) for the purpose of disconnecting or isolating certain motors/
loads. If a contactor is opened while the drive is operating, power will
be removed from the respective motor, but the drive will continue to
produce voltage at the output terminals. In addition, reconnecting a
motor to an active drive (by closing the contactor) could produce
excessive current that may cause the drive to fault. If any of these
conditions are determined to be undesirable or unsafe, an auxiliary
contact on the output contactor should be wired to a drive digital input
that is programmed as ìEnable.î This will cause the drive to execute a
coast-to-stop (cease output) whenever an output contactor is opened.

Mounting As a general rule, drives should be mounted on a metallic flat surface in the vertical
orientation. If considering other orientation, contact the Factory for additional data.
Refer to the Chapter 1 - Installation/Wiring in the “PowerFlex 700S User Manual,”
publication 20D-UM001 for mounting instructions and limitations. This
publication is available online at:

http://literature.rockwellautomation.com/literature

Output Devices Drive Output Disconnection

ATTENTION: Any disconnecting means wired to the drive output

terminals U, V and W must be capable of disabling the drive if opened
! during drive operation. If opened during drive operation, the drive will
continue to produce output voltage between U, V, W. An auxiliary
contact must be used to simultaneously disable the drive.

Allen-Bradley Drives can be used with an output contactor between the drive and
motor. This contactor can be opened under load without damage to the drive. It is
 Detailed Drive Operation 2-65

recommended, however, that the drive have a programmed “Enable” input and that
this input be opened at the same time as the output contactor.

Cable Termination
Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

Output Reactor
Bulletin 1321 Reactors can be used for drive input and output. These reactors are
specifically constructed to accommodate IGBT inverter applications with switching
frequencies up to 20 kHz. They have a UL approved dielectric strength of 4000
volts, opposed to a normal rating of 2500 volts. The first two and last two turns of
each coil are triple insulated to guard against insulation breakdown resulting from
high dv/dt. When using motor line reactors, it is recommended that the drive PWM
frequency be set to its lowest value to minimize losses in the reactors.

By using an output reactor the effective motor voltage will be lower because of the
voltage drop across the reactor - this may also mean a reduction of motor torque.

Output Display Output Current (Parameter 308)

Displays measured RMS drive output current. Parameter 297 [Output Curr Disp]
which is the integer equivalent of parameter 308 with * internal storage in 1/10
Amps (10 = 1.0amp).

Output Frequency (Parameter 310)

This parameter displays the actual output frequency of the drive. The output
frequency is created by a summation of commanded frequency and any active speed
regulator such as slip compensation, PI Loop, bus regulator. The actual output may
be different than the commanded frequency.

Output Power (Parameter 311)

This parameter displays the output kW of the drive. Motor Power is the calculated
product of the torque reference and motor speed feedback. A 125ms filter is applied
to this result. Positive values indicate motoring power; negative values indicate
regenerative power. The output power is a calculated value and tends to be
inaccurate at lower speeds. It is not recommended for use as a process variable to
control a process.

Output Voltage (Parameter 307)

Displays RMS line-to-line fundamental output voltage at the drive output terminals.
This data is averaged and updated every 50 milliseconds. The actual output voltage
may be different than that determined by the sensorless vector or V/Hz algorithms
because it may be modified by features such as the Auto-Economizer.
2-66 Detailed Drive Operation

Overspeed Limit The absolute overspeed limit parameter, parameter 335 [Abs OverSpd Lim], is an
adjustable setting. This sets a limit tolerance below parameter 30 [Rev Speed Lim]
and above parameter 31 [Fwd Speed Lim], that is allowable. This can be used as a
safe working speed limit.

Example 1 Speed reference is set to equal parameter 31 [Fwd Speed Lim]. Based
on tuning of the drive, the speed could overshoot the commanded
speed. If parameter 335 [Abs OverSpd Lim] is set equal to the
forward speed limit and an overshoot is speed occurs, the drive will
fault on an absolute overspeed.

Example 2 Drive is configured as a torque follower. If the mechanical connection

to the load is severed, the torque command to the drive will probably
be greater than the motor unloaded will require to maintain the system
speed. This will cause the motor speed to increase until the torque
command is met. Setting parameter 335 [Abs OverSpd Lim] to the
safe motor speed will cause the fault to occur when the motor speed
increase beyond this limit.

Owners An owner is a parameter that contains one bit for each of the possible adapters. The
bits are set high (value of 1) when its adapter is currently issuing that command,
and set low when its adapter is not issuing that command.

Table 2.D Owner Parameters and Functions

Parameter Function
[Stop Owner] Indicates the adapters that are presently issuing a valid stop command.
[Start Owner] Indicates the adapters that are presently issuing a valid start command.
[Jog Owner] Indicates the adapters that are presently issuing a valid jog command.
[Direction Owner] Indicates the adapter that currently has exclusive control of direction changes.
[Fault Clr Owner] Indicates the adapters that are presently issuing a valid start command.

The bits for each parameter are broken down as follows:

• Bit 0 - “Digital Input”

• Bit 1 - “Adapter 1”
• Bit2 - “Adapter 2”
• Bit 3 - “Adapter 3”
• Bit 4 - Not Used
• Bit 5 - “Adapter 5”
• Bit 6 - Not Used
• Bit 7 - “DriveLogix”

Ownership falls into two categories:

1. Exclusive: Only one adapter at a time can issue the command and only one bit in
the parameter will be high.

2. Non Exclusive: Multiple adapters can simultaneously issue the same command
and multiple bits may be high.

Some ownership must be exclusive; that is, only one Adapter at a time can issue
certain commands and claim ownership of that function. For example, it is not
allowable to have one Adapter command the drive to run in the forward direction
while another Adapter is issuing a command to make the drive run in reverse.
Direction Control, therefore, is exclusive ownership.
 Detailed Drive Operation 2-67

Conversely, any number of adapters can simultaneously issue Stop Commands.

Therefore, Stop Ownership is not exclusive.

Example: The operator presses the Stop button on the Local HIM to stop the
drive. When the operator attempts to restart the drive by pressing the
HIM Start button, the drive does not restart. The operator needs to
determine why the drive will not restart.

The operator first views the Start owner to be certain that the Start button on the
HIM is issuing a command.

Terminal Block -
Digital Input
DriveLogix

Adapter 5

Adapter 3
Adapter 2
Adapter 1
Not Used

Not Used
Start Owner Bit 7 6 5 4 3 2 1 0
Adapter # 0 0 0 0 0 0 1 0

When the local Start button is pressed, the display indicates that the command is
coming from the HIM.

Terminal Block -
Digital Input
DriveLogix

Adapter 5

Adapter 3
Adapter 2
Adapter 1
Not Used

Start Owner Bit Not Used

7 6 5 4 3 2 1 0
Adapter # 0 0 0 0 0 0 1 0

The [Start Owner] indicates that there is not any maintained Start commands
causing the drive to run. Terminal Block -
Digital Input
DriveLogix

Adapter 5

Adapter 3
Adapter 2
Adapter 1
Not Used

Not Used

Stop Owner Bit 7 6 5 4 3 2 1 0

Adapter # 0 0 0 0 0 0 1 0

The operator then checks the Stop Owner. Notice that bit 0 is a value of “1,”
indicating that the Stop device wired to the Digital Input terminal block is open,
issuing a Stop command to the drive.

Until this device is closed, a permanent Start Inhibit condition exists and the drive
will not restart.
2-68 Detailed Drive Operation

Permanent Magnet Motors The following table contains a list of specifications for the permanent magnet
motors compatible with PowerFlex 700S drives. Note that you must have a high
resolution Stegmann or compatible resolver.

Table 2.E Motor Name Plate and Rating Specifications

Motor NP System Cont.
Motor NP Volts Motor NP FLA (A Frequency Motor NP RPM Motor NP Motor Current peak Stall Torque Motor Max
Model Number (line to line V rms) rms) (Hz) (oper. rpm) Power (KW) Poles (A rms) (N-m) RPM (rpm)
Parameter # 1 2 3 4 5 7
MPL-A310P 230 3.4 294.0 4410 0.73 8 9.9 1.58 5000
MPL-A310F 230 2.1 185.3 2780 0.46 8 6.6 1.58 3000
MPL-A320P 230 6.4 271.3 4070 1.30 8 20.9 3.05 5000
MPL-A320H 230 4.6 208.7 3130 1.00 8 13.6 3.05 3500
MPL-A330P 230 8.5 280.7 4210 1.80 8 26.9 4.08 5000
MPL-A420P 230 9.0 268.7 4030 2.00 8 32.5 4.74 5000
MPL-A430P 230 11.9 234.0 3510 2.20 8 47.4 5.99 5000
MPL-A430H 230 8.6 184.7 2770 1.80 8 31.8 6.21 3500
MPL-A4520P 230 12.4 234.0 3510 2.20 8 35.4 5.99 5000
MPL-A4520K 230 10.6 223.3 3350 2.10 8 30.4 5.99 4000
MPL-A4530F 230 9.5 144.7 2170 1.90 8 29.7 8.36 2800
MPL-A4530K 230 14.4 196.0 2940 2.50 8 43.8 8.13 4000
MPL-A4540C 230 6.6 93.3 1400 1.50 8 20.5 10.20 1500
MPL-A4540F 230 13.0 162.0 2430 2.60 8 38.2 10.20 3000
MPL-A520K 230 16.3 208.0 3120 3.50 8 46.0 10.70 4000
MPL-A540K 230 29.3 180.7 2710 5.50 8 84.9 19.40 4000
MPL-A560F 230 29.3 125.3 1880 5.50 8 84.9 27.90 3000

MPL-B310P 460 1.7 290.0 4350 0.72 8 3.0 1.58 5000

MPL-B320P 460 3.2 281.3 4220 1.30 8 5.0 2.94 5000
MPL-B330P 460 4.3 258.7 3880 1.70 8 7.0 4.18 5000
MPL-B420P 460 4.5 255.3 3830 1.90 8 9.2 4.74 5000
MPL-B430P 460 6.5 233.3 3500 2.40 8 12.0 6.55 5000
MPL-B4520P 460 6.0 260.7 3910 2.50 8 17.0 6.10 5000
MPL-B4530F 460 5.0 167.3 2510 2.20 8 13.4 8.36 3000
MPL-B4530K 460 7.8 198.0 2970 2.60 8 19.1 8.36 4000
MPL-B4540F 460 6.4 187.3 2810 3.00 8 16.3 10.20 3000
MPL-B4560F 460 8.3 144.7 2170 3.20 8 25.5 14.10 3000
MPL-B520K 460 8.1 208.0 3120 3.50 8 23.3 10.70 4000
MPL-B540K 460 14.5 177.3 2660 5.40 8 42.4 19.40 4000
MPL-B560F 460 14.5 123.3 1850 5.40 8 42.4 27.90 3000
MPL-B580F 460 18.4 132.7 1990 7.10 8 66.5 34.00 3000
MPL-B580J 460 22.6 101.3 1520 5.40 8 66.5 34.00 3800
MPL-B640F 460 22.7 106.0 1590 6.10 8 46.0 36.70 3000
MPL-B660F 460 27.2 81.3 1220 6.15 8 67.9 48.00 3000
MPL-B680D 460 24.0 123.3 1850 9.30 8 66.5 48.00 2000
MPL-B680F 460 33.9 79.3 1190 7.50 8 67.9 60.00 3000
MPL-B860D 460 33.6 96.0 1440 12.50 8 67.5 83.00 2000
MPL-B880C 460 33.6 72.7 1090 12.60 8 69.0 110.00 1500
MPL-B880D 460 40.3 86.7 1300 15.00 8 113.2 110.00 2000
MPL-B960B 460 29.7 78.7 1180 16.00 8 63.6 130.00 1200
MPL-B960C 460 38.9 76.0 1140 14.80 8 88.4 124.30 1500
MPL-B960D 460 50.2 98.0 1470 20.00 8 102.5 130.00 2000
MPL-B980B 460 31.8 72.0 1080 17.00 8 70.7 150.00 1000
MPL-B980C 460 48.2 67.3 1010 16.80 8 99.0 158.20 1500
MPL-B980D 460 63.6 93.3 1400 22.00 8 141.4 150.00 2000

MPG-A004-031 230 1.8 222.7 3340 0.21 8 4.0 0.60 6000

MPG-A010-031 230 2.1 189.3 2840 0.36 8 6.0 1.21 4875
MPG-A010-091 230 0.9 295.3 4430 0.19 8 2.3 0.41 5900
MPG-A025-031 230 9.9 181.0 1810 0.88 12 19.8 4.65 5200
MPG-A025-091 230 3.0 168.0 1680 0.52 12 8.5 2.95 5625
MPG-A050-031 230 24.7 120.0 1200 1.50 12 53.0 11.90 2510
MPG-A050-091 230 5.0 275.0 2750 0.75 12 15.6 2.60 3775
MPG-A110-031 230 20.2 122.0 1220 2.20 12 53.0 17.20 2875
MPG-A110-091 230 17.0 184.0 1840 1.60 12 33.2 8.30 3500
 Detailed Drive Operation 2-69

Motor NP System Cont.

Motor NP Volts Motor NP FLA (A Frequency Motor NP RPM Motor NP Motor Current peak Stall Torque Motor Max
Model Number (line to line V rms) rms) (Hz) (oper. rpm) Power (KW) Poles (A rms) (N-m) RPM (rpm)
MPG-B010-031 460 1.6 162.7 2440 0.34 8 4.4 1.33 6450
MPG-B010-091 460 0.7 357.3 5360 0.23 8 1.5 0.41 6450
MPG-B025-031 460 4.0 219.0 2190 0.92 12 11.3 4.02 4838
MPG-B025-091 460 1.9 175.0 1750 0.54 12 5.2 2.95 5900
MPG-B050-031 460 16.3 92.0 920 1.20 12 32.5 12.40 2510
MPG-B050-091 460 3.4 290.0 2900 0.79 12 9.9 2.60 4560
MPG-B110-031 460 12.9 112.0 1120 2.00 12 31.1 17.00 2420
MPG-B110-091 460 10.6 184.0 1840 1.60 12 20.5 8.30 3500

1326AB-B410G 460 2.5 118.0 3540 1.00 4 7.4 2.70 5000

1326AB-B410J 460 3.5 165.0 4950 1.40 4 10.4 2.70 7250
1326AB-B420E 460 2.8 70.0 2100 1.10 4 8.5 5.00 3000
1326AB-B420H 460 5.5 137.3 4120 2.20 4 15.6 5.10 6000
1326AB-B430E 460 3.9 67.7 2030 1.40 4 11.7 6.60 3000
1326AB-B430G 460 5.6 114.3 3430 2.30 4 16.8 6.40 5000
1326AB-B515E 460 6.1 70.3 2110 2.30 4 18.3 10.40 3000
1326AB-B515G 460 9.5 88.7 2660 2.90 4 28.5 10.40 5000
1326AB-B520E 460 6.7 71.0 2130 2.90 4 20.1 13.00 3000
1326AB-B520F 460 8.8 70.3 2110 2.90 4 26.4 13.10 3500
1326AB-B530E 460 9.5 74.3 2230 4.20 4 28.5 18.00 3000
1326AB-B720E 460 17.5 70.0 2100 6.80 4 52.5 30.90 3500
1326AB-B720F 460 27.5 117.0 3510 11.70 4 66.5 31.80 5000
1326AB-B730E 460 22.8 78.3 2350 9.60 4 66.5 39.00 3350
1326AB-B740C 460 20.9 52.3 1570 8.70 4 62.7 53.00 2200
1326AB-B740E 460 32.0 79.7 2390 12.70 4 66.5 50.80 3400
0.0
1326AS-B310H 460 0.8 204.5 4090 0.30 6 2.4 0.70 6200
1326AS-B330H 460 2.1 204.5 4090 0.90 6 6.0 2.10 6500
1326AS-B420G 460 2.6 179.0 3580 1.20 6 7.8 3.20 5250
1326AS-B440G 460 5.4 149.0 2980 2.00 6 16.2 6.40 5250
1326AS-B460F 460 6.2 148.5 2970 2.80 6 18.6 9.00 4300
1326AS-B630F 460 7.8 142.7 2140 2.40 8 18.5 10.70 4500
1326AS-B660E 460 11.8 100.7 1510 3.40 8 29.8 21.50 3000
1326AS-B690E 460 19.0 87.3 1310 5.00 8 41.3 36.40 3000
1326AS-B840E 460 21.2 79.3 1190 4.70 8 39.5 37.60 3000
1326AS-B860C 460 17.6 77.3 1160 6.00 8 44.4 49.30 2000

1326AH-B330F 460 2.1 0.0 3000 0.75 9.0 3000

1326AH-B440F 460 3.3 0.0 2500 1.22 13.8 2500
1326AH-B540F 460 11.1 0.0 2500 2.60 47.2 2500

3050R-7 390 66.0 50.0 500 30.00 12 132.0 500

11050R-7 390 218.0 50.0 500 110.00 12 436.0 500

PET Pulse Elimination Technique - See Reflected Wave.

2-70 Detailed Drive Operation

Position Loop - Follower Technical Information

(Electronic Gearing) General facts about using the Position Loop for follower applications:

1. Parameter 768 [PositReg P Gain] is used for tuning.

2. Parameter 770 [Posit Reg Integ] is normally not needed for position following
applications and is disabled by factory default.

3. The number of position counts per revolution depends on the type of feedback
device used:

a. When using an encoder for positioning, the drive uses quadrature counts, i.e.,
1024 encoder = 4096 counts per motor revolution.

b. When using a Stegmann absolute hi-resolution encoder, the drive counts

1048576 counts per revolution.

c. When using a Resolver, the drive counts 65536 counts per revolution.

4. Speed regulator tuning directly affects the position loop performance. The speed
regulator should be tuned before the position loop.

5. For best performance, positioning should be used with a dynamic brake or

regenerative system.

Overview
The position follower feature gives the user the ability to follow the position of a
master motor without an external position controller. The position loop adds to or
subtracts from the speed reference (using parameter 22 [Speed Trim 2]) to correct
for the following error and keep the positions of both encoders locked. The
resulting motor speed reference enters the speed regulator loop. Gear ratios can be
set up to follow at different rates of speed and position. Typical applications for a
geared follower would be for a roller following another part of a machine, and a
filler and capper machine for bottling.

The following is a block diagram overview of the position follower mode:

Position Control (2ms)

Posit Spd Output
from
Aux Posit Ref 318
Master Encdr [N]
743
[D]
Gear Rat

Position Offset
+ PI Regulator

from Mtr Posit FB

Follower Encdr
762

Speed Control - Regulator (0.5ms)

Speed Control - Reference (2ms)
Speed Trim 2 Spd Reg PI Out
Selected Spd Ref S Curve Spd Ref Motor Speed Ref
Speed Ref 1 22 302
40 43 301
10 + PI
/ Motor Spd Fdbk
Regulator
Spd Ref1 Divide 11 Linear Ramp from
300
& S Curve Follower Encdr
Speed Ref
from Selection
Speed Ref 2
Master Encdr
12
Spd Ref2 Multi 13
* Spd Reg P Gain 81

Spd Reg I Gain 82

Speed Ref Sel
Spd Reg BW 90
16
 Detailed Drive Operation 2-71

Speed Reference Selection

For the position following mode to work properly, there needs to be a speed
reference to the speed loop of the drive to follow.
Selected Spd Ref
40
Speed Ref 1 10
/
Spd Ref1 Divide 11
Speed Ref
Speed Ref 2 Selection
from
12
Master Encdr
13
*
Spd Ref2 Multi

Speed Ref Sel

16

For example, link parameter 12 [Speed Ref 2] to parameter 241 [Encdr1 Spd Fdbk].
Set parameter 16 [Speed Ref Sel] = 1 "Speed Ref 1". This generates the speed
command from the master encoder input. If a gear ratio is used in the position loop,
parameter 13 [Spd Ref2 Multi] must be setup to match the gear ratio set in the
position loop.

Speed Reference Ramp

The speed reference ramp should be disabled when using the drive as a position
follower. To disable the speed reference ramp, set parameter 151 [Logic
Command] bit 0 "SpdRamp Dsbl" = 1.

Enabling the Position Loop

To enable the position loop, set parameter 151 [Logic Command] bit 13
"PositionEnbl" = 1.

Then to allow the output of the position loop to trim the speed set parameter 740
[Position Control] bit 1 "Speed Out En" = 1.

Position Reference Selection

For a position follower application set parameter 742 [Posit Ref Sel] = 1 "Aux
PositRef". This uses counts from a linked source for the position reference to the
position loop.
Posit Ref Sel 742

Selected
Interp Position 0
749 Position
Reference
1
Aux PositRef 743

2
Pt-Pt Posit Ref 758

Link parameter 742 [Aux Posit Ref] to the position for the feedback device. For
example, link parameter 742 [Aux Posit Ref] to parameter 240 [Encdr1 Position].
Encoder 1 position becomes the position reference for the position loop.
2-72 Detailed Drive Operation

Setting the EGR (Electronic Gear Ratio) and Speed Reference Scaling
Position reference can be entered in user units by using the EGR scaling.
Parameters 745 [PositRef EGR Mul] and 746 [PositRef EGR Div] are used to scale
the position reference.

∑ 744 PositRef EGR Out

Accum
Selected position
reference ∆ [N]
[D]
Geared position
reference
Deriv Gear Rat

PositRef EGR Mul 745

PositRef EGR Div 746

Example: In this example the encoders are mounted on the motors. The motors
are directly coupled to the load and we want the follower to run at 4
times the speed of the master.

PPRm = 1024 PPR

PPRf = 1024 PPR
Ratiof:Ratiom = 4:1

where:

PPRm = the PPR of the master encoder

PPRf = the PPR of the follower encoder
Ratiof:Ratiom = the desired ratio between the follower speed and
the master speed

[PositRef EGR Mul] CPRf Ratiof 4096 4

= =
[PositRef EGR Div] CPRm Ratiom 4096 1

where:

CPRf = the counts per revolution of the follower feedback

device. For an incremental encoder this is 4 times the
encoder PPR. For a Stegmann Hi-Res encoder this is
1048576. For a Resolver this is 65536.
CPRm = the counts per revolution of the master encoder. For an
incremental encoder this is 4 times the encoder PPR.
For a Stegmann Hi-Res encoder this is 1048576. For a
Resolver this is 65536.

Solving for the lowest common denominator, the 1024s on the top and
bottom cancel out so that:

[PositRef EGR Mul] 4

=
[PositRef EGR Div] 1

Therefore, parameter 745 [PositRef EGR Mul] = 4 and parameter 746

[PositRef EGR Div] = 1. This will set up the position loop of the
follower to move 4 counts for every 1 count of the master.
 Detailed Drive Operation 2-73

[Spd Ref 2 Multi] is calculated:

Ratiof 4
[Spd Ref2 Multi] = = =4
Ratiom 1

Notice that the encoder PPRs should not be included in the

calculation for parameter 13 [Spd Ref2 Multi].

[Spd Ref2 Multi] is rounded to the 4th decimal place. The position
loop gear ratios will be exact, so that the follower tracks at 4 times the
master's speed.

Position Offset
Offsets can be added to the position reference. Offsets are used to make a correction
move to synchronize the follower to the master position.
Added to position
∆ reference after
EGR
Deriv

Posit Offset 1 753

Posit Offset 2 754
+ Filter
756

Posit Offset Spd 755 Rate Lim LPass

Position Control
740 04 Position Status
(X Offset Pol) 741 05
(X OffRefActl)
Position Control
740 05
(X Offset Ref)

There are two offsets, parameters 753 [Posit Offset 1] and 754 [Posit Offset 2]. The
offset speed must be entered in parameter 755 [Posit Offset Speed] - if this is left at
zero the move will not occur. The position offset must be entered in counts of
feedback because it is added to the position reference after the EGR scaling. Offsets
must be maintained to keep the position (i.e., if you enter a 300 in the offset the
position loop will move 300 counts extra). If you zero the offset command the
motor will return to the previous position. When it is necessary to zero the offset
after a move without returning to the previous position, set parameter 740 [Position
Control] bit 5 "Xoff ReRef" = 1. Then set the offset value = 0. Then set [Position
Control] bit 5 "Xoff ReRef" = 0. The system will not make an offset move when
[Position Control] bit 5 "Xoff ReRef" is on.

Position Loop Output Limits

Parameter 775 [Xreg Spd LoLim] sets the negative speed limit at which the position
regulator will output. The default is set to -10% of the base motor speed.

Parameter 776 [Xreg Spd HiLim] sets the positive speed limit at which the position
regulator will output. The default is set to +10% of the base motor speed.

In position follower, the position loop only needs to trim the speed a small amount
because the drive is setup to follow the master speed reference. Therefore, [Xreg
Spd LoLim] and [Xreg Spd HiLim] can be left at the defaults.
2-74 Detailed Drive Operation

Tuning Tips
The speed regulator of the drive must be tuned prior to tuning the Position Loop.
Refer to Speed PI Regulator of this manual for tips on tuning the speed regulator.

Typically parameter 768 [PositReg P Gain] should be set between 1/5th to 1/3rd of
parameter 90 [Spd Reg BW].

Parameter 768 [PositReg P Gain] may be set higher using lead compensation on the
Position Regulator Output. Lead/Lag filtering of the position regulator output is
accomplished via the speed trim 2 filter. Set parameters 25 [Strim2 Filt Gain] and
26 [SpdTrim2 Filt BW] so that:

[SpdTrim2 Filt BW]

= [Speed Reg BW]
[Strim2 Filt Gain]
For example, with parameter 90 [Spd Reg BW] = 40 rad/sec, set parameter 26
[SpdTrim2 Filt BW] = 200 rad/sec and set parameter 25 [Strim2 Filt Gain] = 5. The
lead/lag filter will effectively cancel the 1/40 sec lag. This will allow a higher
[PositReg P Gain] for increased stability.

Parameter 770 [PositReg Integ] is the integral gain for the position loop. [PositReg
Integ] can be used but is disabled by default and is normally not needed for position
follower applications. To enable [PositReg Integ], set parameter 740 [Position
Control], bit 2 "Integ En" = 1. When [PositReg Integ] is used, parameters 772
[XReg Integ LoLim] and 773 [XReg Integ HiLim] should be set with narrow limits.

Jogging a Position Follower Independent from the Master

v1.xx - When you want to jog the PowerFlex® 700S follower drive independently,
turn off parameter 740 [Position Control] bit 1 "Posit Spd Output" to disable the
position loop output.

v2.xx - The jog can be performed while the position loop output is enabled.

Position Loop - In Position The In Position Detection determines if parameter 769 [Position Error] is within a
user defined value. Parameter 769 [Position Error] is the result of parameter 747
Detect
[Position Cmmd] - parameter 762 [Mtr Posit Fdbk].

Position Status
Position Error 769 741 10
(In Position)

In Position Detect
In Posit BW 782
In Posit Dwell 783

Parameter 782 [In Posit BW] sets the absolute number of position counts that
parameter 769 [Position Error] must be within for parameter 741 [Position Status]
bit 10 "In Position" to turn on.

Parameter 783 [In Posit Dwell] sets a delay time in seconds that parameter 769
[Position Error] must be within parameter 782 [In Posit BW] before parameter 741
[Position Status] bit 10 "In Position" turns on.
 Detailed Drive Operation 2-75

Position Loop - Point to Technical Information

Point First a few general facts about the Point to Point Position Loop:

1. Uses only parameter 768 [PositReg P Gain] for tuning. Parameter 770 [Posit
Reg Integ] is not used in point to point mode.

2. The number of position counts per revolution depends on the type of feedback
device used:

a. When using an encoder for positioning, the drive uses quadrature counts, i.e.,
1024 encoder = 4096 counts per motor revolution.

b. When using a Stegmann absolute hi-resolution encoder, the drive counts

1048576 counts per revolution.

c. When using a Resolver, the drive counts 65536 counts per revolution.

3. Speed regulator tuning directly affects the position loop performance. The speed
regulator should be tuned before the position loop.

4. For best performance, positioning should be used with a dynamic brake or

regenerative system.

Overview
The Point to Point positioning feature gives the user the ability to position the load
without an external position controller. The Point to Point function of the position
loop moves from current location to commanded location then holds that position
until given a new reference or a stop command. The position loop can be scaled to
different units other than feedback counts, i.e., Degrees or Inches. Typical
applications for the Point to Point function would be turn-tables and storage
retrieval machines.
318
PositReg P Gain
Point to
768
Reference Point
Pt-Pt Posit Ref [N]
Selection
[D]
758 (Mode) PI
Gear Rat Regulator

Posit Ref Sel

+
Position Fdbk Position
742 Offset
762
Position
Feedback Proportional Channel
Selection

Speed Reference Selection

The speed reference should be set to zero speed when using point to point
positioning. For example, set parameter 16 [Speed Ref Sel] = 0 "Zero Speed".

Enabling the Position Loop

To enable the position loop, set parameter 151 [Logic Command] bit 13
"PositionEnbl" = 1.
2-76 Detailed Drive Operation

Then to allow the output of the position loop to trim the speed set parameter 740
[Position Control] bit 1 "Speed Out En" = 1.

Position Reference Selection

For point to point positioning set parameter 742 [Posit Ref Sel] = 2 "Pt to Pt".
Parameter 758 [Pt-Pt Posit Ref] becomes the reference for the position.

Posit Ref Sel 742

Selected
Interp Position 0
749 Position
Reference
1
Aux PositRef 743

2
Pt-Pt Posit Ref 758

Position Reference Scaling

Position reference can be entered in user units by using the EGR scaling.
Parameters 745 [PositRef EGR Mul] and 746 [PositRef EGR Div] are used to scale
the position reference.

∑ 744 PositRef EGR Out

Accum
Selected position
reference ∆ [N]
[D]
Geared position
reference
Deriv Gear Rat

PositRef EGR Mul 745

PositRef EGR Div 746

Example: To use degrees of motor revolution for the positioning units, scale as
follows:

With a 1024 encoder on the motor, this translates to 4096 counts per
revolution quadrature position counts.

Parameter 745 [PositRef EGR Mul] = 4096

Parameter 746 [PositRef EGR Div] = 360

This scaling translates the position reference of 0-360 degrees to

0-4096 position counts. This will allow you to enter degrees of motor
rotation for the position reference.
 Detailed Drive Operation 2-77

Position Offset
Offsets can be added to the position reference. Offset are used to make a correction
move to sync the follower to the master position.
Added to position
∆ reference after
EGR
Deriv

Posit Offset 1 753

Posit Offset 2 754
+ Filter
756

Posit Offset Spd 755 Rate Lim LPass

Position Control
740 04 Position Status
(X Offset Pol) 741 05
(X OffRefActl)
Position Control
740 05
(X Offset Ref)

There are two offsets, parameters 753 [Posit Offset 1] and 754 [Posit Offset 2]. The
offset speed must be entered in parameter 755 [Posit Offset Speed] - if this is left at
zero the move will not occur. The position offset must be entered in counts of
feedback because it is added to the position reference after the EGR scaling. Offsets
must be maintained to keep the position, i.e., if you enter a 300 in the offset the
position loop will move 300 counts extra. If you zero the offset command the motor
will return to the previous position. When it is necessary to zero the offset after a
move without returning to the previous position, set parameter 740 [Position
Control] bit 5 "Xoff ReRef" =1. Then set the offset value = 0. Then set [Position
Control] bit 5 "Xoff ReRef" = 0. The system will not make an offset move when
[Position Control] bit 5 "Xoff ReRef" is on.

Point to Point Acceleration and Deceleration

Parameter 759 [Pt-Pt Accel Time] sets the acceleration time in seconds from zero to
base motor speed.

Parameter 760 [Pt-Pt Decel Time] sets the deceleration time in seconds from base
motor speed to zero.

The [Pt-Pt Accel Time] and [Pt-Pt Decel Time] are only active in Point to Point
mode. The Default = 10 seconds.

Position Loop Output Limits

Parameter 772 [Xreg Spd LoLim] sets the negative speed limit at which the position
regulator will output. The default is set to -10% of the base motor speed. Set this to
the negative speed at which you want the drive to run for point to point moves.

Parameter 773 [Xreg Spd HiLim] sets the positive speed limit at which the position
regulator will output. The default is set to +10% of the base motor speed. Set this to
the positive speed at which you want the drive to run for point to point moves.

Tuning Tips
The speed regulator of the drive must be tuned prior to tuning the Position Loop.
Refer to Speed PI Regulator of this manual for tips on tuning the speed regulator.
2-78 Detailed Drive Operation

Do not attempt to set the accel/decel rates of the point to point position loop faster
than can be accomplished by the system. Attempting to set the accel/decel rates
faster than the system can handle will cause instability in the position loop. Do not
attempt to operate beyond the torque limits of the drive motor combination.

Typically parameter 768 [PositReg P Gain] should be set between 1/5th to 1/3rd of
parameter 90 [Spd Reg BW].

Parameter 768 [PositReg P Gain] may be set higher using lead compensation on the
Position Regulator Output. Lead/Lag filtering of the position regulator output is
accomplished via the speed trim 2 filter. Set parameters 25 [Strim2 Filt Gain] and
26 [SpdTrim2 Filt BW] so that:

[SpdTrim2 Filt BW]

[Speed Reg BW]
[Strim2 Filt Gain]
For example, with parameter 90 [Spd Reg BW] = 40 rad/sec, set parameter 26
[SpdTrim2 Filt BW] = 200 rad/sec and set parameter 25 [Strim2 Filt Gain] = 5. The
lead/lag filter will effectively cancel the 1/40 sec lag. This will allow a higher
[PositReg P Gain] for increased stability.

Parameter 761 [Pt-Pt Filt BW] sets the bandwidth of a low pass filter which affects
smoothness at the start of deceleration in point to point mode. A high filter
bandwidth will produce a more square deceleration torque, one with a higher level
of jerk. Typical values are 5 to 100 (rad/sec). A zero value will bypass the filter. Too
high of a value in [Pt-Pt Filt BW] will cause unstable operation at the end of the
move. The Default = 25 rad/sec.

Jogging
When you want to jog the PowerFlex® 700S, turn off parameter 740 [Position
Control] bit 1 - "Speed Out En" to disable the position loop output.

Point to Point Re-Reference

Parameter 740 [Position Control] bit 10 "Pt-Pt ReRef" allows the user to perform a
position redefine when active. When this bit is set, the position reference in
parameter 758 [Pt-Pt Posit Ref] can be changed to the position value desired for the
current location. This can be used as a home zero setup by moving the load to the
home position.

Example: Set parameter 740 [Position Control] bit 10 - "Pt-Pt ReRef" = 1. Then
set parameter 758 [Pt-Pt Posit Ref] =0. Also if [Pt-Pt Posit Ref] is set
to a different number, that will become the new position value. After
setting [Pt-Pt Posit Ref] to the desired value, set [Position Control] bit
10 "Pt-Pt ReRef" = 0.

Position Loop - Registration The PowerFlex® 700S drive has the ability to capture the feedback position upon an
event occurrence. There are two registration registers that can be configured. You
may also see DriveLogix Motion instruction Motion Arm Registration (MAR).
 Detailed Drive Operation 2-79

Port 0 Example

Sequence of events:
Registration for Port 0 is configured using the parameters below. After
configuration the Registration latch is armed. After the registration event occurs,
the Found bit will be turned on. This indicates that the position of the event has
been trapped in the Registration Latch parameter.

• P235 [Port0 Regis Ltch] Displays the captured position after the event occurs.
• P236 [Port0 Regis Cnfg] Configures the Registration event.

Encoder Selection
Bit 0 Description
0 Select Encoder0 to trap position
1 Select Encoder1 to trap position
Trigger Source
Bit 2 Bit 1 Description
0 0 Digital Input 1 and Encoder 0 Z phase
0 1 Digital Input 3 ( Default setting)
1 0 Digital Input 2
1 1 Encoder 0 Z phase
Edge Selection Settings
Bit 4 Bit 3 Description
0 0 Capture on Rising Edge
0 1 Capture on Falling Edge
1 0 Capture on Both Edges
1 1 Disable Capture
Trigger Source
Bit 6 Bit 5 Description
0 0 Disable Capture
0 1 Capture during Reverse Rotation
1 0 Capture during Forward Rotation
1 1 Capture during either Rotation

Filter Settings
Bit
11 10 9 8 Input Filter Setting
0 0 0 0 Filter disabled
0 0 0 1 100 ns filter
0 0 1 0 200 ns filter
0 0 1 1 300 ns filter
0 0 1 1 300 ns filter
0 1 0 0 400 ns filter
0 1 0 1 500 ns filter
0 1 1 0 600 ns filter
0 1 1 1 700 ns filter
1 0 0 0 800 ns filter (default setting)
1 0 0 1 900 ns filter
1 0 1 0 1000 ns filter
1 0 1 1 1100 ns filter
1 1 0 0 1200 ns filter
1 1 0 1 1300 ns filter
1 1 1 0 1400 ns filter
1 1 1 1 1500 ns filter
2-80 Detailed Drive Operation

P237 [Port0 Regis Ctrl] Configures control for Port 0 Registration.

Setting Bit 0 = 1 is the arm request to capture the position on the next trigger event.
Setting Bit 1 = 1 is the disarm request to capture on the next trigger event.

P238 [Port0 Regis Stat] Port 0 Registration Status

Bit 0 [Armed] indicates the registration latch is armed and waiting for a trigger.
Bit 1 [Found] indicates the registration event has occurred and the value is stored in
P235 [Port0 Regis Ltch].

Position Loop - Position The position watch is used to determine when the position feedback reaches a user
defined value. There are two (2) position watches in the PowerFlex® 700S.
Watch
Position Actual Posit Detct1 In
Position Status
763 Link 784 741 08
(Posit Watch1)
Position Control 740 16
(X Watch 1 En) Position Watch 1
(X Watch 1 Dir) 740 17

PositDetct1 Stpt 780

Parameter 784 [Posit Detct1 In] sets the position feedback that you would like to
watch. By default, [Posit Detct1 In] is linked to parameter 763 [Position Actual].

Note: In order for the value in parameter 763 [Position Actual] to change the
firmware function for the position loop must be turned on by setting parameter 147
[FW Functions En] bit 16 "Position Ctrl" = 1 and the position loop must be enabled
by setting parameter 151 [Logic Command] bit 13 "Position En" = 1.

Parameter 780 [PositDetct1 Stpt] is used to set the position set point for which to
watch.

Setting parameter 740 [Position Control] bit 17 "X Watch 1 Dir" = 1 causes the
drive to detect when the position feedback becomes greater than the set point.
Setting [Position Control] bit 17 "X Watch 1 Dir" = 0 causes the drive to detect
when the position feedback becomes less than the set point.

Setting parameter 740 [Position Control] bit 16 "X Watch 1 En" = 1 enables the
position detection function to detect the next position. Setting [Position Control] bit
16 "X Watch 1 En" = 0 resets position detection.

Setting parameter 741 [Position Status] bit 8 "Posit Watch1" = 1 indicates that the
position set point has been passed.

Example:
• Set parameter 147 [FW Functions En] bit 22 "PosWtch/Dtct" = 1.
• Link parameter 784 [Posit Detct1 In] to parameter 240 [Encdr1 Position].
• Set parameter 780 [PositDetct1 Stpt] = 100000 counts.
• Set parameter 740 [Position Control] bit 17 "X Watch 1 Dir" = 1.
• Set parameter 740 [Position Control] bit 16 "X Watch 1 En" = 1.
• When parameter 240 [Encdr1 Position] becomes greater than 100000 counts,
parameter 741 [Position Status] bit 8 "Posit Watch1" is set to 1. Note that the
position must pass 100000 counts. If the motor position is already past 100000
counts when the position watch is enabled, the position watch status bit will not
detect the position until 100000 counts is passed again.
• Set parameter 740 [Position Control] bit 16 "X Watch 1 En" = 0 to reset
parameter 741 [Position Status] bit 8 "Posit Watch1" to 0.
 Detailed Drive Operation 2-81

Power Loss/Ride Through The precharge function provides a current limited charging of the drive's bus
capacitor(s) and, when charging is complete, bypasses the current limiting device.
This current limited charging primarily protects the drive's input fuses and
front-end rectifiers (or SCRs) from excessive inrush current. The bypass function is
needed for normal drive operation to avoid overloading the current limiting device.
In general, when precharge is active, the current limiting device is in circuit and
when precharge is done the bypass device is active (see exceptions below).

The ride through function can provide a motor coast, precharge and auto-restart
sequence of operation in the event of an input power dropout (power loss and
return). First the drive stops PWM operation "coasting the motor" and saving any
remaining power stored in the drive's bus capacitor(s) for extended control logic
operating time. Next, the precharge function limits the drive's inrush current in the
event that the incoming power to the drive is restored. Last, after the power is
restored and the precharge has completed, ride through allows the drive to continue
normal operation, applying power to the motor again. This operation is intended to
protect the drive from excessive inrush currents in the presence of input AC line
disturbances and allows the drive to continue normal operation without user
intervention. However, there is also a concern for safe auto-restart operation. By
default the drive is configured to fault and not auto-restart if the power line dropout
lasts more than two seconds.

ATTENTION: The user must determine safe auto-restart and fault

configuration at the system and user level. Incorrect selection(s) may
! result in personal injury due to machine motion.

Precharge Frames 1 through 4

The precharge implementation and control varies with drive size and type. For
frames 1 through 4 the precharge hardware is located on the power circuit board.
This is basically a resistor and bypass relay in series with the positive DC bus
between the front-end rectifier and the bus capacitor. The bypass relay control is
described below. Also note that these drives can be wired for either AC line power
or DC common bus. The precharge function will work the same for either AC or
DC power input.

Precharge Frames 5 and Higher AC Input "Stand Alone Drives"

For frames 5 and higher (AC Input) the precharge function is implemented with an
SCR rectifier such that the SCRs are phase advanced to limit the inrush current into
the bus capacitor(s). This phase advanced precharge is not controlled by the drive
and should normally be completed by the minimum precharge time required by the
drive. The drive will not complete precharge until the bus voltage is stable and
above the under voltage level.

Precharge Frames 5 and Higher DC Input "Common Bus Drives"

There are two versions of these DC Input or common bus drives. The first has a
resistor with an SCR bypass in series with the positive DC bus in front of the bus
capacitor. The second does not have any precharge hardware and is intended for
user applications where the precharge hardware and control is provided by the user.
Drives with the resistor and SCR bypass (internal) have the same precharge control
as frame 1-4 above.
2-82 Detailed Drive Operation

ATTENTION: In cases where the user is providing the precharge

hardware and control incorrect configuration and/or control may result
! in drive damage.

Ride Through Operation

An incoming power loss to the drive is detected by a 22% volt drop in bus voltage
or a bus voltage that drops below the under voltage level. The return of incoming
power is detected by an 11% rise in bus voltage and a bus voltage level greater than
the undervoltage level set in parameter 409 [Line Undervolts]. If the undervoltage
condition is selected as a fault, parameter 393 [BusUndervoltCnfg], then the drive
will not restart if the incoming power returns. Upon sensing a power loss the drive
can be configured to coast, continue operation or change to flux only operation.
(See Ride Through Configuration below).

408 Power Loss Level Units: % ✓ 16-bit

Sets the bus voltage level at which ride-through begins and modulation ends. When bus Default: 22.1 Integer
voltage falls below this level, the drive prepares for an automatic reset. Enter a Min/Max: 15/95
percentage of the bus voltage derived from the high voltage setting for the voltage class
For example: on a 400-480V drive,

0.221 × 480Vac × 2 = 150Vdc

In cases where the precharge control is independent or external to the drive

(firmware) the ride through function can still be used to stop PWM operation saving
controller power and restart operation after the return of power is sensed. In this
case ride through sequence will not be directly coordinated with the precharge
operation. For external precharge hardware functionality is provided so that the user
may provide coordinated operation.

Ride Through Configuration

The drive's response to a power disturbance can be selected in parameter 406
[Power Loss Mode].

Settings for Parameter 406 [Power Loss Mode]:

0 Coast
1 Reserved
2 Continue
3 Reserved
4 Reserved
5 Flux Only
Coast (default): The coast mode stops power to the motor (PWM disabled) and the
motor coasts until power returns or a fault occurs. At the time when the motor
PWM is disabled the precharge device bypass (where controlled by the drive) is
also opened. Then the precharge logic is reset so that the drive starts another
precharge cycle. After the incoming power returns and the precharge cycle has
completed, the drive restarts normal operation.

Continue: Disables the ride through function and will attempt to continue running if
the incoming power is disrupted. If the power returns before the drive has shut
down, the precharge device will be bypassed and a large inrush current may occur.
In this case, drive damage is likely if the inrush current is large.
 Detailed Drive Operation 2-83

Flux Only: The drive's torque is set to zero when a power disturbance is detected.
The motor flux is continued until the disturbance goes away or until a power down
occurs (extended power loss). If the power loss is of a very short duration or there is
sufficient input impedance to limit the inrush current when power returns, the drive
will continue normal operation after the disturbance passes. However, if the power
returns causing a large inrush current (precharge device is still bypassed) drive
damage is likely.

Ride Through Timeout Fault

Parameter 407 [Power Loss Time] sets the duration or time delay allowed for the
incoming power to return before a ride through fault occurs. This limits the time
where an auto-start for the drive could occur. The default value for this time is 2
seconds with a minimum value of 0 seconds and a maximum value of 60 seconds.
The ride through timeout fault is shown in Parameter 321 [Exception Event2] bit 8
"RidethruTime." The ride through timeout fault will inhibit the drive auto start
function requiring a fault clear and commanded start to run the drive again.

ATTENTION: The user must determine the safe time that will be
allowed for the drive to auto-start.
!

Precharge Operation
The drive will not run until the controller's precharge function has completed. Also,
the precharge function in the drive runs independent of drive precharge hardware
(for the most part) and the hardware control. The drive will not restart precharge
any time that the drive is running (see ride through above). The drive control is in
precharge (or bus capacitor charging mode) any time that the precharge is not
"done" (see parameter 555 [MC Status] bit 11 “PreChrg Done”). This is
independent of whether or not the drive control actually controls the precharge
hardware.

For the control to complete precharge and allow drive enable (See Parameter 156
[Run Inhibit Stat]), the following conditions must be met:

1. A user-controlled precharge enable must be present. The precharge enable can

be provided by hardware input or parameter configuration. This selection is
determined by the setting of parameter 838 [Digin1 Sel]. When parameter 838 is
set to 14 "PreChrg/Disc" then the hardware precharge control is selected and
digital input 1 controls the user precharge enable. If parameter 838 is set to any
other value (i.e., not set to 14) then the control uses parameter 411 [PreChrg
Control], as the source for the precharge enable. In this case, when [PreChrg
Control] is set to zero, the precharge control is disabled (held in precharge) and
the drive is inhibited from running (see parameter 156 [Run Inhibit Stat]).
Otherwise when [PreChrg Control] is set to one the user precharge is enabled.
Using a Digital Input for the precharge enable is recommended for common bus
systems where a drive may be disconnected and reconnected to the common bus
system. The Digital Input should be connected through an auxiliary contact on
the cabinet disconnect switch. Failure to provide a hardware disconnect
precharge control may lead to very large inrush currents and associated drive
damage if a reconnection is made before the drive can sense the power loss. This
precharge enable provides a user-controlled permissive to the precharge
function.
2-84 Detailed Drive Operation

2. The drive must not be in an undervoltage condition. Parameter 409 [Line

Undervolts], sets the under voltage level as a percent of drive rated volts,
parameter 401 [Rated Volts]. An undervoltage is detected by comparing the
parameter 306 [DC Bus Voltage] to the percent of line voltage set in parameter
409 [Line Undervolts] times parameter 401 [Rated Volts] times the square root
of 2. The undervoltage condition is displayed in parameter 555 [MC Status] bit
15 "DC Bus Low".

3. The drive bus voltage must be stable (not rising). The bus voltage stable
condition is determined by comparing the bus voltage to a filtered value of the
bus voltage. Initially when power is applied to the drive the bus voltage will rise
as determined by the limited current controlled by the precharge device. The
filtered value of bus voltage will lag behind the actual bus voltage until the bus
capacitor charging is complete, then the values will converge. A difference
between the filtered and actual bus voltage determines if the bus voltage is
stable.

4. The drive must not be running (PWM active), except in coordination with ride
through. After the initial drive precharge has completed, a power loss may
present conditions for precharge to be restarted (ex. low bus voltage). However,
if the drive output is active (parameter 155 [Logic Status], bit 0 "Enabled"), the
restart of precharge will be inhibited until the drive is stopped (PWM not
active). Also refer to Power Loss/Ride Through for controller coordinated PWM
disable and precharge operation. If the drive is running and the user removes the
precharge enable, this condition will be ignored until the drive is disabled
(PWM stops). Then the precharge function will be started again.

5. The drive precharge delay must be completed. After conditions 1 through 4

above are met, parameter 472 [PreCharge Delay] must be completed before the
precharge device bypass is commanded. If any of the above conditions become
false during the precharge delay period, the delay timer is reset. If parameter
472 [PreCharge Delay] is set less than 200 msec then an internal 200 msec delay
is used. Parameter 472 [PreCharge Delay] has a calculated maximum value
based on parameter 410 [PreChrg TimeOut]; [PreCharge Delay] = [PreChrg
TimeOut] - 1.0 second. (Also see precharge staging for common and shared bus
drives below).

Precharge Control Functional Diagram

PreChrg
Selection (P838)
PreChrg/Disc (14) select = 14
Digital Input #1
1
select not = 14 Precharge Request
PreChrg Control (P411) SET
1=Enable, 0 = Hold PreChrg S Q
PreCharge Delay Timer
Ride Through Active R CLR Q (P472) Precharge Done
Enabled (PWM Active) (P555 bit 11)
SET
S Q
Bus Voltage Stable
R CLR Q
Low Bus Voltage

Reset
 Detailed Drive Operation 2-85

Precharge Timeout Fault

The precharge control logic has an associated precharge timeout fault to alert the
user if the precharge is not completed within the timeout period. Parameter
381[PreChrg Err Cnfg], provides the configuration control for the precharge
timeout fault. Parameter 410 [PreChrgTimeout] sets the period or delay for this
timeout fault (default = 30 seconds). The timeout timer is not started until the user
requests a precharge either through the hardware input (Digital Input 1) or through
parameter 411 [PreChrg Control]. The precharge timeout fault is intended only to
alert the user that there may be a problem in the precharge control. The precharge
fault, for the most part, does not affect the precharge operation. As conditions
would change to complete or restart precharge, the precharge control will function
as described above independent of whether or not a precharge timeout fault has
occurred.

If the drive does not complete precharge due to an unstable bus voltage, then after
the precharge timeout period the precharge control will complete precharge
providing all of other conditions for precharge are met. This control is based on the
precharge timeout status and independent of whether or not the precharge timeout
is configured as a fault, warning or none. This feature could be useful in cases
where bus disturbances are created by another drive in a common or shared bus
installation.

Settings for parameter 381 [PreChrg Err Cnfg]:

"0 "Ignore": This disables the precharge timeout fault. With this setting the drive
ignores condition 3 above so that the drive does not check for an unstable bus
voltage. Then after the precharge timeout period the precharge control will
complete precharge providing all of the other conditions for precharge are met. This
feature could be useful in cases where bus disturbances are created by another drive
in a common or shared bus installation.

"1 "Alarm": If the precharge does not complete within the timeout period, the drive
does not fault, but it sets an alarm bit in parameter 326 [Alarm Status 1] bit 30
"Precharge Er".

"2 "FltCoastStop": This is the factory default setting. If the precharge does not
complete within the timeout period, the drive faults and disables the PWM output.

External Precharge
In cases where the user must provide external drive precharge hardware and
control, the user should consider the current limit necessary to protect the drive and
fuses, the breaking capability of the precharge device, the regenerative capability of
the drive/system, whether or not ride through control will be accommodated,
impedance isolation that may be needed between drives, braking requirements and
sharing between drives and the power disconnect operation in a system. The drive's
precharge and ride through functions will still run even though the actual precharge
hardware is not controlled by the drive. The drive's enable (parameter 155 [Logic
Status], bit 0 "Enabled"), precharge enable (controlled with a digital input or
parameter 411 [PreChrg Control]) and precharge done (parameter 555 [MC Status]
bit 11 "PreChrg Done") parameters are available for the external precharge/ride
through control in cases where the users would like to provide coordinated
operation between the external precharge and the drive's ride through operation.
2-86 Detailed Drive Operation

Precharge Staging
Parameter 472 [PreCharge Delay] can be used in conjunction with precharge enable
(see 1 above) to coordinate the precharge operation of a group of drives. Typical
uses may include common bus or shared bus applications. The precharge
coordination can be open loop, using different precharge delay times or could be
closed loop by monitoring the precharge done status (parameter 555 bit 11) of each
drive before the next drive in the sequence is enabled for precharge. The maximum
value for PreCharge Delay is limited by parameter 410 [PreChrg Timeout]. The
maximum value for [Precharge Delay] is determined by the following calculation:
[Precharge Delay] Max = [PreChrg Timeout] - 1.

Motor Sim Mode

When the motor simulation mode is selected the precharge requirements are
ignored and the precharge done condition is not needed for running the drive.

External Power Supply

If the drive is used with an external power supply, the user should not request a
precharge until the drive incoming power is available. If the user does request a
precharge without incoming drive power a precharge timeout fault will occur (if
configured for a fault).

Note: The default for parameter 838 [DigIn 1 Sel] has changed from the value of 14
"PreChrg/Disc" to 0 (none) in firmware release version 1.17 and later.

Preset Speeds There are no “Preset Speed” parameters. However, the Speed Reference parameters
can be used as set speeds. See the Speed Reference for more information.

Process PI Loop The drive has a process PI loop that can be used to trim speed, torque, or some other
function.

Logic Ctrl State

Logic Status (ProcsTrim En)
155 1
(Running) & 157 31
OR
Logic Command PI Command
151 12 183 00
(ProcsTrim En) (Enable)

0
0
PI Reference 181 + PI Output
kp 1
PI Feedback 182
- Filter + 180
LPass P Gain
Limit
PI Lpass Filt BW 184 186
PI High Limit 191
PI Prop Gain
PI Lower Limit 192

ki
190
s
PI Integ Output
PI Preload 185 I Gain Limit

PI Integ Time 187

PI Integ HLim 188

PI Integ LLim 189
 Detailed Drive Operation 2-87

Process PI Reference and Feedback

The reference and feedback signals are the values present in [PI Reference] and [PI
Feedback]. [PI Reference] could be a set value or linked to a variable parameter
such as an analog input. Typically [PI Feedback] is linked to an analog input value
received from a process line transducer.

The reference and feedback values are compared and an error signal is created. This
error signal is sent to a low pass filter. The filter bandwidth is set by [PI Lpass Filt
BW] in radian/second. The output of the filter is sent to the process PI regulator.

Process PI Regulator
[PI Preload] presets the process time. When the PI Output is enabled, the integral
term of the process regulator will be preset to start [PI Output] at the value set in [PI
Preload].

[PI Integ Time] is the integral term for the regulator. It is in units of 1/seconds. For
example, when the [PI Integ Time] is 2, the integrator output equals 1 per unit in 1
second for 1 per unit error. 1 per unit means 100%.

The output of the integrator is limited by [PI Integ Hlim] and [PI Integ Llim]. {PI
Integ Hlim] is in per unit and has a range from 0 to 8. A value of 1 for [PI Integ
Hlim] can represent base motor speed, rated motor torque, or 100% of some
external function.

The output of the integrator after the integrator limits can be viewed in [PI Integ
Output].

The [PI Prop Gain] sets the proportional gain of the regulator. For example, when
[PI Prop Gain] is 2, the output of the proportional block will equal 2 per unit in 1
second for a 1per unit error.

The output of the integrator, [PI integ Output], and the output of the proportional
block are summed together.

Process PI Limits
To prevent the regulator output from exceeding a range, an upper and lower limit
can be programmed.

[PI High Limit] sets the high limit for the [PI Output] signal. [PI High Limit] is in
per unit and has a range from 0 to 8. A value of 1 for [PI High Limit] can represent
base motor speed, rated motor torque, or 100% of some external function.

Process PI Output
At this point of the process PI loop, some conditions must be met to turn on the PI
output (otherwise the PI output is 0).

The PI output can be turned on in one of two ways:

1. [Logic Command] bit 12 - “ProcsTrim En” is turned on and the drive is running.
The running state is indicated by [Logic Status] bit 1. When both of these
conditions are true, [Logic Ctrl State] bit 31 “ProcessTrim En” will be on.

2. [PI Command] bit 0 - “Enable” is turned on.

2-88 Detailed Drive Operation

Now the PI output is used to trim speed, torque, or some external loop.

To trim the speed loop, link [Speed Trim 2] or [Speed Trim 3] to [PI Output].

To trim the torque loop, link [Torque Trim] to the [PI Output].

To trim some other loop, link the desired parameter to [PI Output]. For example, to
use analog output 1 as a trim signal to other equipment, link [Anlg Out 1 Real] to
[PI Output].

Reflected Wave Parameter 510 [FOC Mode Config] bit 9 “ReflWaveComp” enables
reflected wave compensation.

The pulses from a Pulse Width Modulation (PWM) inverter using IGBTs
are very short in duration (50 nanoseconds to 1 millisecond). These short
pulse times combined with the fast rise times (50 to 400 nanoseconds) of the
IGBT, will result in excessive over-voltage transients at the motor.

Voltages in excess of twice the DC bus voltage (650V DC nominal at 480V

input) will occur at the motor and can cause motor winding failure.

The patented reflected wave correction software in the PowerFlex® 700S

will reduce these over-voltage transients from a VFD to the motor. The
correction software modifies the PWM modulator to prevent PWM pulses
less than a minimum time from being applied to the motor. The minimum
time between PWM pulses is 10 microseconds. The modifications to the
PWM modulator limit the over-voltage transient to 2.25 per unit volts
line-to-line peak at 600 feet of cable.
400 V Line = 540V DC bus x 2.25 = 1215V
480 V Line = 650V DC bus x 2.25 = 1463V
600 V Line = 810V DC bus x 2.25 = 1823 V
The software is standard and requires no special parameters or settings.

500 Inverter
V/div
<Tα
0
1670 Vpk

Motor
500
V/div

0 5 10 15 20 25 30 35 40 45 50
Time (µsec)

The above figure shows the inverter line-to-line output voltage (top trace)
and the motor line-to-line voltage (bottom trace) for a 10 HP, 460V AC
inverter, and an unloaded 10 HP AC induction motor at 60 Hz operation.
500 ft. of #12 AWG cable connects the drive to the motor.
 Detailed Drive Operation 2-89

Initially, the cable is in a fully charged condition. A transient disturbance

occurs by discharging the cable for approximately 4ms. The propagation
delay between the inverter terminals and motor terminals is approximately
1ms. The small time between pulses of 4ms does not provide sufficient time
to allow the decay of the cable transient. Thus, the second pulse arrives at a
point in the motor terminal voltage's natural response and excites a motor
over-voltage transient greater than 2 pu. The amplitude of the double pulsed
motor over-voltage is determined by a number of variables. These include
the damping characteristics of the cable, bus voltage, and the time between
pulses, the carrier frequency, modulation technique, and duty cycle.

The plot below shows the per unit motor overvoltage as a function of cable
length. This is for no correction versus the modulation correction code for
varied lengths of #12 AWG cable to 600 feet for 4 and 8 kHz carrier
frequencies. The output line-to-line voltage was measured at the motor
terminals in 100 feet increments.
No Correction vs Correction Method at 4 kHz and 8 kHz Carrier
Frequencies - Vbus = 650, fe = 60 Hz
2.6
No Correction 4 kHz Carrier
2.5 Corrected 4 kHz Carrier
2.4 No Correction 8 kHz Carrier
Corrected 8 kHz Carrier
per Unit Vout/Vbus

2.3
2.2
2.1
2
1.9
1.8
1.7
1.6
0 100 200 300 400 500 600
Cable Length (Feet)

Without the correction, the overvoltage increases to unsafe levels with

increasing cable length for both carrier frequencies.

The patented modulation correction code reduces the overvoltage for both
carrier frequencies and maintains a relatively flat overvoltage level for
increasing cable lengths beyond 300 feet.

To determine the maximum recommended motor cable lengths for a

particular drive refer to Cable, Motor Lengths.

Refer to http://www.ab.com/support/abdrives/documentation/index.html for

detailed technical papers.
2-90 Detailed Drive Operation

Remote I/O Adapter This serves as a supplement to the PowerFlex Remote I/O Adapter Users Manual,
publication 20COMM-UM004 addressing items specific to the PowerFlex® 700S.
(20-COMM-R)
Please refer to the User Manual for details on 20-COMM-R set-up, configuration,
rack configurations, and block transfers.

General facts about the 20-COMM-R (refer to Chapter 4 of the PowerFlex Remote
I/O Adapter Users Manual for details):

1. Remote I/O (RIO) is based on 16-bit integer values

2. Can only be configured as a ¼ or ½ rack. When configured as a ¼ rack, the

reference and feedback are transmitted through block transfer I/O. When
configured as a ½ rack, the reference and feedback are transmitted through
discrete I/O. See Chapter 4 of the 20-COMM-R User Manual for examples of
programming the discrete and block transfer I/O.

3. Datalinks are transferred to and from the drive by block transfer I/O.

ControlLogix System
Here is the I/O image table for the ControlLogix system and a 20-COMM-R
configured as a ¼ rack. Notice that the first 2 words of the image table are Discrete
I/O, the rest of the data comes across as Block Transfer I/O.

RIO DPI
ControlLogix Adapter PowerFlex 700S
Outp
O.Data[0] INT 0 BT Control P158 Drive Logic
O.Data[1] INT 1 Logic Command
BT_Out[0] INT 2 Reference P20 1 SpeedRef DPI
BT_Out[1] INT 3 Reference
BT_Out[2] INT 4 Datalink A1 P707 Data In A1 Int
BT_Out[3] INT 5 Datalink A1 P708 Data In A1
BT_Out[4] INT 6 Datalink A2 P709 Data In A2 Int
BT_Out[5] INT 7 Datalink A2 P710 Data In A2
BT_Out[6] INT 8 Datalink B1 P711 Data In B1 Int
BT_Out[7] INT 9 Datalink B1 P712 Data In B1
BT_Out[8] INT 1 Datalink B2 713 Data In B2 Int
BT_Out[9] INT 1 Datalink B2 P714 Data In B2
BT_Out[1 INT 1 Datalink C1 P715 Data In C1 Int
BT_Out[1 INT 1 Datalink C1 P716 Data In C1
BT_Out[1 INT 1 Datalink C2 P717 Data In C2 Int
BT_Out[1 INT 1 Datalink C2 P718 Data In C2
BT_Out[1 INT 1 Datalink D1 P719 Data In D1 Int
BT_Out[1 INT 1 Datalink D1 P720 Data In D1
BT_Out[1 INT 1 Datalink C2 P721 Data In D2 Int
BT_Out[1 INT 1 Datalink C2 P722 Data In D2

1 The speed reference comes into the 20-COMM-R as (2) 16 bit integers. The PowerFlex® 700S firmware
automatically converts that speed reference into floating point, so that parameter 20 [Speed Ref DPI] is a
floating-point value.
 Detailed Drive Operation 2-91

RIO DPI
ControlLogix Adapter PowerFlex 700S

Outp
O.Data[0] INT 0 BT Control P155 Logic Status
O.Data[1] INT 1 Logic Command
2
BT_Out[0] INT 2 Reference P72 Scaled Spd Fdbk
BT_Out[1] INT 3 Reference
BT_Out[2] INT 4 Datalink A1 P724 Data Out A1
BT_Out[3] INT 5 Datalink A1 P725 Data Out A1
BT_Out[4] INT 6 Datalink A2 P726 Data Out A2
BT_Out[5] INT 7 Datalink A2 P727 Data Out A2
BT_Out[6] INT 8 Datalink B1 P728 Data Out B1
BT_Out[7] INT 9 Datalink B1 P729 Data Out B1
BT_Out[8] INT 1 Datalink B2 P730 Data Out B2
BT_Out[9] INT 1 Datalink B2 P731 Data Out B2
BT_Out[1 INT 1 Datalink C1 P732 Data Out C1
BT_Out[1 INT 1 Datalink C1 P733 Data Out C1
BT_Out[1 INT 1 Datalink C2 P734 Data Out C2
BT_Out[1 INT 1 Datalink C2 P735 Data Out C2
BT_Out[1 INT 1 Datalink D1 P736 Data Out D1
BT_Out[1 INT 1 Datalink D1 P737 Data Out D1
BT_Out[1 INT 1 Datalink C2 P738 Data Out D2
BT_Out[1 INT 1 Datalink C2 P739 Data Out D2

BT Message Message Message

Source and Destination Buffer Handler
Tags
1 Bits 0-15 only of parameter 155 [Logic Status] appear in the Input Image table of the ControlLogix controller.
2 The speed feedback sent from the PowerFlex® 700S to the 20-COMM-R is not affected by parameter 73 [Spd
Fdbk Scale]. Furthermore, the PowerFlex 700S automatically converts parameter 72 [Scaled Spd Fdbk], which
is a floating-point parameter, to an integer format before the value is transferred to the 20-COMM-R.

When the 20-COMM-R is configured as a ½ rack, the Reference and Feedback

values become words 2 and 3 in the Discrete I/O. The mapping for the Datalinks
sent over block transfer I/O stays the same. Words 0 and 1 in the block transfer I/O
become buffers.

The following example shows the message instructions for the block transfer I/O.
In this example, the 20-COMM-R was setup as a ¼ rack.
2-92 Detailed Drive Operation

For the block transfer I/O write, the source tag RIO_700S_BT_O must be an array
of 18 INTs. This tag cannot be DINT. The source tag will contain the speed
reference data and the data sent to the Data In parameters of the drive.

The "Path" in the communication tab of the block transfer I/O write is the name of
the DH+/RIO scanner module. The "Module Address" sets the channel of the DH+/
RIO scanner used, and the rack, group and slot of the 20-COMM-R.
 Detailed Drive Operation 2-93

For the block transfer I/O read, the destination tag RIO_700S_BT_I must be an
array of 18 INTs. The tag cannot be DINT. The destination tag will contain the
speed feedback data and data from the Data Out parameters of the drive.

The communication tab of the block transfer I/O read is setup the same as the block
transfer I/O write.

Reference/Feedback Programming
Because the PowerFlex® 700S is based on 32-bit and floating-point parameters,
some special data handling is required when using Remote I/O.

To setup the PowerFlex 700S to follow a speed reference from the 20-COMM-R,
parameter 691 [DPI Ref Select] must be set to “Port 5.” Parameter16 [Speed Ref
Sel] must be set to “Speed Ref DPI.”

Reference and Feedback values are floating-point values in the PowerFlex 700S.
Use the following logic to transmit and receive reference and feedback data as
integer data.

32768
Transmitted Reference (counts) = [Floating point Reference (RPM) × ---------------------------------------------
-
[ Base motor RPM ]
Speed Reference Via Remote I/O to a PowerFlex 700S using a 20-COMM-R module.

The first move instruction is only for visual indication of the speed reference.
Calculate the reference as a DINT based on 32768 = base motor speed.
Then copy the DINT into 2, 16 bit tags sent over Remote I/O.
MOV
Move
Source RIO_700S_Ref_RPM
1765.0
Dest RIO_700S_Ref_RPM
1765.0

Compute
CPT
Dest RIO_700S_Ref_DINT
32768
Expression (RIO_700S_Ref_RPM/RIO_700S_Base_Motor_Speed)*32768

Copy File COP

Source RIO_700S_Ref_DINT
Dest RIO_700S_BT_0[0]
Length 2
2-94 Detailed Drive Operation

Base Motor RPM

Floating point Feedback (RPM) = [Feedback received (counts) × ------------------------------------------
32768

Datalink Programming
To read datalinks, the bits in parameter 723 [Dlink OutDataTyp] must be set
appropriately for each Datalink to select whether the data is floating point or DINT.

Because the datalinks are transmitted and received through block transfers, the data
type in the controller is limited to 16-bit integers. To write or read floating point or
32-bit integers the COP (copy) instruction must be utilized. The copy instruction in
ControlLogix performs a bitwise copy. Set the length of the copy instruction to a
value appropriate for the destination data type.

For example:

1. When copying a floating-point value into an integer register, the length will be
2. A single precision IEEE floating-point value uses 32-bits. This means (2)
16-bit integers are required to properly transmit the data.

2. When copying (2) integer values (the low and high word of 32-bit data) into a
floating-point register, the length will be 1.

Explicit Block Transfer Messaging

Explicit block transfer messaging is used to configure the drive and monitor data
from the drive. This type of block transfer is different than the block transfer used
to transmit and receive datalinks. Chapter 5 of the 20-COMM-R User Manual
shows the format of the block transfer request and response data in ControlLogix.
The following example shows the message instructions for the explicit block
transfer message write and read.
 Detailed Drive Operation 2-95

For the block transfer message write, the source tag RIO_BT_Request_Data must
be an array of 20, 30, or 60 INTs (depending on how much data the user wants to
send in the message). This tag cannot be DINT.

The "Path" in the communication tab of the block transfer message write is the
name of the DH+/RIO scanner module. The "Module Address" sets the channel of
the DH+/RIO scanner used, and the rack, group and slot of the 20-COMM-R.
2-96 Detailed Drive Operation

For the block transfer message read, the destination tag RIO_BT_Response_Data
must be an array of 20, 30, or 60 INTs (depending on how much data the user is
receiving). This tag cannot be DINT.

The communication tab of the block transfer message read is setup the same as the
block transfer message write.

The block transfer messages on RIO are limited to 16-bit integers. Therefore, 32 bit
parameters are split into 16 bit integers in the block transfer request and response
data. In order to write or read floating point or 32-bit integers the COP (copy)
instruction must be utilized. The copy instruction in ControlLogix performs a
bitwise copy. Set the length of the copy instruction to a value appropriate for the
destination data type.

For example:

3. When copying a floating-point value into an integer register, the length will be
2. A single precision IEEE floating-point value uses 32-bits. These means (2)
16-bit integers are required to properly transmit the data.

4. When copying (2) integer values (the low and high word of 32-bit data) into a
floating-point register, the length will be 1.

SLC/PLC-5 System

Reference/Feedback Programming
The reference is scaled so that base motor speed = 32768. The SLC/PLC-5 does not
use DINT, and only handle 16 bit integers, so the reference has to be handled
differently to account for references above 32767 or below -32768. The following
example shows how to transmit references less than twice base motor speed, but
does not show the logic for the block transfer I/O messages. See Chapter 4 of the
20-COMM-R User Manual for an example program for the block transfer I/O
messages.
 Detailed Drive Operation 2-97

Calculate a speed reference based on 32768 = base motor speed.

F12:0 = 32 bit floating point speed reference (counts)
F12:1 = speed reference (RPM)
F12:4 = base motor speed (RPM) CPT
0000 Compute
Dest F12:0
0.0
Convert the 32 bit floating point speed reference into 2, 16 bit intergers to
send over RIO. Expression (F12:1 I F12:4) * 32768.0
F12:0 = 32 bit floating point speed reference (counts)
N10:10 = LSW of speed reference to send over RIO (counts)
N10:11 = MSW of speed reference to send over RIO (counts)
LES ADD
0001 Less Than (A<B) Less Than (A<B)
Source A F12:0
Source A F12:0
0.0
0.0
Source B -32768.0
Source B -65536.0
-32768.0
-65536.0
Dest N10:10
0

Move MOV
Source A -1
-1
Dest N10:10
0

EQU MOV
Equal Move
Source A F12:0
Source A F12:0
0.0
0.0
Source B -32768.0 Dest N10:10
-32768.0
0

Move MOV
Source A -1
-1
Dest N10:11
0

LIM MOV
Limit Test Move
Low Lim -32767.0 Source F12:0
-32767.0
0.0
Test F12:0
Dest N10:10
0.0
0
-1.0
High Lim
Move MOV
-1.0
Source A -1
-1
Dest N10:11
0

GRT SUB
Greater Than (A>B) Subtract
Source A F12:0
Source A F12:0
0.0
0.0
Source B 32767.0 Source B 65536.0
32767.0
65536.0
Dest N10:10
0

Move MOV
Source A -1
-1
Dest N10:11
0

The feedback is also scaled so that base motor speed = 32768. The SLC/PLC-5
does not use DINT, and only handle 16 bit integers, so the feedback has to be
handled differently to account for references above 32767 or below -32768. The
following example shows how to read feedback values less than twice base motor
speed, but does not show the logic for the block transfer I/O messages. See Chapter
4 of the 20-COMM-R User Manual for an example program for the block transfer
I/O messages.
2-98 Detailed Drive Operation

Convert the speed feedback that comes over RIO as 2, 16 bit intergers into a 32 bit floating feedback.
N11:10 = LSW of speed feedback from RIO (counts)
N11:111 = MSW of speed feedback from RIO (counts)
F12:2 = 32 bit floating point speed feedback (counts)
GRT EQU SUB
0002 Greater Than (A>B) Equal Subtract
Source A N11:110 Source A N11:111 Source A N11:110
0 0 0
Source B 0 Source B -1 65536.0
Source B
0 -1 65536.0
Dest F12:2
0.0
EQU EQU MOV
Equal Equal Move
Source A N11:110 Source A N11:111 Source -32768.0
0 0 -32768.0
Source B -32768.0 Source B -1 F12:2
-32768.0 -1
Dest
0.0

LIM EQU MOV

Limit Test Equal Move
Low Lim -32767.0 Source A N11:111 Source N11:110
-32767.0 0 0
Test N11:110 -1
Source B Dest F12:2
0 -1 0.0
High Lim -1.0
-1.0

LIM EQU MOV

Limit Test Equal
Low Lim Move
0.0 Source A N11:111 Source N11:110
0.0 0 0
Test N11:110
Source B 0
Dest F12:2
0 0 0.0
High Lim 32767.0
32767.0
LES EQU ADD
Greater Than (A<B) Equal Add
Source A N11:110 Source A N11:111 Source A N11:110
0 0 0
Source B 0 Source B 0 65536.0
Source B
0 0 65536.0
Dest F12:2
Convert the speed feedback into an RPM value. 0.0
F12:3 = speed feedback (RPM)
F12:2 = 32 bit floating point speed feedback (counts)
F12:4 = base motor speed (RPM) CPT
0003 Compute
Dest F12:3
0.0
Expression (F12:2 I 32768.0) * F12:4

Datalink Programming
Datalinks are transmitted and received through block transfers. The SLC/PLC-5 is
limited to 16 bit integers and floating point. Because the SLC/PLC-5 does not
support 32-bit integers, 32-bit integer Datalinks remain split into (2) 16 bit integers.
In order to send or receive floating-point Datalinks we have to swap the LSW and
MSW and utilize the COP (copy) instruction. The following examples are for
transmitting and receiving the floating-point Datalinks, but do not show the logic
for the block transfer I/O messages. See Chapter 4 of the 20-COMM-R User
Manual for an example program for the block transfer I/O messages.
 Detailed Drive Operation 2-99

Figure 2.19 Reading DINT datalinks in an SLC/PLC-5

A DINT datalink is sent across RIO as 2, 16 bit intergers. There is no DINT datatype in the SLC, so to read the data we will copy the
DINT into 2, 16 bit intergers.
N11:114 = LSW Datalink A2 Out from RIO BT Read
N11:115 = MSW Datalink A2 Out from RIO BT Read
N13:114 = LSW Datalink A2 Out
N13:115 = MSW Datalink A2 Out Copy File
0004
Source #N11:114
Dest #N13:114
Length 2

Figure 2.20 Writing DINT Datalinks in an SLC/PLC-5

A DINT datalink is sent across RIO as 2, 16 bit intergers. There is no DINT datatype in the SLC, so to write the data we use 2, 16 bit
intergers in the SLC.
N13:14 = LSW Datalink A2 In
N13:15 = MSW Datalink A2 In
N10:14 = LSW Datalink A2 in for RIO BT Write
N10:15 = MSW Datalink A2 in for RIO BT Write Copy File
0005
Source #N13:14
Dest #N10:14
Length 2

Figure 2.21 Reading Floating-Point Datalinks in an SLC/PLC-5

A floating point datalink is sent across RIO as 2, 16 bit intergers. To read a floating point datalink correctly in the SLC, you must first
swap the high and low 16 bit intergers, and then copy the 2, intergers into a floating point address.
N11:112 = LSW Datalink A1 Out from RIO BT Read
N11:111 = MSW Datalink A1 Out from RIO BT Read
N13:112 = MSW Datalink A1 Out
N13:113 = LSW Datalink A1 Out MOV
N12:5 = Datalink A1 Out Move
0006
Source N11:112
21158
Dest F13:113
23873

MOV
Move
Source N11:113
17447
Dest F13:112
17447

COP
Copy File
Source #N13:112
Dest #N12:5
Length 1
2-100 Detailed Drive Operation

Figure 2.22 Writing Floating-Point Datalinks in an SLC/PLC-5

A floating point datalink is sent across RIO as 2, 16 bit intergers. To write a floating point datalink correctly in the SLC, you must first
copy the floating point into 2 intergers, then swap the high and low 16 bit intergers.
F12:6 = Datalink A1 In
N13:12 = MSW Datalink A1 In
N13:13 = LSW Datalink A1 In
N10:12 = LSW Datalink A1 In from RIO BT Write
N10:13 = MSW Datalink A1 In from RIO BT Write
COP
Copy File
0007
Source #F12:6
Dest #F13:12
Length 2

MOV
Move
Source N13:12
16800
Dest N10:13
16800

MOV
Move
Source N13:13
0
Dest F10:12
0

Explicit Block Transfer Messaging

Explicit block transfer messaging is used to configure the drive and monitor data
from the drive. This type of block transfer is different than the block transfer used
to transmit and receive datalinks. Chapter 5 of the 20-COMM-R User Manual
shows the format of the block transfer request and response data in an SLC and
PLC-5.

Because the SLC/PLC-5 does not support 32-bit integers, 32-bit integer data from
the block transfer request and response data remains split into (2) 16 bit integers. In
order to send or receive floating-point data we have to swap the LSW and MSW
and utilize the COP (copy) instruction. The following examples are for transmitting
and receiving floating-point data for block transfer messages, but do not show the
logic for the block transfer explicit messages themselves. See Chapter 5 of the
20-COMM-R User Manual for an example program for the block transfer explicit
messages.

Figure 2.23 Reading Floating-Point Block Transfer Data in an SLC/PLC-5

 Detailed Drive Operation 2-101

Figure 2.24 Writing Floating-Point Block Transfer Data in an SLC/PLC-5

RFI Filter Grounding Refer to “Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC
Drives,” publication DRIVES-IN001 for detailed information. This publication is
available online at:

http://literature.rockwellautomation.com/literature

S-Curve See Speed Reference on page 2-113.

Speed Control, Speed Mode, See Speed/Position Feedback section for information about feedback devices and
speed regulation with and without a speed feedback device.
Speed Regulation
See the Speed PI Regulator section for information about the speed regulator.

See the Torque Reference section for information about choosing the output of the
speed regulator as the reference to the torque loop.
2-102 Detailed Drive Operation

Speed/Position Feedback The speed feedback block selects the feedback device and scales the feedback
signal. This section will describe in detail how each of these functions operates.

Feedback Device
Parameter 222 [Motor Fdbk Sel] selects the feedback device for motor speed and
position feedback. The possible settings for [Motor Fdbk Sel] are:

• 0 - "Encoder 0"
• 1 - "Encoder 1"
• 2 - "Sensorless"
• 3 - "Reserved" (this setting is not used)
• 4 - "Motor Sim"
• 5 - "FB Opt Port0"
• 6 - “FB Opt Port1”

Parameter 223 [Mtr Fdbk Alt Sel] selects an alternate feedback device when a
feedback loss is detected on the primary device. The possible settings for [Mtr Fdbk
Alt Sel] are the same as the possible settings for [Motor Fdbk Sel].

Speed regulation with a Feedback Sensor: 0.001% of Top Speed over a 100:1 Speed
Range

Speed regulation sensorless: 0.5% of Top Speed Over a 120:1 typical Speed Range

Encoder
There are (2) encoder inputs on the standard I/O board of the PowerFlex® 700S.
They are located at TB2 - Row T (Top) and TB2 - Row B (Bottom). The encoder
inputs are rated for Incremental, Dual Channel Quadrature type, Isolated with
differential transmitter Output (Line Drive). The encoder inputs can accept 5V DC
or 12V DC. There is a 12V DC supply on the drive that can be used to supply power
for the encoders. An external 5VDC power supply is required when the encoder
requires a 5V DC supply.

An encoder offers the best performance for both speed and torque regulation
applications. Encoder feedback is required for applications with high bandwidth
response, tight speed regulation, torque regulation of (+/- 2%) or when the motor is
required to operate at less than 1/100th its' base speed.

[Encoderx PPR] sets the pulse per revolution rating of the encoder. This parameter
has a range from 10 to 20000 PPR.
 Detailed Drive Operation 2-103

[Encdrx Config] sets the configuration option for the encoder. The bits for [Encder
x Config] are broken down as follows:

• Bit 0 - "Enc Filt bt0"

• Bit 1 - "Enc Filt bt1"
• Bit 2 - "Enc Filt bt2"
• Bit 3 - "Enc Filt bt3"
• Bit 4 - "Endr 4x"
• Bit 5 - "Encdr A Phs"
• Bit 6 - "Encdr Dir"
• Bit 7 - "Reserved" (not used)
• Bit 8 - "Reserved" (not used)
• Bit 9 - "Edge Time"
• Bit 10 - "Reserved" (not used)
• Bit 11 - "Reserved" (not used)
• Bit 12 - "SmplRate bt0"
• Bit 13 - "SmplRate bt1"
• Bit 14 - "SmplRate bt2"
• Bit 15 - "SmplRate bt3"
• Bits 16 to 31 - "Reserved" (not used)

The function of the bits in [Encdrx Config] is explained here.

• Bits 0 "Enc Filt bt0", 1 "Enc Filt bt1", 2 "Enc Filt bt2", and 3 "Enc Filt bt3"
configure encoder input filter (see Table 2.F Encoder Input Filter Settings). The
filter requires the input signal to be stable for the specified time period. Input
transitions within the filter time setting will be ignored.

• Bits 4 "Encdr 4x" and 5 "Encdr A Phs" determine how the encoder channel A
and B signals will be interpreted. Typically, both encoder phases A and B are
used so that direction information is available. The parameter 230 [Encdr0
Position] counts up for forward rotation and down for reverse rotation. If bit 5 is
set, then the B phase signal is ignored. As a result, the encoder position will only
increase, regardless of rotation direction. Bits 4 and 5 together also determine
the number of edges counted per encoder pulse (see Table 2.G Multiplier and
Direction Settings). "4x" sampling counts both rise and fall of both A and B
encoder phases, hence 4 edges per pulse. In 4x mode, the encoder position will
change by four times the encoder pulses per revolution rating (PPR) per encoder
revolution (e.g., it increments the value in parameter 230 [Encdr0 Position] by
4096 for one revolution of a 1024 PPR encoder).

• Bit 6 "Encdr Dir" inverts the channel A input, thus reversing the direction of the
feedback.

• Bit 9 "Edge Time" configures the method of sampling used by the Velocity
Position Loop (VPL). Setting the bit chooses "Edge to Edge" sampling, while
resetting the bit to zero chooses "Simple Difference" sampling. "Simple
Difference" sampling calculates speed by examining the difference between
pulse counts over a fixed sample time. "Edge to Edge" sampling adjusts the
sample time to synchronize with the position count updates from the daughter
card - improving the accuracy of the speed calculation.

• Bits 12 "SmplRate bt0" through 15 "SmplRate bt3" configure the sample

interval for measuring speed (see Table 2.F Encoder Input Filter Settings).
Increasing the encoder sample interval improves speed measurement near zero
speed. Decreasing allows the speed control regulator to perform with high gains
at high speeds.
2-104 Detailed Drive Operation

Table 2.F Encoder Input Filter Settings

Bit 3 2 1 0 Encoder Bit Filter Settings

0 0 0 0 Filter disabled
0 0 0 1 100 ns filter
0 0 1 0 200 ns filter
0 0 1 1 300 ns filter
0 1 0 0 400 ns filter
0 1 0 1 500 ns filter
0 1 1 0 600 ns filter
0 1 1 1 700 ns filter
1 0 0 0 800 ns filter (default setting)
1 0 0 1 900 ns filter
1 0 1 0 1000 ns filter
1 0 1 1 1100 ns filter
1 1 0 0 1200 ns filter
1 1 0 1 1300 ns filter
1 1 1 0 1400 ns filter
1 1 1 1 1500 ns filter
Table 2.G Multiplier and Direction Settings

Bit 5 4 Mult. Directions Comments

0 0 2x fwd/rev Counts rise/fall of phase A, phase B only used to find
direction
0 1 4x fwd/rev Counts rise/fall of both A and B phases (default set-
ting)
1 0 1x fwd only Counts rise of phase A. Phase B ignored.
1 1 2X fwd only Counts rise of phase A. Phase B ignored.
Table 2.H Encoder Sample Interval Settings

Bit 15 14 13 12 Encoder Sample Interval Settings

0 0 0 0 0.5 ms
0 0 0 1 0.5 ms (min. setting)
0 0 1 0 1.0 ms
0 0 1 1 1.5 ms
0 1 0 0 2.0 ms (default setting)
0 1 0 1 2.5 ms
0 1 1 0 3.0 ms
0 1 1 1 3.5 ms
1 0 0 0 4.0 ms
1 0 0 1 4.5 ms
1 0 1 0 5.0 ms
1 0 1 1 5.5 ms
1 1 0 0 6.0 ms (max. setting)
1 1 0 1 6.0 ms
1 1 1 0 6.0 ms
1 1 1 1 6.0 ms
 Detailed Drive Operation 2-105

[Encdrx Error] indicates the error status of the encoder when there is an error. The
bits for [Encdrx Error] are broken down as follows:

• Bit 0 - "EncdrMissing"
• Bit 1 - "Quad Loss"
• Bit 2 - "Phase Loss"
• Bit 3 - "Phase Level"

The encoder block generates speed feedback, seen in [Encdrx Spd Fdbk]. [Encdrx
Spd Fdbk] is in units of RPM.

The encoder block also generates a position feedback, seen in [Encdrx Position].
[Encdrx Position] is in counts.

Encdr0 Spd Fdbk

231
Encoder 0
230
Processing
Encoder0 PPR 232 Encdr0 Error Encdr0 Position
Encdr0 Config 233 234

Sensorless
Sensorless mode is used when zero speed or more than a 120:1 speed range is not
required.

Parameter 548 [Est Speed Fdbk] contains the estimated motor speed, used when
sensorless mode is selected. The estimated speed feedback is based on voltage
feedback from the motor. [Est Speed Fdbk] is scaled so that a value of 4096 equals
parameter 4 [Motor NP RPM].

The estimated speed feedback is converted to RPM, which can be seen in parameter
74 [Motor Spd Est].

Parameter 75 [MtrSpd Est Posit] is an estimated position for sensorless mode. It is

calculated based on [Est Speed Fdbk] and the value in parameter 226 [Virtual Edge/
Rev]. [Virtual Edge/Rev] is a user defined value for the number of pulses per motor
revolution.

Est Speed Fdbk Motor Spd Est

548 74
/
Σ
4096
75
Accum
MtrSpd Est Posit

Virtual Edge/Rev 226

Motor Simulator
The simulator mode allows the drive to be operated without a motor connected and
is meant for demo purposes only. If a motor is connected with this mode selected
very erratic and unpredictable operation will occur.
2-106 Detailed Drive Operation

Parameter 76 [MtrSpd Simulated] contains the simulated speed feedback and is

scaled in units of RPM.

Parameter 70 [MtrSpd Sim Posit] contains the simulated position feedback. It is

calculated based on the simulated speed feedback and the value in [Virtual Edge/
Rev]. [Virtual Edge/Rev] is a user defined value for the number of pulses per motor
revolution.

MtrSpd Simulated
Motor
76
Simulator
Spd Calc
Σ
Accum
70
MtrSpd Sim Posit

Virtual Edge/Rev 226

Feedback Option Cards

There are (3) different feedback option cards that can be installed on the
PowerFlex® 700S:

1. The Hi-Resolution Encoder Feedback Option Card

2. The Resolver Feedback Option Card

3. The MDI (Multi Device Interface) Option Card

Only one of the option cards above can be physically installed on the drive at a
time. When the Hi-Resolution Encoder Option or Resolver Option are installed,
their data is processed by feedback option card port 0. When the MDI Option is
installed, it has a Hi-Resolution Encoder processed by feedback option card port 0
and a Temposonics linear sensor processed by feedback option card port 1.

Parameter 251 [FB Opt0 Spd Fdbk] contains the speed feedback from either the
Hi-Resolution Encoder or the Resolver connected at port 0.

Parameter 250 [FB Opt0 Posit] contains the position feedback from either the
Hi-Resolution Encoder or the Resolver connected at port 0.

Parameter 277 [FB Opt1 Spd Fdbk] contains the speed feedback from the
Temposonics linear sensor when the MDI option is installed.

Parameter 276 [FB Opt1 Posit] contains the position feedback from the
Temposonics linear sensor when the MDI option is installed.
 Detailed Drive Operation 2-107

FB Opt0 Spd Fdbk

Hi Res0 Config 259 251
Feedback
Reslvr0 Config 266 Option Card 0 250
FB Opt0 Posit
Fdbk Option ID 249 Processing

Rslvr0 Spd Ratio 270

FB Opt1 Spd Fdbk
Reslvr0 Carrier 271
277
Reslvr0 In Volts 272

Rslvr0 XfrmRatio 273 276

Reslvr0 CableBal 274 FB Opt1 Posit

260 Hi Res0 Status

267 Reslvr0 Status

Parameter 249 [Fdbk Option ID] displays information about the feedback option
installed in feedback option card port 0. This information is read from the feedback
option card. Bits 15-11 will be a value of 2000 hex for an old hi-resolution option
card and a value of 2020 hex for a new hi-resolution option card.

Hi-Resolution Encoder Feedback Option

The position feedback (seen in [FB Opt0 Posit]) from a Hi-Resolution Encoder
counts at a rate of 1,048,576 counts per motor revolution.

Parameter 259 [Hi Res0 Config] is used to configure the Hi-Resolution Encoder.

• Bit 5 "Hi Res Dir" determines counting direction. If clear, direction is forward
or up. If set, the direction is reverse or down.
• Bits12 "SmplRate bt0" - 15 "SmplRate bt3" configure the sample interval for
measuring speed (see Table 2.I Encoder Sample Interval). Increasing the
encoder sample interval improves speed measurement near zero speed.
Decreasing allows the speed control regulator to perform with high gains at high
speeds.
• The remaining bits are reserved (not used).

Table 2.I Encoder Sample Interval

Bit 15 14 13 12 Encoder Sample Interval Settings
0 0 0 0 0.5 ms
0 0 0 1 0.5 ms (min. setting)
0 0 1 0 1.0 ms
0 0 1 1 1.5 ms
0 1 0 0 2.0 ms (default setting)
0 1 0 1 2.5 ms
0 1 1 0 3.0 ms
0 1 1 1 3.5 ms
1 0 0 0 4.0 ms
1 0 0 1 4.5 ms
1 0 1 0 5.0 ms
1 0 1 1 5.5 ms
1 1 0 0 6.0 ms (max. setting)
1 1 0 1 6.0 ms
1 1 1 0 6.0 ms
1 1 1 1 6.0 ms
2-108 Detailed Drive Operation

Parameter 260 [Hi Res0 Status] indicates faults on the Hi-Resolution Encoder
Feedback Option.

• Bit 8 "Open Wire" indicates an open wire fault.

• Bit 9 "Power Fail" indicates the failure of the power supply.
• Bit 10 "Diag Fail" indicates the option board failed its power-up diagnostic test.
• Bit 11 "Msg Checksum" indicates a message checksum fault.
• Bit 12 "Time Out Err" indicates a RS-485 time-out fault.
• The remaining bits are reserved (not used).

Resolver Feedback Option

Parameter 266 [Reslvr0 Config] is used to configure the resolver feedback option.

• Setting bit 0 "Cable Tune" enables the cable tuning test, resetting the bit to zero
disables the test. This test automatically runs on power up to measure the IR
drop in the resolver cable.
• Bit 1 "Reserved" (not used)
• Bits 2 "Resolution 0" and bit 3 "Resolution 1" select the resolver resolution (see
Table 2.J Resolution Settings).
• Setting bit 4 "Energize" energizes the resolver, resetting the bit to zero
de-energizes it.
• Bit 5 "Resolver Dir" determines counting direction. If clear, direction is forward
or up. If set, the direction is reverse or down.
• Bit 9 "Reserved" (not used)
• Bits 10 "Reserved" (not used)
• Bit 12 - 15 “SmplRate bt 0” - “SmplRate bt3” configure the sample interval for
measuring speed (refer to Table 2.K Resolver Sample Interval). Increasing the
resolver sample interval improves speed measurement near zero speed.
Decreasing the resolver sample interval allows the speed control regulator to
perform with high gains at high speeds.

Table 2.J Resolution Settings

Bit 3 2
0 0 10 bit resolution
0 1 12 bit resolution (default setting)
1 0 14 bit resolution
1 1 16 but resolution

Table 2.K Resolver Sample Interval

Resolver Sample Interval
Bit 15 14 13 12 Settings
0 0 0 0 0.5 ms
0 0 0 1 0.5 ms (min. setting)
0 0 1 0 1.0 ms
0 0 1 1 1.5 ms
0 1 0 0 2.0 ms (default setting)
0 1 0 1 2.5 ms
0 1 1 0 3.0 ms
0 1 1 1 3.5 ms
1 0 0 0 4.0 ms
1 0 0 1 4.5 ms
1 0 1 0 5.0 ms
1 0 1 1 5.5 ms
1 1 0 ‘ 6.0 ms (max. setting)
 Detailed Drive Operation 2-109

Resolver Sample Interval

Bit 15 14 13 12 Settings
1 1 0 1 6.0 ms
1 1 1 0 6.0 ms
1 1 1 1 6.0 ms
Parameter 270 [Reslvr0 SpdRatio] specifies the speed ratio for the resolver option
card at port 0. The speed ratio comes from the following formula.

Speed ratio = electrical revolutions / mechanical revolutions = pole count / 2.

Parameter 271 [Reslvr0 Carrier] specifies the resolver carrier frequency for the
resolver option card at port 0.

Parameter 272 [Reslvr0 In Volts] specifies the resolver input voltage for the
resolver option card at port 0.

Parameter 273 [Rslvr0 XfrmRatio] specifies the resolver transform ratio for the
resolver option card at port 0.

Parameter 274 [Reslvr0 CableBal] specifies the resolver cable balance for the
resolver option card at port 0.

Parameter 267 [Reslvr0 Status] indicates status of the resolver option card port 0.

• Bit 0 "Cable Status" indicates that the cable tuning test is in progress.
• Bit 1 "Tune Result" indicates the tuning parameter type. When set, it indicates
the tuning is using the parameter database. When cleared, it indicates the tuning
is using derived data.
• Bit 2 "Mtr Turning" indicates that the motor is turning.
• Bit 3 “Cable Comp” indicates ...
• Bit 4 "Energized" indicates the resolver is energized.
• Bit 8 "Open Wire" indicates a problem with the cable (open circuit).
• Bit 9 "Power Supply" indicates problem with the option card's power supply.
• Bit 10 "Diag Fail" indicates the option card has failed its power-up diagnostics.
• Bit 11 “Select OK” indicates ...

Motor Position Feedback

The motor position feedback is selected according to the feedback device selection.
The value for motor position feedback appears in parameter 762 [Mtr Posit Fdbk].
[Mtr Posit Fdbk] is in counts. From there, the position feedback enters the position
control loop.

Motor Speed Feedback and Scaled Speed Feedback

The motor speed feedback is selected according to the feedback device selection.
The value for motor speed feedback appears in parameter 300 [Motor Spd Fdbk].
[Motor Spd Fdbk] is in RPM. From there, the speed feedback enters the speed
regulation loop. The filter for the speed feedback is shown in the speed regulation
loop section.

Branching off of the motor speed feedback, there is a low pass filter. This low pass
filter filters out high frequency before displaying the speed feedback on the HIM.

Parameter 72 [Scaled Spd Fdbk] provides a user scalable speed feedback. It is

multiplied by the value in parameter 73 [Spd Fdbk Scale].
2-110 Detailed Drive Operation

Motor Spd Fdbk

300
to Speed
Control [3A4]

To HIM Display

Scaled Spd Fdbk

Filter X 72
LPass

73
Spd Fdbk Scale

Speed Feedback Loss Ride Through

The speed feedback loss ride through function provides an automatic switch over
from the primary motor speed feedback device to the alternate motor speed
feedback device when a primary motor speed feedback device fault is sensed. If the
alternate speed feedback device has failed the switching will not be allowed and the
drive will fault. The active device can be monitored and manual switching between
the primary and alternate devices is available. This function has also been referred
to as tach loss switch over and encoder loss ride through.

The drive determines that the encoder has faulted based on a combination of
hardware detection and monitoring the rate of change of the motor speed. The
hardware fault detection is based on illegal encoder states and improper encoder
switching patterns. The rate of change of motor speed detection is determined by a
rate of change greater than a user-defined speed change.

Hardware detection of feedback loss for the feedback option cards is based on the
type of device used and specific fault detection implemented on the feedback option
card. The rate of change of motor speed detection is the same implementation as for
encoder feedback.

Speed feedback loss ride through is not allowed in position mode. If the encoder
loss ride through function was allowed in a positioning system it is likely that the
alternate feedback device will supply an arbitrary position feedback value when an
encoder loss is detected. This, in turn, could result in unintended motion in the drive
system.

ATTENTION: Even though the encoder loss ride through function

attempts to automatically switch feedback devices with minimum
! disturbance, a system disturbance will occur. In some cases feedback
device degradation may occur before complete failure takes place. The
user must determine if the encoder loss ride through function is
appropriate for each application.

Speed Feedback Loss Ride Through Configuration

Parameter 151 [Logic Command] bit 2, "TackLoss Rst" provides a manual switch
between primary and alternate speed feedback devices with a “0” to “1” bit
transition. A transition from “1” to “0” does not cause a change in operation.
 Detailed Drive Operation 2-111

Parameter 152 [Applied LogicCmd] bit 2, "TachLoss Rst" shows the status of
parameter 151 [Logic Command] bit 2 "TachLoss Rst" switch.
Setting parameter 153 [Control Options], bit 16 "Auto Tach Sw" to a value of “1”
enables the automatic switching of speed feedback devices when a failure is
detected. A value of “0” disables the automatic switching of speed feedback
devices. Only automatic switching from the primary device specified in parameter
222 [Mtr Fdbk Sel Pri] to the alternate device specific in parameter 223 [Mtr Fdbk
Sel Alt] is available. Switching from the alternate to the primary device must be
done manually by setting parameter 151 [Logic Command], bit 2 "TackLoss Rst"
from “0” to “1”.
Parameter 155 [Logic Status] bit 12, "Tach Loss Sw," shows which speed feedback
device is currently active. A value of “0” in bit 12 indicates that the primary speed
feedback device selected in [Mtr Fdbk Sel Pri] is active. A value of “1” in bit 12
indicates that the alternate speed feedback device selected in [Mtr Fdbk Sel Alt] is
active.
Parameter 222 [Mtr Fdbk Sel Pri] selects the primary speed feedback device. It is
not intended to use the sensorless selection as the primary (or active) speed
feedback device as there is no feedback loss detection used with sensorless
operation.
Parameter 223 [Mtr Fdbk Sel Alt] selects the alternate speed feedback device. Any
selection of feedback devices, including sensorless operation is available providing
a corresponding motor type and associated feedback device is present.
Settings for parameter 222 [Mtr Fdbk Sel Pri] and parameter 223 [Mtr Fdbk Sel
Alt]:
0= Encoder 0 3 = Reserved
1= Encoder 1 4 = Motor Sim
2= Sensorless 5 = FB Opt Port0

Parameter 224 [TachSwitch Level] sets the detection level for the automatic speed
loss switch over routine. A drop in feedback speed at the percent of rated speed
over a 0.5 mSec interval will cause a tach switch from primary to alternate device.
Setting this level lower will make the speed detection more sensitive and lower the
minimum speed at which a speed switch could occur. Setting this level higher will
make the speed switch less sensitive and raise the minimum speed for speed switch
detection.

Parameter 320 [Exception Event1] bits 2 through 5 show the error status of the
corresponding speed feedback device.
2= Encdr0 Loss
3= Encdr1 Loss
4= FB Opt0 Loss
5= FB Opt1 Loss

Parameter 365 [Fdbk LsCnfg Pri] and parameter 366 [Fdbk LsCnfg Alt] set the
feedback loss configuration for each feedback device. The primary feedback device
should be configured to 1 "Alarm". The alternate feedback device should typically
be configured to 2 "FltCoastStop".

Settings for [Fdbk LsCnfg Pri] and [Fdbk LsCnfg Alt]:

1= Alarm
2= FltCoastStop
2-112 Detailed Drive Operation

Parameter 510 [FVC Mode Config] bit 22 “SrLss RdThru” must be set to “1” if
sensorless operation is selected in [Mtr Fdbk Sel Alt]. In all other cases Parameter
510 bit 22 should be set to “0”.

Speed Feedback Loss Ride Through Operation

Setting up the feedback loss ride through function requires the following steps:

1. Enter a valid feedback device selection in parameter 222 [Mtr Fdbk Sel Pri]

2. Enter a valid feedback device selection in parameter 223 [Mtr Fdbk Sel Alt]

3. Setting parameter 365 [Fdbk LsCnfg Pri] to 1 "Alarm"

4. Setting parameter 366 [Fdbk LsCnfg Alt] to 2 "FltCoastStop" (recommended

but not necessary)

5. Setting the speed change detection level in parameter 224 [TachSwitch Level]

6. Setting parameter 153 [Control Options] bit 16 "Auto Tach Sw" to 1 for
automatic switch over

7. Setting parameter 510 [FVC Mode Config] bit 22 "SrLssRdThru" to 1 when

sensorless operation is selected in parameter 223

Logic Command
(TachLoss Rst)
151 2

Control Options
(AutoTach Sw)
FdbkLoss
153 16
Detect

Motor Spd Fdbk

Speed Feedback 0 to Speed
from Primary Device 300
Regulator
Speed Feedback 1
from Alternate Device

155 12
Logic Status
(TachLoss Sw)

Automatic and manual switching of feedback devices is inhibited if a loss in

parameter 320 [Exception Event1] bits 2-4 (as appropriate) is sensed on the device
to which switching was to take place. The drive will fault when it is configured for
speed feedback loss ride through and the primary device fails when the alternate
device has failed and is also configured to fault. If the alternate device is not
configured to fault, then switching to the alternate device will be inhibited and
operation on the primary feedback device will continue. Note that operation on the
primary device will continue even with that device's failure since that fault must be
configured for an alarm to allow for automatic device switch over.

Manual Speed Feedback Device Switching

Parameter 151 [Logic Command] bit 2, "TackLoss Rst," provides a manual switch
between active and non-active primary or alternate speed feedback devices with a
“0” to “1” bit transition. Resetting bit 2 from a “1” to a “0” causes no change in
operation. The switch is between the active feedback device (either primary or
alternate) to the non-active device. For example, if prior to the reset the alternate
 Detailed Drive Operation 2-113

device selected in Parameter 223 [Mtr Fdbk Sel Alt] is active, then after the reset
the primary feedback device selected in Parameter 222 [Mtr Fdbk Sel Pri] will be
used as the active speed feedback device. The reset activation is prohibited if a
failure is sensed in the speed feedback device to which the drive is switching. The
active device selection command is shown in parameter 152. Manual switching
between primary and alternate devices can be made while the drive is running.

Speed Reference The speed reference control loop consists of speed reference scaling, speed
reference selection, jogging, speed reference limiting, ramping, s-curve, and
filtering. Each of these features is described in greater detail below.

Figure 2.25 Overall Speed Reference Loop

Applied LogicCmd Logic Ctrl State
Speed Ref Sel 16 152 18 152 23
157 00 Control Options 153 00
Selected Spd Ref Limited Spd Ref
Speed Ref 1 10 0 0 0 1 1
0 40 41
Spd Ref1 Divide 11
/ Jog Speed 1
1 1 0 0 Limit
17 0 Max
Speed Ref 2
0 X
12 2 1 Rev Speed Limit 30
X 18 Applied LogicCmd

Spd Ref2 Multi 13 152 20 152 21 31

3 Jog Speed 2 Fwd Speed Limit
+
1
4 (Unipol Fwd) +1
Speed Ref 4 14
1
5 (Unipol Rev) -1
Speed Ref 5 15
* 6
Speed Ref DPI 20 FricComp Spd Ref FricComp TorqAdd
Link 140 145
Inertia SpeedRef Logic Command
* set the desired port in
∆n (Frict Comp)
151 11 Friction Comp to Torque
param 691 56 Control [4B2]
Link
∆t FricComp Setup 141
Logic Command
151 10 Inertia Comp FricComp Stick 142
(Inertia Comp)
9 FricComp Slip 143
Total Inertia
FricComp Rated 144 Inertia Torq Add
InertiaAccelGain 57
59
InertiaDecelGain 58
Speed Comp to Torque
DeltaSpeedScale 60 55 Control [4B1]

Ramped Spd Ref S Curve Spd Ref Spd Ref Bypass Filtered Spd Ref
(kn * s)+ wn
Scaled Spd Ref
42 43 Link 37 s + wn
44 Spd Trim1 SpdRef
X 46
Ramp S Curve Control Options 153 01 Lead Lag 38
+ 47
(SRef Filt En)
to Speed Control
Accel Time 32 34 SpdRef Filt Gain 35 Speed Ref Scale
- Regulator [3A2]
Decel Time 33 S Curve Time SpdRef Filt BW 36 PI Output 180 Link 21
Logic Command
(SpdRamp Dsbl) from Process Speed Trim 1
10 One Control [5G2]
151 00 Inv 45 Delayed Spd Ref
01 & Scan
Logic 157 01 Delay
Logic Command Logic Ctrl State
(Spd S Crv En) (SRef Ramp En)
10 Logic Ctrl State 62 Virt Encdr Posit
151 01 157 02 4x internal
01 (SRef SCrv En)
Virtual Encoder
Logic One Virt Encdr Dlyed
63
Scan
Virt Encoder PPR 61
Delay

Speed Reference Scaling

The first section of the reference selection block is speed reference scaling. Both
speed reference 1 and 2 have parameters associated with them to scale the values.
Refer to Figure 2.25.

Speed Ref 1 10

Spd Ref1 Divide 11

/
Speed Ref 2 12
X
Spd Ref2 Multi 13
2-114 Detailed Drive Operation

Parameter 10 [Speed Ref 1] and parameter 12 [Speed Ref 2] are real parameters
with units of per unit, where a value of 1 per unit equals base motor speed. Both
[Speed Ref 1] and [Speed Ref 2] have their own scaling blocks.

The speed reference value in [Speed Ref 1] is divided by the scaling parameter 11
[Speed Ref1 Divide]. [Speed Ref1 Divide] cannot be changed while running, and
cannot be linked to by another parameter.

The speed reference value for [Speed Ref 2] is multiplied by the scaling parameter
13 [Speed Ref2 Multi]. [Speed Ref2 Multi] is a linkable parameter. This allows
speed reference 2 to be scaled "dynamically" with an input signal if desired. An
example would be to have an analog input linked to the scale parameter. The speed
reference and the scale would then affect the value sent to the reference select
block.

Parameters 14 [Speed Ref 4], 15 [Speed Ref 5], and 20 [Speed Ref DPI] are in
display units of RPM and do not have their own scaling blocks.

Speed Reference Select

Parameter 16 [Speed Ref Sel] selects which one of the seven input signals is
acknowledged as the reference. [Speed Ref Sel] could be changed through a
controller or through a digital input (see Digital Inputs for an example).

Speed Ref Sel 16

Speed Ref 1 10 0
0
Spd Ref1 Divide 11
/
1

Speed Ref 2 12 2
X
Spd Ref2 Multi 13 3
+
Speed Ref 4 4
14

5
Speed Ref 5 15
* 6
Speed Ref DPI 20

[Speed Ref Sel] can be set to the following values:

Setting Description
0 - Zero Speed Zero Speed is selected as the speed reference.
1 - Spd Ref 1 [Speed Ref 1] is selected as the speed reference.
2 - Spd Ref 2 [Speed Ref 2] is selected as the speed reference.
3 - Spd Ref 3 The sum of [Speed Ref 1] and [Speed Ref 2] is selected as the
speed reference. Note that there is no "Speed Ref 3" parameter.
4 - Spd Ref 4 [Speed Ref 4] is selected as the speed reference.
5 - Spd Ref 5 [Speed Ref 5] is selected as the speed reference.
6 - Spd Ref DPI [Speed Ref DPI] is selected as the speed reference.

The source of parameter 20 [Speed Ref DPI] is selected by parameter 691 [DPI Ref
Select]. [DPI Ref Select] can be set to one of the following: 1 - “Local HIM”, 2 -
“Ext DPI Conn”, 3 - Aux DPI Conn”, or 5- Int DPI Conn.” 4 - “Reserved” is not
used.
 Detailed Drive Operation 2-115

Jog Reference
Two separate jog speeds can be used as a speed reference - parameter 17 [Jog Speed
1] or 18 [Jog Speed 2]. For more information on jog speeds see Jog.

Stop Command
When a stop command is issued, parameter 157 [Logic Ctrl State] bit 0 - “Spd Ref
En” is set to 0, causing a zero speed to be selected. When [Logic Ctrl State] bit 0 is
set to 1, the selected speed or jog reference is used.

Logic Ctrl State

157 00
1

0
0

Direction Control and Bipolar Reference

The direction of rotation of the motor can be controlled by a forward/reverse
command or by the use of a bipolar signal. For more information on direction
control, see Direction Control and Bipolar Reference.

Speed Limits
The next section sets the forward and reverse speed limits for the speed reference.
Parameter 31 [Fwd Speed Limit] sets the positive speed limit, in RPM. Parameter
30 [Rev Speed Limit] sets the negative speed limit, in RPM. Parameter 41 [Limited
Spd Ref] contains value, in RPM, of the limited speed reference.

Limited Spd Ref

41

Limit

Rev Speed Limit 30

Fwd Speed Limit 31

Accel/Decel Ramp and S-Curve

The accel/decel ramp generator can be bypassed for certain functions. When
parameter 151 [Logic Command] bit 0 - "SpdRamp Dsbl" is on, the ramp is
bypassed. Otherwise, the reference is ramped according to the rates determined by
parameters 32 [Accel Time] and 33 [Decel Time]. For example, the ramp rate for
acceleration would be [Motor NP RPM]/[Accel Time]. The ramped reference can
be viewed in parameter 42 [Ramped Spd Ref].
2-116 Detailed Drive Operation

Ramped Spd Ref S Curve Spd Ref

42 43

Ramp S Curve

Accel Time 32 34
Decel Time 33 S Curve Time

10
151 00 Inv
01 &
Logic 157 01

Logic Command Logic Ctrl State

(SRef Ramp En)
(Spd S Crv En)
151 01
10 157 02 Logic Ctrl State
01 (SRef SCrv En)
Logic

The drive can produce a linear ramp output or an s curve signal. The s curve is used
when [Logic Command] bit 1 - "Spd S Curve En" is on and the ramp is not
bypassed. Parameter 34 [S Curve Time] sets the time that the s curve will be applied
at the beginning and at the end of the ramp. Half of the time specified in parameter
34 is added to the beginning of the ramp and half to the end of the ramp (as shown
in the example below). The result of the s curve block can be seen in parameter 43
[S Curve Spd Ref].

Speed

Time in Seconds
0.5 sec. 0.5 sec.

Accel Time = 5.0 seconds

S Curve Time = 1.0 second
Total Ramp Time = 6.0 seconds

Speed Reference Bypass and Delayed Speed Reference

By default, parameter 37 [Spd Ref Bypass] is linked to [S Curve Spd Ref].
However, if you wish to bypass the rest of the speed reference control loop, [Spd
Ref Bypass] gives the capability to link to other parameters.
 Detailed Drive Operation 2-117

S Curve Spd Ref Spd Ref Bypass

43 Link 37

Delayed Spd Ref

One 45
Scan
Delay

Parameter 45 [Delayed Spd Ref] is delayed by one scan of the speed control loop.
[Spd Ref Bypass] can be linked to [Delayed Spd Ref] instead of [S Curve Spd Ref]
for use in SynchLink applications. See SynchLink for more details.

Inertia Compensation
Inertia compensation is used to calculate the level of torque required due to load
inertia during speed changes. For more information on inertia compensation, see
Inertia Compensation.

Friction Compensation
The friction compensation block is used to calculate breakaway torque and the
torque needed just to keep the motor running at a constant speed due to friction. For
more information on friction compensation, see Friction Compensation.

Virtual Encoder
The virtual encoder block generates a position counter based on the speed reference
in [S Curve Spd Ref]. Parameter 61 [Virt Encoder PPR] is used to specify the
desired pulses per revolution for the virtual encoder. The virtual encoder block will
count at a rate of 4 times [Virt Encoder PPR] per one revolution of the motor. For
example, if [Virt Encoder PPR] is 1024, the virtual encoder block will count at a
rate of 4096 units per one revolution of the motor.

Parameter 62 [Virt Encdr Posit] is a 32 bit integer that contains the pulse count
output of the virtual encoder block. This parameter is used for position follower
applications (see the Follower section of the Position Loop).

Parameter 63 [Virt Encdr Dlyed] is a 32 bit integer that contains the pulse count
output of the virtual encoder block delayed by one scan of the speed reference loop.
This parameter can be used to send a virtual position reference over SynchLink for
position follower applications.

S Curve Spd Ref

43 62 Virt Encdr Posit
4x internal
Virtual Encoder One
63 Virt Encdr Dlyed
Scan
Virt Encoder PPR 61
Delay
2-118 Detailed Drive Operation

Speed Reference Filter

A lead lag filter can be turned on by setting parameter 153 [Control Options] bit 1 -
"Sref Filt En" on. Parameter 35 [SpdRef Filt Gain] sets the gain for the filter and
parameter 36 [SpdRef Filt BW] sets the bandwidth for the filter.

Filtered Spd Ref

(kn * s)+ wn
s + wn
44

Control Options 153 01 Lead Lag

(SRef Filt En)
SpdRef Filt Gain 35
SpdRef Filt BW 36

Speed Reference Scale

The speed reference value up to this point is multiplied by the scaling parameter 38
[Speed Ref Scale]. [Speed Ref Scale] is applied to all of the selected speed
references, as opposed to the specific scaling parameters for speed reference 1 and
2. [Speed Ref Scale] is a linkable parameter. This allows the speed reference value
to be scaled "dynamically" with an input signal if desired. An example would be to
have an analog input linked to the scale parameter. The speed reference and the
scale would then affect the value sent to the speed regulator.

Scaled Spd Ref

X 46
38
Speed Ref Scale

Speed Trim 1
At this point in the speed reference control loop, parameter 21 [Speed Trim 1] is
added to the speed reference. By default, [Speed Trim 1] is linked to the output of
the Process PI loop. The resulting parameter 47 [Spd Trim1 SpdRef] is sent into the
speed regulator loop.

Spd Trim1 SpdRef

+ 47
to Speed Control
- Regulator
PI Output 180 Link 21
from Process Speed Trim 1
Control
 Detailed Drive Operation 2-119

Speed PI Regulator The drive takes the speed reference specified by the speed reference control loop
and compares it to the speed feedback. The speed regulator uses proportional and
integral gains to adjust the torque reference sent to the motor. This torque reference
attempts to operate the motor at the specified speed. This regulator also produces a
high bandwidth response to speed command and load changes.

Figure 2.26 Overview of the Speed PI Regulator Loop

Speed Trim 3 23
X
SpdTrim 3 Scale 24 Logic Ctrl State Logic Ctrl State
157 04 157 06
(Inrta Tst En) (CurrLim Stop)
from Speed Control Spd Trim1 SpdRef
- Reference [2H4] 0 0
47 4x +
Ovr Smpl
Autotune 1 Limit 1
0
Posit Spd Output Bypass
Speed Trim 2
(kn * s)+ wn 19 30
318 22 s + wn
Atune Spd Ref 31
from Position
Control [6H3] or [7H4] Lead Lag
Logic Ctrl State 157 5 (J Tst FulSpd)
STrim2 Filt Gain 25
8 (Spd Reg En)
SpdTrim2 Filt BW 26

nff
Logic Ctrl State 157 08
FeedFwd (Spd Reg En)
SpdReg AntiBckup
84
Motor Speed Ref 0
Speed Error 0
301 + - Spd Reg PI Out
100 kp 1
- Filter + + + (kn * s)+ wn
s + wn 302
Motor Spd Fdbk
2nd Order ks P Gain to Torque Control
300
(kn * s)+ wn LPass s Limit SRegOut FiltGain Lead Lag
s + wn
81 [4A1]
Spd Err Filt BW
from Feedback [9H2] 71 ServoLck Spd Reg Pos Lim 102 95
Lead Lag 89 Spd Reg P Gain
Filtered SpdFdbk Spd Reg Neg Lim 103 SReg Out Filt BW
SReg FB Filt Gain 93 Servo Lock Gain 85 + ki
101
96
s SpdReg Integ Out
SReg FB Filt BW 94
Control Options
-
153 12 I Gain
(Jog -NoInteg)
Speed Reg Ctrl 82
80 02
(Integ Hold) * Spd Reg I Gain
Speed Reg Ctrl Droop
80 03
(Integ Reset) Speed Reg Ctrl 80 01
(Preset Sel) Spd Reg Droop 86

0
SReg Torq Preset 87

1
Motor Torque Ref 303

The main purpose of the speed PI regulator is to produce a torque reference for the
current regulator block. The following section will describe each portion of the
speed PI regulator.

Speed Trim
The speed trim blocks are used to sum the speed reference from the speed reference
control loop with speed trim values from other sources.

[Spd Trim1 SpdRef] contains the value of the speed reference from the speed
reference control loop plus the value from [Speed Trim 1]. [Speed Trim 1] is setup
by default to come from the process PI loop.

Parameter 22 [Speed Trim 2] provides a trim value with a lead/lag filter that is
added to [Spd Trim1 SpdRef]. By default, it is linked to the output of the position
loop. For more information on lead/lag filters refer to Lead-Lag Filter on
page 2-40.

Parameter 23 [Speed Trim 3] provides a scalable speed trim value that is added to
[Spd Trim1 SpdRef]. The speed reference value for [Speed Trim 3] is multiplied by
the scaling parameter 24 [Spd Trim 3 Scale]. [Spd Trim 3 Scale] is a linkable
parameter. This allows speed trim 3 to be scaled "dynamically" with an input signal
if desired. An example would be to have an analog input linked to the scale
parameter. The speed trim and the scale would then affect the value sent to the
summation block.
2-120 Detailed Drive Operation

The speed trim values are summed with the speed reference from the speed
reference control loop.

Speed Trim 3 23
X
SpdTrim 3 Scale 24

from Speed Control Spd Trim1 SpdRef

- Reference [2H4]
47 4x +
Ovr Smpl

Posit Spd Output Speed Trim 2

(kn * s)+ wn
318 22 s + wn
from Position
Control [6H3] or [7H4] Lead Lag

STrim2 Filt Gain 25

SpdTrim2 Filt BW 26

Autotune Speed Reference

During the inertia test, the autotune speed reference is used instead of the output of
the speed trim summation. Parameter 19 [Atune Spd Ref] sets the speed for the
inertia test.

Bits 4, 5, and 8 in parameter 157 [Logic Ctrl State] control when the [Atune Spd
Ref] is used.

• Bit 4 - "Inrta Tst En" turns on during the inertia test and allows the autotune
speed reference to bypass the output of the speed trim summation.

• Bit 5 - "J Tst FulSpd" indicates that the inertia test reached the speed set in
[Atune Spd Ref].
• Bit 8 - "Spd Reg En" Indicates that the output of the speed regulator is enabled
and the output is allowed to enter the torque loop.

Logic Ctrl State

157 04
(Inrta Tst En)

Autotune 1
Bypass
19
Atune Spd Ref

Logic Ctrl State 157 5 (J Tst FulSpd)

8 (Spd Reg En)

Speed Reference Limits

At this point the summed speed reference is limited by parameters 30 [Rev Speed
Limit] and 31 [Fwd Speed Limit]. Those limits are set at -2187.5 RPM and 2187.5
RPM default.
 Detailed Drive Operation 2-121

Limit
Rev Speed Limit 30
Fwd Speed Limit 31

Current Limit Stop

When a current limit stop is commanded, [Logic Ctrl State] bit 6 - "CurrLim Stop"
is set. Then a 0 speed reference command is sent into the speed regulator, bypassing
the ramp and speed trimming.

Logic Ctrl State

157 06
(CurrLim Stop)

1
0

Speed Error
The summed speed reference becomes parameter 301 [Motor Speed Ref]. Then the
filtered motor speed feedback is subtracted from the motor speed reference to
create a speed error.

There is a lead/lag filter that can be used to filter the motor speed feedback. The
filter is setup by parameters 95 [Sreg FB Filt Gain] and 94 [Sreg FB Filt BW]. The
filtered speed feedback is seen in parameter 71 [Filtered SpdFdbk].

The speed error is filtered by a low pass filter by adjusting [Spd Err Filt BW].

Motor Speed Ref

Speed Error
301 +
100
Motor Spd Fdbk
- Filter

2nd Order
(kn * s)+ wn LPass
300 s + wn
Spd Err Filt BW
71
Lead Lag 89
Filtered SpdFdbk
SReg FB Filt Gain 93
SReg FB Filt BW 94

Servo Lock
Servo lock is used for servo or positioning applications. The effect of Servo Lock is
to increase stiffness of the speed response to a load disturbance. It behaves like a
position regulator with velocity feed forward, but without the pulse accuracy of a
true position regulator. The output of the servo lock block is summed with the
filtered speed error.
2-122 Detailed Drive Operation

Parameter 85 [Servo Lock Gain] sets the gain of an additional integrator in the
speed regulator. The units of [Servo Lock Gain] are rad/sec. Gain should normally
be set to less than 1/3 speed regulator bandwidth, or for the desired response. Set
[Servo Lock Gain] to zero to disable Servo Lock.

+
ks
s
ServoLck

Servo Lock Gain 85

Speed Regulation Anti-Backup

Parameter 84 [SpdReg Anti Bckup] modifies the drive's response to the speed
reference. With the value minimized, the drive will follow the reference very
closely, minimizing error, which is desirable for typical process applications.
However, it will exhibit some over-shoot and under-shoot. Increasing the value of
this term decreases the over-shoot and under-shoot, which is desirable where
back-up cannot be tolerated. However, this tends to increase the following error:
This parameter has no affect on the drive's response to load changes. The
recommended setting is 0.1 to 0.5.

from nff
Motor Speed Ref
FeedFwd

SpdReg AntiBckup 84

The following is an example of how the anti-backup affects the speed regulator’s
response.

Proportional Gain
The filtered speed error (after the servo lock is added and the anti-backup is
subtracted) is sent to the proportional gain block. The proportional gain determines
how much of a speed error occurs during a load transient.

Parameter 81 [Spd Reg P Gain] sets the proportional gain of the speed regulator. It's
value is automatically calculated based on the bandwidth setting in parameter 90
 Detailed Drive Operation 2-123

[Spd Reg BW] and parameter 9 [Total Inertia]. Proportional gain may be manually
adjusted by setting [Spd Reg BW] to a value of zero. Units are (per unit torque) /
(per unit speed). For example, when [Spd Reg P Gain] is 20, the proportional gain
block will output 20% motor rated torque for every 1% error of motor rated speed.

Adjustments to parameters 474 [Freq Reg We BW] and 475 [Freq Reg Wr BW]
may be necessary when using sensorless feedback.

kp

P Gain

81
Spd Reg P Gain

Integral Gain
The speed droop is subtracted from the filtered speed error (after the servo lock is
added and the anti-backup is subtracted). This signal is then sent to the integral gain
block. The integral gain block outputs a torque command relative to the error
integrated over a period of time.

Parameter 82 [Spd Reg I Gain] sets the integral gain of the speed regulator. It's
value is automatically calculated based on the bandwidth setting in [Spd Reg BW]
and [Total Inertia]. Integral gain may be manually adjusted by setting [Spd Reg
BW] to a value of zero. Units are (per unit torque/sec) / (per unit speed). For
example, when [Spd Reg I Gain] is 50 and the speed error is 1%, the integral output
will integrate from 0 to 50% motor rated torque in 1 second.

Adjustments to parameters 474 [Freq Reg We BW] and 475 [Freq Reg Wr BW]
may be necessary when using sensorless feedback.

When parameter 153 [Control Options] bit 12 - "Jog-NoInteg" is turned on, this
tells the speed regulator not to use the integral gain during jog commands.

When Parameter 80 [Speed Reg Ctrl] bit 2 - "Integ Hold" is turned on, the
Integrator holds its output at the present level until the bit is turned off again.

When [Speed Reg Ctrl] bit 3 - "Integ Reset" is turned on, the output of the
integrator is set to 0. When the "Integ Reset" bit is turned back off, the integrator
output starts integrating up again from 0.

When [Speed Reg Ctrl] bit 1 - "Preset Sel" is turned on, the value in parameter 303
[Motor Torque Ref] is added to the integrator output. When "Preset Sel" is turned
off, parameter 87 [Sreg Torq Preset] (default of 0 per unit) is added to the integrator
output.

Parameter 101 [SpdReg Integ Out] contains the value of the torque output from the
integrator. This parameter is in per unit so that a value of 1 equals rated motor
torque.
2-124 Detailed Drive Operation

ki
101 SpdReg Integ Out
s
Control Options 153 12 I Gain
(Jog -NoInteg)
Speed Reg Ctrl 82
80 02
(Integ Hold) Spd Reg I Gain
Speed Reg Ctrl 80 03
(Integ Reset) Speed Reg Ctrl
80 01
(Preset Sel)
0
SReg Torq Preset 87

1
Motor Torque Ref 303

Droop
Droop is used to "shed" load and is usually used when a soft coupling of two
motors is present in an application. For more information on droop, see the section
titled "Droop".

Speed Regulator Output Limits

The outputs from the proportional block and integrator block are summed together,
creating a torque reference. This torque reference is limited by parameter 102 [Spd
Reg Pos Lim] and 103 [Spd Reg Neg Lim].

Output from
Proportional Block +
Limit
Output from
Integrator Block Spd Reg Pos Lim 102
Spd Reg Neg Lim 103

Speed Regulator Output Filter

Now the torque reference goes through a lead/lag filter, tuned by parameter 95
[SregOut FiltGain] and 96 [Sreg Out Filt BW]. For more information on lead/lag
filters refer to Lead-Lag Filter on page 2-40.

Parameter 157 [Logic Ctrl State] bit 8 - "Spd Reg En" indicates when the speed
regulator is enabled. When "Spd Reg En" is on, this allows the speed regulator
output to pass to the torque control loop.

Parameter 302 [Spd Reg PI Out] contains the filtered, limited torque reference that
was generated by the speed regulator.
 Detailed Drive Operation 2-125

Logic Ctrl State 157 08

(Spd Reg En)

0
0
Spd Reg PI Out
(kn * s)+ wn 1
s + wn
302
to Torque Control
SRegOut FiltGain Lead Lag [4A1]
95
SReg Out Filt BW
96

Speed Regulator Tuning

Basic Tuning Procedure with a Gearbox or Belt

1. Identify motor and system inertia (in seconds).

The motor inertia can be determined by performing an inertia test with the
motor uncoupled from the load, or the motor inertia in seconds can be calculated
using the following formula:

where WK2 is the inertia in lbft2, RPM is the base motor speed of the motor, and
Tacc is the rated torque of the motor in lbft. Tacc can be calculated by the
following:

where HP is the nameplate horsepower of the motor and RPM is the base motor
speed of the motor.

System Inertia (parameter 9 [Total Inertia]) is determined by performing the

inertia test with the load coupled, or the value (in seconds) can be calculated
using the formulas above if WK2 is known for the system.
2-126 Detailed Drive Operation

2. Set the desired bandwidth in parameter 90 [Spd Reg BW]. Do not exceed the
bandwidth limit of curve 1 in the following chart (based on the ratio of motor
inertia to system inertia).

3. Make parameter 89 [Spd Err Filt BW] = 5 * parameter 90 [Spd Reg BW].

Note: For speed regulator bandwidths up to approximately 200 rad/sec,

parameter 89 [Spd Err Filt BW] can be left at the factory default of 700 rad/sec
starting with v2.003 firmware because of the addition of a finite infinite
response (FIR) filter.

4. Turn-off Lead Lag filters; parameter 93 [SregFB Filt Gain] =1, parameter 95
[SregOut FiltGain] = 1.

5. Run the drive and observe its performance, particularly gear noise (chatter).

6. If performance is smooth throughout the speed range, the test is complete and
no further adjustments are necessary. If gear noise or chatter is present, reduce
parameter 90 [Spd Reg BW] or progressively turn on the lead lag filters a
through d, with d being the most aggressive. Stop when performance is
sufficiently smooth:

a. Parameter 95 [SregOut FiltGain] = 0.7; parameter 96 [SregOut Filt BW] =

35

b. Parameter 95 [SregOut FiltGain] = 0.5; parameter 96 [SregOut Filt BW] =

20

c. parameter 95 [SregOut FiltGain] and parameter 93 [SRegFB Filt Gain] =

0.7; parameter 94 [SReg FB Filt BW] and parameter 96 [SregOut Filt BW] =
35

d. parameter 95 [SregOut FiltGain] and parameter 93 [SRegFB Filt Gain] =

0.5; parameter 94 [SReg FB Filt BW] and parameter 96 [SregOut Filt BW] =
20
 Detailed Drive Operation 2-127

7. If gear noise or chatter is still present after turning on the filters, repeat steps 2
through 6 with a lower speed regulator BW (parameter 90 [Spd Reg BW]).

8. If the desired bandwidth cannot be achieved due to gear noise or chatter, follow
the procedure for Advanced Tuning for the Speed Regulator with Gearbox or
Belt below.

Advanced Tuning for the Speed Regulator with Gearbox or Belt

When using a system with a gearbox or belts, the backlash or lost motion can cause
instability. The inertia adaptation feature can be used to alleviate this instability.
Follow the steps below to use inertia adaptation:

1. Identify motor and system inertia (in seconds).

The motor inertia can be determined by performing an inertia test with the
motor uncoupled from the load, or the motor inertia in seconds can be calculated
using the following formula:

where WK2 is the inertia in lbft2, RPM is the base motor speed of the motor, and
Tacc is the rated torque of the motor in lbft. Tacc can be calculated by the
following:

where HP is the nameplate horsepower of the motor and RPM is the base motor
speed of the motor.

System Inertia (parameter 9 [Total Inertia]) is determined by performing the

inertia test with the load coupled, or the value (in seconds) can be calculated
using the formulas above if WK2 is known for the system.

2. Set parameter 90 [Spd Reg BW]. Do not exceed the bandwidth limit of curve 2
in the following chart (based on the ratio of motor inertia to system inertia).
2-128 Detailed Drive Operation

3. Set parameter 133 [Inert Adapt BW] = parameter 90 [Spd Reg BW]

4. Verify that Lead Lag filters are off: Parameter 93 [SRegFB Filt Gain] = 1 and
parameter 95 [SReg Out Filt Gain] = 1 to disable the filters.

5. Enable inertia adaptation, parameter 132 [Inert Adapt Sel] bit 0 "Inertia Adapt"
= 1.

6. Enable the drive and adjust the BW for the application but do not exceed curve 2
(as shown in the chart above). When you adjust the BW, you must set [Spd Reg
BW] and [Inert Adapt BW] to the same BW.

7. You may hear an unusual high frequency sound which indicates adaptation is
active.

Speed/Torque Select The Speed/Torque Mode Select parameter is used to choose the operating mode for
the drive. The drive can be programmed to operate as a velocity regulator, a torque
regulator, or a combination of the two. Refer to the firmware flowchart shown in
Firmware FlowchartFigure 2.27.

Figure 2.27 Firmware Flowchart

Spd/Torq ModeSel 110
Logic Ctrl State
(Forced Spd)
from Speed Control
Spd Reg PI Out 0 157 10
[3H4] 302 0
Inertia Torq Add + 0
1
[2H4] 59 + +
+ +
FricComp TorqAdd
2 1
[2H3] 145
Min
3
Torque Step 116

4
Max
Torque Ref 1 111 5
Torq Ref1 Div 112
/
+ 6
+
Torque Ref 2 113 +
X +
Torq Ref2 Multi 114 +
Abs
Torque Trim 115 Min
 Detailed Drive Operation 2-129

As shown in Figure 2.27, parameter 110 [Spd/Trq Mode Sel], is used to select the
mode of operation. Zero torque current is allowed when set to zero (0).

Set to a value of 1, the drive and motor are operated in speed mode. The torque
command changes as needed to maintain the desired speed.

Set [Spd/Trq Mode Sel] to a value of two (2) for torque mode. In torque regulation
mode, the drive controls the desired motor torque. The motor speed is the result of
torque command and load present at the motor shaft.

Min and Max mode are selected by values three (3) and four (4) respectively. These
modes offer a combination of speed and torque operation. The algebraic minimum
or maximum of speed/torque will be the operating point for the Min and Max
modes. The drive automatically switches from speed to torque mode (or from
torque to speed) based on the dynamics of the motor/load.

The Min mode is typically used with positive torque and forward speed operation,
the minimum of the two being closest to zero. The Max mode is opposite, typically
used with reverse speed and negative torque, the maximum being the least negative
(closest to zero).

Sum mode is selected when [Spd/Trq Mode Sel] is set to a value of 5. This mode
allows an external torque command to be added to the speed regulator output when
desired.

Speed Regulation Mode

Operating as a speed regulator is the most common and simplest mode to set up.
Examples of speed regulated applications are blowers, conveyors, feeders, pumps,
saws, and tools.

In a speed regulated application, the speed regulator output generates the torque
reference. Note that under steady state conditions the speed feedback is steady
while the torque reference is a constantly adjusting signal. This is required to
maintain the desired speed. In a transient state, the torque reference changes
dramatically to compensate for a speed change. A short duration change in speed is
the result of increasing or decreasing the load very rapidly.

Note: Inertia Torque Add and Friction Compensation Torque Add are
summed with the output of the speed regulator. See Inertia
Compensation on page 2-59 and Friction Compensation on
page 2-47.

Torque Regulation Mode

A torque regulated application can be described as any process requiring some
tension control. An example is a winder or unwinder with material being "drawn"
or pulled with a specific tension required. The process requires another element
setting the speed. Configuring the drive for torque regulation requires [Spd/Trq
Mode Sel] to be set to 2. In addition, a reference signal must be linked to the Torque
Reference. If an analog signal is used for the reference, link parameter 800 [Anlg
In1 Data] to parameter 111 [Torque Ref 1].

When operating in a torque mode, the motor current will be adjusted to achieve the
desired torque. If the material being wound/unwound breaks, the load will decrease
dramatically and the motor can potentially go into a "runaway" condition.
2-130 Detailed Drive Operation

Torque Ref 1 111

Torq Ref1 Div 112
/
Torque Ref 2 113 +
X +
Torq Ref2 Multi 114 +

Torque Trim 115

Torque Reference:
Parameter 111 [Torque Ref 1] is divided by parameter 112 [Torq Ref1 Div]

Parameter 113 [Torque Ref 2] is multiplied by parameter 114 [Torq Ref2 Mult]

Parameter 115 [Torque Trim] can be used to trim the torque. For example, [Torque
Trim] can be linked to an analog input or to the Process PI output.

The final torque reference, in the Torque Mode, is the sum of scaled [Torque Ref 1],
scaled [Torque Ref 2], and [Torque Trim].

Min Mode / Max Mode

This operating mode compares the speed and torque commands. The algebraically
minimum value is used. This mode can be thought of as a Speed Limited
Adjustable Torque operation. Instead of operating the drive as a pure torque
regulator, the "runaway" condition can be avoided by limiting the speed. A winder
is a good example for the application of the Min Spd/Trq operating mode. Max
mode would be used if both speed and torque are negative.

Figure 2.28 illustrates how min. mode operates. The drive starts out operating as a
torque regulator. The torque reference causes the motor to operate at 308rpm. The
speed reference is 468rpm, so the minimum is to operate as a torque regulator.
While operating in torque regulation, the load decreases and the motor speeds up.
Notice the torque command has not changed. When the speed regulator comes out
of saturation, it clamps the speed and now the drive operates as a speed regulator.
The At Speed Relay then closes.
 Detailed Drive Operation 2-131

Figure 2.28 Min Mode Operation

Sum Mode
Configuring the drive in this mode allows an external torque input to be summed
with the torque command generated by the speed regulator. The drive requires both
a speed reference and a torque reference to be linked. This mode can be used for
applications that have precise speed changes with critical time constraints. If the
torque requirement and timing is known for a given speed change, then the external
torque input can be used to preload the integrator. The timing of the speed change
and the application of an external torque command change must be coordinated for
this mode to be useful. The sum mode will then work as a feed forward to the
torque regulator.

Zero Torque Mode

Operation in zero torque mode allows the motor to be fully fluxed and ready to
rotate when a speed command or torque command is given. This mode can be used
for a cyclical application where through put is a high priority. The control logic can
select zero torque during the "rest" portion of a machine cycle instead of stopping
the drive. When the cycle start occurs, instead of issuing a start to the drive, a speed
regulate mode can be selected. The drive will then immediately accelerate the
motor without the need for "flux up" time.

Note: Zero Torque may excessively heat the motor if operated in this
mode for extended periods of time. No load or flux current is still
present when the drive is operating in zero torque mode. A motor
with an extended speed range or separate cooling methods
(blower) may be required.
2-132 Detailed Drive Operation

Absolute Min Mode

Absolute Min Mode selects the smallest absolute algebraic value to regulate to
when the torque reference and torque generated from the speed regulator are
compared.

Start Inhibits This section covers Start Inhibits, parameter 156 [Run Inhibit Stat]. This parameter
indicates the cause of no response to a start request.

Bit 0 Description
0 Drive is Faulted
1 No Enable signal present
2 Software Ramp Stop request present
3 Software Coast Stop request present
4 Software Current Limit Stop request present
5 Power Loss
6 Power EE prom error
7 Flash upgrade in progress
8 Start request present
9 Jog request present
10 Encoder PPR error
11 Bus Precharge not complete
12 Digital input configuration error
13 Motin Shtdwn
14 Permanent Magnet motor Feedback Error

Start/Stop Modes Description

This section serves as a supplement to the PowerFlex 700S Users Manual
(20D-UM001) addressing items specific to the PowerFlex 700S start and stop
modes.

Technical Information
The start and stop mode refers to how you want the drive's start and stop to be
controlled. There are two basic modes of start and stop control: 3-wire and 2-wire.

3-wire control indicates that the start and stop are momentary inputs. 3-wire control
also indicates that there is one input for the start command, and one input for the
stop command. The term "3-wire" comes from the fact that when using this type of
control with digital inputs, one wire is used for the start input, one wire is used for
the stop input, and one wire is used for the common.

2-wire control indicates that the start and stop are combined as one maintained
input. The input must be on to start and to remain running. Then the same input is
turned off to stop. The term "2-wire" comes from the fact then when using this type
of control with digital inputs, one wire is used for the combined start/stop input, and
one wire is used for the common.

For the stop command, there are three different types of stopping that can be
performed: coast stop, ramp stop, and current limit stop.
 Detailed Drive Operation 2-133

1. Coast Stop - when in coast stop, the drive acknowledges the stop command by
shutting off the output transistors and releasing control of the motor. The load/
motor will coast or free spin until the mechanical energy is dissipated.

2. Ramp Stop - when in ramp stop, the drive acknowledges the stop command by
ramping down the motor speed reference using the programmed parameter 33
[Decel Time], maintaining control of the motor until the drive output reaches
zero. The output transistors are then shut off.

3. Current Limit Stop - when in current limit stop, the drive acknowledges the stop
command by setting the motor speed reference to zero, causing the drive to
bring the motor down to zero speed as fast as the power limits, torque limits and
current limits will allow. When the drive output reaches zero, the output
transistors are shut off.

When different stop types are commanded at the same time, the priority from
highest priority to lowest is coast stop, current limit stop, and then ramp stop.

The remainder of this section describes how to configure the drive for the different
start and stop modes.

Configuring the Start and Stop for 3-Wire Control (Momentary Start and
Stop)

To configure the drive for 3-wire control with a ramp stop:

For parameter 153 [Control Options], set bit 8 “3WireControl” to on (1) and set bits
3 “2WCurrLimStp” and 9 “2W CoastStop” to off (0).

To control from digital inputs:

1. Set parameter 839 [DigIn2 Sel] = 1 "Normal Stop" or = 5 "Stop - CF". "Stop -
CF" indicates that the same digital input is used as a stop and a clear fault.
2. Set parameter 840 [DigIn3 Sel] = 2 "Start".

To control from a communication network:

1. To perform a ramp stop, toggle bit 0 "Normal Stop" in the logic command word
on and then off.
2. To perform a start, toggle bit 1 "Start" in the logic command word on and then
off.

To configure the drive for 3-wire control with a coast stop:

For parameter 153 [Control Options], set bit 8 “3WireControl” to on (1) and set bits
3 “2WCurrLimStp” and 9 “2W CoastStop” to off (0).

To control from digital inputs:

1. Set parameter 839 [DigIn2 Sel] = 10 "Coast Stop"
2. Set parameter 840 [DigIn3 Sel] = 2 "Start"

To control from a communication network:

1. To perform a coast stop, toggle bit 9 "Coast Stop" in the logic command word
on and then off.
2. To perform a start, toggle bit 1 "Start" in the logic command word on and then
off.
2-134 Detailed Drive Operation

To configure the drive for 3-wire control with a current limit stop:
For parameter 153 [Control Options], set bit 8 “3WireControl” to on (1) and set bits
3 “2WCurrLimStp” and 9 “2W CoastStop” to off (0).

To control from digital inputs:

1. Set parameter 839 [DigIn2 Sel] = 9 "Current Limit Stop"
2. Set parameter 840 [DigIn3 Sel] = 2 "Start"

To control from a communication network:

1. To perform a current limit stop, toggle bit 8 "CurrLim Stop" in the logic
command word on and then off.
2. To perform a start, toggle bit 1 "Start" in the logic command word on and then
off.

Note: In 3-wire mode, all stops commanded from pressing the HIM stop button
are ramp stops.

Configuring the Start and Stop for 2-Wire Control (Maintained Start and
Stop)

To configure the drive for 2-wire control with a ramp stop:

For parameter 153 [Control Options], set bits 3 “2WCurrLimStp”, 8
“3WireControl”, and 9 “2W CoastStop” to off (0).

To control from digital inputs:

– Set parameter 839 [DigIn2 Sel] = 3 "Run"

To control from a communication network:

– To perform a ramp stop, toggle bit 1 "Start" in the logic command word on
and then off.

To control from the HIM:

– Hold down the start button to run and release the start button to perform a
ramp stop.

To configure the drive for 2-wire control with a coast stop:

For parameter 153 [Control Options] set bit 9 “2W CoastStop” to on (1) and set bits
3 “2WCurrLimStp” and 8 “3WireControl” off (0).

To control from digital inputs:

– Set parameter 839 [DigIn2 Sel] = 3 "Run"

To control from a communication network:

– To perform a coast stop, toggle bit 1 "Start" in the logic command word on
and then off.

To control from the HIM:

– Hold down the start button to run and release the start button to perform a
coast stop.

Note: When P153 [Control Options] bit 9 is on, and bits 3 and 8 are off all other
stop commands become coast stops because of the priority of the stop
 Detailed Drive Operation 2-135

types. For example, if you try to command a ramp stop or current limit
stop from a communication network, the drive will still perform a coast
stop.

To configure the drive for 2-wire control with a current limit stop:
For parameter 153 [Control Options], set bits 3 “2WCurrLimStp” to on (1) and bits
8 “3WireControl” and 9 “2W CoastStop” to off (0).

To control from digital inputs:

– Set parameter 839 [DigIn2 Sel] = 3 "Run"

To control from a communication network:

– To perform a current limit stop, Toggle bit 1 "Start" in the logic command
word on and then off.

To control from the HIM:

– Hold down the start button to run and release the start button to perform a
current limit stop

Note: When parameter 153 [Control Options] bit 3 is on, and bits 8 and 9 are
off the ramp (normal) stop becomes a current limit stop. For example, if
you try to command a ramp stop from a communication network, the
drive will still perform a current limit stop. A coast stop can still be
performed by commanding a coast stop.

Start-Up Refer to Autotune on page 2-4 for Autotune portion of Start-Up.

Stop Modes Refer to Start/Stop Modes on page 2-132.

SynchLink This section contains information specific to PowerFlex 700S SynchLink

parameters and gives an example of setting up the PowerFlex 700S SynchLink
using DriveExecutive™. Please refer to the SynchLink System Design Guide,
publication 1756-TD008, for PowerFlex 700S SynchLink topologies, hardware and
wiring details.

Technical Information
SynchLink data is transmitted as a combination of direct and buffered data. The
following table shows the different formats supported by the PowerFlex 700S for
transmit/receive data and the respective SynchLink fiber update rates for the direct
and buffered data.

# of Direct Words Direct Word Update # of Buffered Words Buffered Word Update
2 50 µSec 18 0.5 ms
4 50 µSec 18 1 ms
4 50 µSec 8 0.5 ms
2-136 Detailed Drive Operation

SynchLink Configuration
Parameter 1000 [SL Node Cnfg] is broken down into 3 bits:

• Bit 1 - “Time Keeper” - This bit is turned on in the SynchLink master. Only one
node in a SynchLink network can be the time keeper.
• Bit 2 - “Reserved” - Not used.
• Bit 3 - “Synch Now” - Selecting this bit enables the "Synch Now"
synchronization mode. This mode will cause the drive's system clock to
synchronize to the time keeper as quickly as possible. Deselecting this bit
enables the "Synch Fast" synchronization mode. This method will take longer to
synchronize the drive's system clock to the time keeper, but has less impact on
other tasks running in the drive. Synchronization only occurs on a drive
power-up or initialization.

Parameter 1010 [SL Rx Comm Frmt] selects the format of data to be received. It
can be set to:

• “0A, 0D, 0B”- No data.

• “0A, 2D, 18B” - 2 direct words and 18 buffered words.
• “0A, 4D, 8B” - 4 direct words and 8 buffered words.
• “0A, 4D, 18B” - 4 direct words and 18 buffered words.

Parameters 1011 [SL Rx DirectSel0] through 1014 [SL Rx DirectSel3] select what
you want to do with received data. The most common settings for these parameters
are:

• “No Data” - SynchLink received data is passed straight through.

• “SL Multiply” - See Multiply Block on page 2-137 for details.

Parameter 1020 [SL Tx Comm Frmt] selects the format of data to be transmitted. It
can be set to:

• “0A, 0D, 0B” - No data.

• “0A, 2D, 18B” - 2 direct words and 18 buffered words.
• “0A, 4D, 8B” - 4 direct words and 8 buffered words.
• “0A, 4D, 18B” - 4 direct words and 18 buffered words.

Parameters 1021 [SL Tx DirectSel0] through 1024 [SL Tx DirectSel3] select what
transmit data you wish to send. The most common settings for these parameters are:

• “No Data” - No data is selected for that transmit word.

• “Dir Tx Data” - Use this selection to transmit a parameter.

SynchLink Direct Data

Direct Data Transmit Parameters

Parameter 1140 [Tx Dir Data Type] bits 0 through 3 select whether the direct data
words transmitted over SynchLink will be integer or floating point. When the bit is
turned off, it means the data transmitted will be integer. When the bit is turned on, it
means the data transmitted will be floating point.

Odd parameters 1141 [SL Dir Int Tx0] through 1147 [SL Dir Int Tx3] contain the
integer values for data transmitted to SynchLink. These parameters can be linked to
integer source parameters.
 Detailed Drive Operation 2-137

Even parameters 1142 [SL Dir Real Tx0] through 1148 [SL Dir Real Tx3] contain
the floating-point values for data transmitted to SynchLink. These parameters can
be linked to floating-point source parameters.

Direct Data Receive Parameters

Even parameters 1054 [SL Dir Int Rx0] through 1060 [SL Dir Int Rx3] contain the
integer values for data received from SynchLink. An integer destination parameter
can be linked to these parameters.

Odd parameters 1055 [SL Dir Real Rx0] through 1061 [SL Dir Real Rx3] contain
the floating-point values for data received from SynchLink. A floating-point
destination parameter can be linked to these parameters.

Multiply Block
SynchLink has the ability to take one of the direct data words received from
SynchLink and multiply it by a constant or parameter value for features such as
draw control. The multiply function is handled at the hardware level to ensure the
highest possible execution speeds. Because of this, the multiply function is integer
based.

Preparing Floating-Point Data in the Transmitting Drive

If the received data to be multiplied is floating point, it must first be converted from
floating point to integer in the transmitting drive. A floating point to integer
conversion has been provided for this purpose.

Parameter 1032 [SL Mult Base] sets the value to multiply parameter 1035 [Real to
Int In] before sending it out over SynchLink. Make sure this parameter is set
appropriately so that the integer value sent over SynchLink has enough resolution.

Parameter 1034 [SL Mult State] contains overflow bits if the data for the multiply
block is too large. It is broken down into the following bits:

• Bit 0 - “Local Ovflow” - The result of the multiply function is too large.
• Bit 1 - “Rx Ovflow” - The data received from SynchLink is too large.
• Bit 2 - Not used
• Bit 3 - “FtoI Ovflow” - In the master, the data converted from floating point to
integer is too large.

Parameter 1035 [Real to Int In] is linked to the parameter that you want to multiply.

Parameter 1036 [Real to Int Out] contains the integer value sent over SynchLink.
One of the SynchLink direct integer transmit words (parameter 1141, 1143, 1145,
or 1147) must be linked to parameter 1036 to send the value over SynchLink.

For example, to use the multiply block to scale the s-curved speed reference and
send it over SynchLink, link parameter 1035 [Real to Int In] to parameter 43 [S
Curve Spd Ref]. Set parameter 1032 [SL Mult Base] to 10,000. Then link
parameter 1141 [SL Dir Int Tx0] to parameter 1036 [Real to Int Out]. Set parameter
1021 [SL Tx DirectSL0] = 21 - “Dir Tx Data”.

Configuring the Multiply Block in the Receiving Drive

Select on which received direct word to use the multiply block by setting one of the
following parameters: 1011 [SL Rx DirectSel0], 1012 [SL Rx DirectSel1], 1013
[SL Rx DirectSel2], or 1014 [SL Rx DirectSel3] to 1 - "SL Multiply". The receive
2-138 Detailed Drive Operation

parameter selected to multiply in the receiving drive must correspond to the

transmit parameter selected to be multiplied from the transmitting drive. The result
of the multiply function can be used in the receiving drive, or transmitted directly to
another drive.

Parameter 1030 [SL Mult A In] contains the value received from SynchLink after it
was divided by [SL Mult Base].

Parameter 1031 [SL Mult B In] contains the multiply scale factor to multiply by the
value received from SynchLink. Note that [SL Mult B In] could be a constant or
linked to a source parameter.

Parameter 1032 [SL Mult Base] contains the base to convert integer data received
from SynchLink back to floating-point data. Usually, [SL Mult Base] will be set the
same in the transmitting and receiving drive.

Parameter 1033 [SL Mult Out] contains the result of the multiply block. A
destination parameter can be linked to [SL Mult Out].

Parameter 1034 [SL Mult State] contains overflow bits if the data for the multiply
block is too large. It is broken down into the following bits:

• Bit 0 - “Local Ovflow” - The result of the multiply function is too large.
• Bit 1 - “Rx Ovflow” - The data received from SynchLink is too large.
• Bit 2 - Not used
• Bit 3 - “FtoI Ovflow” - In the transmitting drive, the data converted from
floating point to integer is too large.

For example, to receive the S-curved speed reference from the master and scale it
by 0.5, set parameter 1011 [SL Rx DirectSel 0] to “SL Multiply.” Set parameter
1031 [SL Mult B In] to 0.5. Set parameter 1032 [SL Mult Base] to 10,000. Link
parameter 37 [Spd Ref Bypass] equal to parameter 1033 [SL Mult Out].

Buffered Data

Buffered Data Transmit Parameters

Parameter 1160 [Tx Buf Data Type], bits 0 through 29, select whether each word of
buffered data that is transmitted is integer or floating-point. Data is transmitted as
integer when a bit is turned off. Data is transmitted as floating-point when a bit is
turned on.

Odd parameters 1161 [SL Buf Int Tx00] through 1219 [SL Buf Int Tx29] are linked
to integer parameters that you want to send out over SynchLink as buffered data.
Note that at this time, the maximum number of buffered words that can be sent over
SynchLink is 18, so only odd parameters 1161 [SL Buf Int Tx00] through 1195 [SL
Buf Int Tx17] would be used.

Even parameters 1162 [SL Buf Real Tx00] through 1220 [SL Buf Real Tx29] are
linked to floating-point parameters that you want to send out over SynchLink as
buffered data. Note that at this time, the maximum number of buffered words that
can be sent over SynchLink is 18, so only odd parameters 1162 [SL Buf Real Tx00]
through 1196 [SL Buf Real Tx17] would be used.

Buffered Data Receive Parameters

Odd parameters 1073 [SL Buf Int Rx00] through 1131 [SL Buf Int Rx29] contain
integer values that you receive from SynchLink as buffered data. Destination
 Detailed Drive Operation 2-139

parameters that are integers can be linked to this buffered data. Note that at this
time, the maximum number of buffered words that can be received over SynchLink
is 18, so only odd parameters 1073 [SL Buf Int Rx00] through 1107 [SL Buf Int
Rx17] would be used.

Even parameters 1074 [SL Buf Real Rx00] through 1132 [SL Buf Real Rx29]
contain floating-point values that you receive from SynchLink as buffered data.
Destination parameters that are floating-point values can be linked to this buffered
data. Note that at this time, the maximum number of buffered words that can be
received over SynchLink is 18, so only even parameters 1074 [SL Buf Real Rx00]
through 1108 [SL Buf Real Rx17] would be used.

Table 2.L SynchLink Transmit Block Diagram

Direct Tx Data Select

0 1 2 3 Tx Port Comm Format
1021 1022 1023 1024 (0-26) 1020 (0-17)

SycnhLink
Fiber
Tx Tx Format
Direct Data Selector
Selector Synchlink
Event Data 1033
Transmit Port
Registration Latches (Local) Data (Tx) to
(Select = 2)
P0 Regis Latch 235 Downstream
(Select = 3) Node
P1 Regis Latch 245

(Select = 8) 15 Tx Axis Size

Opt 0 Regis Ltch 253
(Select = 9) "Not Used" 16 Tx Dir Size
Opt 1 Regis Ltch XXX
Tx Dir Data Type (1=Real)
17 Tx Buff Size
1140 3 2 1 0
Direct Data

18 Tx Pkg Size
Int Real
SL Dir (type) Tx0 1141 1143 19 Tx Seq Cnt
(Select = 21)
SL Dir (type) Tx1 1143 1144 Direct 20 Tx Index 0
Transmit Tx Index 1
SL Dir (type) Tx2 1145 1146 21
Data
SL Dir (type) Tx3 1147 1148 22 Tx Index 2
(Select = 22)

Direct
'passthrough'
Data from Rx

(Select = 23)
Encoder 0 Accum 230
(Select = 24)
Encoder 1 Accum 240
(Select = 25)
Opt 0 Accum 250
(Select = 26) "Not Used"
Opt 1 Accum XXX

Coordinated
System
Time
Tx Buf Data Type (1 = real)
Tx Port Comm Format 1020 1160 31 0
Int Real
SL Buf (type) Tx02 1161 1162 Buffered Transmit Data
Buf config.
Axis and

Buffered
Transmit
SL Buf (type) Tx31 1219 1220 Data SL Comm TP Sel
1226 1227 SL Comm TP Data
2-140 Detailed Drive Operation

Figure 2.29 Sync hLink Receive Block Diagram

Rx Port Comm Format See Table 1 on page 12 of SynchLink System Spec.

Defines number of Axis, Buffered & Direct words.
1010 (0-17)
SycnhLink
Direct Rx Data Select
Fiber 0 1 3 SL Mult Base
Rx Format 2
Selector 1011 1012 1013 1014 (0-10) 1032
Synchlink SL Mult A In
Receive Port 1030 SL Mult A In
Data (Rx) to Rx Direct
(sel = 1) AxB 1033
Upstream Data
Node (sel = 1)
Selector 1031
Rx Axis Size 5 SynchLink Tx Multiply Data
SL Mult B In
Multipy
Rx Dir Size 6
Rx Buff Size 7 1034 0 Local Overflow
1 Rx Overflow
Rx Pkg Size 8
Rx Seq Cnt 9 2 1041 Rx P0 Register
Rx Index 0 10
3 1042 Rx P1 Register
Rx Index 1 11
4 Rx D0 Latch
1043
Rx Index 2 12 5
(sel = 2-10) Event 1044 Rx D1 Latch
Latches 6
1045 Rx D2 Latch
(Upstream) 7 1046 Rx D3 Latch
8 Rx Opt 0 Regis
1047
9 Rx Opt 1 Regis
1048
10
1040 Receive Events

Int Real
1054 1055 SL Dir (type) Rx 0
1056 1057 SL Dir (type) Rx 1 Available for
Tx
1058 1059 SL Dir (type) Rx 2 "passthrough
(sel = 2-10) data"
1060 1061 SL Dir (type) Rx 3
Int Real
Coordinated
1070 1069 SL Buf (type) Rx 00
System
Time 1072 1071 SL Buf (type) Rx 01

Int Real
1074 1073 SL Buf (type) Rx 02
Buffered
64 Parameters
Receive
SL Comm TP Sel Data
1132 1131 SL Buf (type) Rx 31
1226 1227 SL Comm TP Data
 Detailed Drive Operation 2-141

Speed Synchronization Example:

This example describes how to setup SynchLink to synchronize the ramped,
s-curved speed reference for two PowerFlex® 700S drives using DriveExecutive™.
Note that the “Peer Communication” setup in DriveExecutive configures the
appropriate SynchLink parameters for you as you go through the setup.

Once connected to the drive, select Peer Communication from the Drive menu on
the Menu bar.

A dialog box similar to the one shown below displays. This is the dialog box used
to setup SynchLink communication.
2-142 Detailed Drive Operation

Master PowerFlex® 700S Drive Setup (Transmitting Drive)

1. In the master, or transmitting drive, select the desired transmittal format in the
SynchLink Transmit Format field. For this example, select “4 Direct Words, 8
Buffered Words”.

2. In the Transmitted Direct Words section, select “Drive Parameter” in the

Source 0 field and parameter “43 - S Curve Spd Ref” in the Item 0 field.

3. Click the button.

 Detailed Drive Operation 2-143

4. In the “Parameter 1000 - SL Node Cnfg” Properties dialog box, uncheck “Sync
Now” and check the “Time Keeper” box. The master drive is now the time
keeper for SynchLink.

5. Click the OK button. The SynchLink communication dialog box re-displays.

6. Click the OK button to accept the settings.

7. To synchronize the speed references, you must add a time delay to the S-Curve
speed reference of the master. To do this, open the Properties dialog box for
Parameter 37 [Spd Ref Bypass].

8. Click on the “Link Data” tab.

9. Select “(P 45) Delayed Spd Ref” in the Selected Parameter list.

10. Click the OK button to accept the setting.

2-144 Detailed Drive Operation

Follower PowerFlex 700S Setup (Receiving Drive)

1. In the slave drive, select “4 Direct Words, 8 Buffered Words” in the SynchLink
Receive Format field, to match the size of the data transmitted from the master
drive.

2. If desired, the multiply block can be used to change the scaling of one of the
Direct Words coming from the master to the follower. For example, the multiply
block might be used to enter a gear ratio for the speed reference.

3. Click the button.

 Detailed Drive Operation 2-145

4. In the “Parameter 1000 - SL Node Cnfg” Properties dialog box, verify that only
the “Sync Now” box is checked (this is the factory default).

5. Click the OK button. The SynchLink communication dialog box re-displays.

6. Click the OK button to accept the settings.

7. You must link the speed reference bypass of the follower to Word 0 of Direct
Data coming over SynchLink. To do this, open the Properties dialog box for
Parameter 37 [Spd Ref Bypass].

8. Click on the “Link Data” tab.

9. Select “(P 1055 SL Dir Real Rx0)” in the Selected Parameters list.

10. Click the OK button to accept the setting.

2-146 Detailed Drive Operation

Note that by linking to Spd Ref Bypass of the follower, we bypassed the ramp and
S-Curve of the follower. This is because the reference is already ramped and
S-Curved by the master. This way, both drives follow exactly the same ramp.

Cycle Power
• You must power down all drives before SynchLink changes take effect.
• First apply power to the Master. The SynchLink LED should be solid green. The
SynchLink LED is on the top right of the MCB and is visible through the
window on the control assembly.
• When power is applied to the follower(s), the SynchLink LED on the follower
should be a solid light after about 1 minute.

Sync Generator The synch generator can be used to synchronize a parameter and delay it one scan.
This can be used in conjunction with SynchLink (Refer to SynchLink on
page 2-135 for more information).

Sync Generator

Xsync In 1 788 Latch 789 Xsync Out 1

791 Xsync Out 2

Xsync In 2
One Xsync Out 2 Dly
790 Latch 792
Scan
Delay
794 Xsync Out 3

Xsync In 3
One Xsync Out 3 Dly
793 Latch 795
Scan
Delay

SL System Time 317 0.5ms

Xsync Status
786 00 (Sync Pulse)
0.5ms
0.5ms * 2(p787)
Sync Pulse Generator
Xsync Gen Period 787
 Detailed Drive Operation 2-147

Configuration:
• Parameters 788 [Xsync In 1] and 789 [Xsync Out 1] can be used to synchronize
a Dint parameter.

• Parameters 790 [Xsync In2 ] through 792 [Xsynch Out 2 Dly] can be used to
synchronize a Dint parameter and delay it one scan.

• Parameters 793 [Xsync In3 ] through 795 [Xsynch Out 3 Dly] can be used to
synchronize a floating point parameter and delay it one scan.

• Parameter 787 [Xsync Gen Period] sets the scan time of the synch generator.
The following options are available:

0= 2 msec 3= 16 msec
1= 4 msec 4= 32 msec
2= 8 msec

The default setting is 1 = “4 msec”.

Test Points Test points are used to monitor values in the drive for diagnostic information.

[xxxx TP Sel] selects a value to monitor for diagnostics.

[xxxx TP Data] shows the value selected by [xxxx TP Sel].

Thermal Regulator Refer to Drive Overload on page 2-34.

Torque Reference When the PowerFlex 700S is operated in Torque mode, an external signal is used
for a Torque reference. Refer to Figure 2.30 for the firmware diagram.

Figure 2.30 Torque Reference Firmware Diagram

Torque Ref 1 111

Torque Ref1 Div 112
/
Torque Ref 2 113 +
Torque Ref2 Mult
X +
114 +

Torque Trim 115

Torque Reference Input

Parameter 111 [Torque Ref 1] is used to supply an external reference for desired
torque. The scaling of this parameter is a per unit type, where a value of 1.0 is equal
to the rated motor torque. The range is from -2200000000 to +2200000000.

[Torque Ref 1] is then divided by parameter 112 [Torq Ref1 Div]. This defines the
scaled [Torque Ref 1].
2-148 Detailed Drive Operation

Parameter 113 [Torque Ref 2] is used to supply an external reference for desired
torque. The scaling of this parameter is a per unit type, where a value of 1.0 is equal
to the rated motor torque. The range is from -2200000000 to +2200000000.

[Torque Ref 2] is then multiplied by parameter 114 [Torq Ref2 Mult]. This defines
the scaled [Torque Ref 2].

The torque reference can be utilized when a master/slave multi-drive system is

configured. The torque reference into the "slave" can be scaled to create the proper
torque output. Keep in mind that the motors may be different ratings and this
function is used to help the "system" share the load.

Parameter 115 [Torque Trim] can be used to trim the torque.For example, [Torque
Trim] can be limited to an analog input or to the Process PI output.

Once the scaling is complete on both [Torque Ref 1] and [Torque Ref 2], the output
is summed with the output of the [Torque Trim].

Unbalanced or Ungrounded Unbalanced Distribution Systems

Distribution Systems This drive is designed to operate on three-phase supply systems whose line voltages
are symmetrical. Surge suppression devices are included to protect the drive from
lightning induced overvoltages between line and ground. Where the potential exists
for abnormally high phase-to-ground voltages (in excess of 125% of nominal), or
where the supply ground is tied to another system or equipment that could cause the
ground potential to vary with operation, suitable isolation is required for the drive.
Where this potential exists, an isolation transformer is strongly recommended.

Ungrounded Distribution Systems

All drives are equipped with an MOV (Metal Oxide Varistor) that provides voltage
surge protection and phase-to-phase plus phase-to-ground protection which is
designed to meet IEEE 587. The MOV circuit is designed for surge suppression
only (transient line protection), not continuous operation.

With ungrounded distribution systems, the phase-to-ground MOV connection could

become a continuous current path to ground. Energy ratings are listed below.
Exceeding the published phase-to-phase or phase-to-ground energy ratings may
cause physical damage to the MOV.

R Joules (J) Phase-to-Phase MOV Rating

Three-Phase S Joules (J) Includes 2 Phase-Phase MOVs
AC Input
T Joules (J) Phase-to-Ground MOV Rating
Joules (J) Includes Phase-Phase & Phase-Ground MOVs
Ground

1 2 3 4

Device Rating (V AC) 240 480/600 240/480 600 240/480 600

Phase-Phase Total 160J 320J 280J 320J 280J 300J
Phase-Ground Total 220J 380J 360J 410J 360J 370J
 Detailed Drive Operation 2-149

PowerFlex drives contain protective MOVs and common mode capacitors that are
referenced to ground. To guard against drive damage, these devices should be
disconnected if the drive is installed on an ungrounded distribution system where
the line-to-ground voltages on any phase could exceed 125% of the nominal
line-to-line voltage. Refer to your PowerFlex User Manual, 20D-UM001, for
details.

User Functions There are several user functions available in the drive for custom control.

Peak Detect
There are 2 peak detectors that can be used to detect the peak for a parameter value.

Configuration:
• Link parameter 213 [PkDtct1 In Real] or parameter 212 [PkDtct1 In Int] to the
parameter that you wish to detect a peak, depending on the data type.

• To detect positive peak values, turn on parameter 210 [PeakDtct Ctrl In] bit 2
"Peak1 Sel". To detect negative peak values, turn off parameter 210 [PeakDtct
Ctrl In] bit 2 "Peak1 Sel".

• The peak value is contained in parameter 215 [Peak Detect1 Out].

• To reset the output of the peak detector, toggle on and then off parameter 210
[PeakDtct Ctrl In] bit 0 "Peak 1 Set". The output will match the value in
parameter 214 [PeakDtct1 Preset], which is a default of 0.

• To hold the output of the peak detector at the present value, turn on parameter
210 [PeakDtct Ctrl In] bit 1 "Peak 1 Hold".

The change bit, parameter 211 [PeakDtct Status] bit 0 "Peak 1 Chng" is set to
“true” for one scan if the peak detect value changes, otherwise the change bit is set
to “False”. The change bit is also set to “False” if the detector is in Set or Hold
mode.

PeakDtct1 Ctrl In PeakDtct Ctrl In

210 2 (Peak 1 Sel) 210 6 (Peak 2 Sel)

Peak Ctrl Status

Peak Ctrl Status
211 0 (Peak 1 Chng)
211 1 (Peak 2 Chng)

PeakDtct1 Ctrl In PeakDtct2 Ctrl In

Inv 210 1 (Peak 1 Hold) Inv 210 5 (Peak 2 Hold)

PkDtct1 In Real 213 PeakDtct1 Ctrl In PeakDtct2 Ctrl In

OR PkDtct2 In Real 217
PeakDtct1 In Int 212 210 0 (Peak 1 Set) OR
216 210 4 (Peak 2 Set)
PeakDtct2 In Int

Peak Detect1 Out

Peak Detect2 Out
215
219

PeakDtct1 Preset 214 PeakDtct2 Preset 218

NOTE:
The change bit , Peak x Chng (where x = 1 or 2), is set TRUE if the peak detect value changes,
otherwise the change bit is set FALSE . Change is also set to FALSE if the detector is in HOLD or SET.
2-150 Detailed Drive Operation

Example:

• Link parameter 213 [PkDtct1 In Real] to parameter 300 [Motor Spd Fdbk].

• Verify that parameter 210 [PeakDtct Ctrl In] bit 0 "Peak 1 Set" and bit 1 "Peak 1
Hold" are off.

• For parameter 210 [PeakDtct Ctrl In], turn on bit 2 "Peak1 Sel".

• Parameter 215 [Peak Detect1 Out ] will contain the positive peak value of
[Motor Spd Fdbk].

• To reset the output of the peak detector, parameter 210 [PeakDtct Ctrl In] toggle
on and then off bit 0 "Peak 1 Set".

Selector Switches
There are two (2) different selector switches available:

1. A switch that selects between two (2) Dint values. The result is Dint.

2. A switch that selects between two (2) floating-point values. The result is
floating point.

2 Position Dint Switch

Switch Control
1370 1
(SW Int 1 On)

SW Int 1 NO 1
1371

SW Int 1 NC 0
1372 1373 SW Int 1 Output

Configuration:

• Parameter 1370 [Switch Control] bit 1 "SW Int 1 On" activates the switch.

• The value of parameter 1371 [SW Int 1 NO] is moved into parameter 1373 [SW
Int 1 Output] when bit 1 "SW Int 1 On" of parameter 1370 [Switch Control] is
on.

• The value of parameter 1372 [SW Int 1 NC] is moved into parameter 1373 [SW
Int 1 Output] when bit 1 "SW Int 1 On" of parameter 1370 [Switch Control] is
off.

• [SW Int 1 Output] contains the value of either [SW Int 1 NO] or [SW Int 1 NC].
 Detailed Drive Operation 2-151

2 Position Floating Point Switch

Switch Control
1370 1
(SW Int 1 On)

SW Int 1 NO 1
1371

SW Int 1 NC 0
1372 1373 SW Int 1 Output

Configuration:

• Parameter 1370 [Switch Control] bit 2 "SW Real 1 On" activates the switch.

• The value of parameter 1374 [SW Real 1 NO] is moved into parameter 1376
[SW Real 1 Output] when bit 2 "SW Real 1 On" of parameter 1370 [Switch
Control] is on.

• The value of parameter 1375 [SW Real 1 NC] is moved into parameter 1376
[SW Real 1 Output] when bit 2 "SW Real 1 On" of parameter 1370 [Switch
Control] is off.

• [SW Real 1 Output] contains the value of either [SW Real 1 NO] or [SW Real 1
NC].

Time Axis Generator

Ramps the output of the function generator at the rate in parameter 200 [Time Axis
Rate].

• When parameter 183 [PI Command] bit 1 "Time Lim En" or parameter 151
[Logic Command] bit 3 "Time Axis En" = 1 the output ramps from 0.0000 to
1.0000 at the Time Axis Rate set in [Time Axis Rate].

• When parameter 183 [PI Command] bit 1 "Time Lim En" or parameter 151
[Logic Command] bit 3"Time Axis En" = 0 the output ramps from 1.0000 to
0.0000 at the Time Axis Rate set in [Time Axis Rate].

Time Axis Output

Time Axis Rate 200 201

PI Command
183 1
(Time Lim En) OR Time Func Generator

Logic Command
151 3
(Time Axis En)
2-152 Detailed Drive Operation

Limit Generator
The limit generator generates a high and low limit based on an input.

• The input parameter 206 [LimGen X axis In] is a linkable destination for
floating point parameters. The input range is 0.0000 to 1.0000.

• The output is equal to parameter 205 [LimGen Y axis Mn] when the input is
equal to 0.0000.

• The output is equal to parameter 204 [LimGen Y axis Mx] when the input is
equal to 1.0000.

• The output is available as a positive output parameter 207 [Limit Gen Hi Out]
and a negative output parameter 208 [Limit Gen Lo Out].

Limit Gen Hi Out

207
-1
LimGen X axis In 206 Limit Gen Lo Out
-1 +1 208
Limit Generator
LimGen Y axis Mn 205

LimGen Y axis Mx 204

Voltage Class PowerFlex drives are sometimes referred to by voltage “class.” This class identifies
the general input voltage to the drive. This general voltage includes a range of
actual voltages. For example, a 400 Volt Class drive will have an input voltage
range of 380-480VAC. While the hardware remains the same for each class, other
variables, such as factory defaults, catalog number and power unit ratings will
change. In most cases, all drives within a voltage class can be reprogrammed to
another drive in the class by resetting the defaults to something other than “factory”
settings. Parameter 403 [Voltage Class] can be used to reset a drive to a different
setup within the voltage class range.

As an example, consider a 480 volt drive. This drive comes with factory default
values for 480V, 60 Hz with motor data defaulted for U.S. motors (HP rated, 1750
RPM, etc.) By setting the [Voltage Class] parameter to “Low Voltage” (this
represents 400V in this case) the defaults are changed to 400V, 50 Hz settings with
motor data for European motors (kW rated, 1500 RPM, etc.).
 Detailed Drive Operation 2-153

Watts Loss The following table lists watts loss data for PowerFlex 700S drives running at full
load, full speed, and factory default PWM frequency of 4kHz.

Table 2.M 480V Watts Loss at Full Load/Speed, 4kHz➊

Drive ND HP @
480V AC Total Watt Loss
0.5 92
1 103
2 117
3 135
5 210
7.5 243
10 271
15 389
20 467
25 519
30 543
40 708
50 ➋
60 ➋
75 ➋
100 ➋
125 ➋
150 ➋
➊ Includes HIM
➋ Information not available at time of publication
2-154 Detailed Drive Operation

Notes:
 Index

Numerics Cable, Control 2-11

20-COMM-C 2-13 Cable, Motor Lengths 2-11
20-COMM-D 2-21 Cable, Power 2-11
20-COMM-R 2-90 Carrier (PWM) Frequency 2-11
CE
Conformity 2-36
A Circuit Breakers 2-48
Accel Time 2-1 Common Bus Systems 2-12
Al x Filt Gain 2-2 Communication 2-12
Alarms 2-1 Conduit
Analog Input Configuration 2-2 Cable Trays 2-11
Analog Inputs 2-2 Control Options 2-31, 2-111, 2-112
Anlg Inx Data 2-2 ControlNet 2-13
Anlg Inx Filt BW 2-2 ControlLogix Programming 2-16
Anlg Inx Offset 2-2 Datalinks Programming 2-17
Anlg Inx Scale 2-2 Explicit Messaging 2-17
Setup Information 2-13
Anlg Inx Volts 2-2
Technical Information 2-14
Anlg Out Real 2-3
Copy Cat 2-18
Anlg Outx Integer 2-3
Current Limit 2-19
Anlg Outx Scale 2-4
Anlg Outx Zero 2-4
Applied LogicCmd 2-111 D
Atune Spd Ref 2-7 Datalinks
Atune Torq Ref 2-7 Configuration 2-19

Auto Restart 2-4 Decel Time 2-21

Auto/Manual 2-4 DeltaSpeedScale 2-59

Autotune Derating Guidelines 1-8

Direction Test 2-5 DeviceNet 2-21
Feedback Configuration 2-5 Technical Information 2-21
Inertia Test 2-7 DigIn 1 Sel 2-27
Motor Control 2-5 DigIn 2 Sel 2-27
Motor Data 2-5 DigIn 3 Sel 2-28
Motor Tests 2-6
DigIn x Data 2-28
Power Circuit Test 2-5
DigIn x Debounce 2-28
Start-Up Menu 2-5
Troubleshooting 2-7 DigIn x User Data 2-28
Auxiliary Power Supply 2-7 Digital Inputs 2-26
Digital Outputs 2-29
Dimensions 1-11
B
Direction Control
Basic tuning with a gearbox or belt 2-125 Bipolar Reference 2-31
Bus Regulation 2-7 Distribution Systems 2-148, 2-149
Unbalanced 2-148
C Ungrounded 2-148
DPI 2-31
Cable Trays and Conduit 2-11
Drive OL JnctTmp 2-35
Index-2

Drive OL Status 2-35 User Display 2-57

Drive Overload 2-34
DriveLogix 2-33 I
Dynamic Braking 2-36
Inertia Adaptation 2-58
Inertia Compensation 2-59
E Inertia Torq Add 2-59
Efficiency 2-36 InertiaAccelGain 2-59
Electronic Gearing 2-36 Input Devices 2-59
EMC Input Modes 2-60
Directive 2-36 Input Power Conditioning 2-60
EMC Directive 2-36 Input/Output Ratings 1-5
Encdr x Config 2-103 IT Foldback 2-35
Encdr1 Position 2-80 IT Pending 2-35
Encoder x PPR 2-102 IT Trip 2-35
Exception Event1 2-111, 2-112

J
F Jnc Over Temp 2-35
Faults 2-38 Jog 2-60
Fdbk LsCnfg Alt 2-111, 2-112
Fdbk LsCnfg Pri 2-111, 2-112
L
Field Oriented Control 2-6
Lead-Lag Filter 2-40
Filters 2-38
Links 2-60
Frame 1, 2, 3 Dimensions 1-12
Logic Command 2-59, 2-80, 2-110, 2-112
Frame 5 Dimensions 1-14
Low Pass Filter 2-38
Frame Bottom View Dimensions 1-17
Low Voltage Directive 2-36
Friction Compensation 2-47
Functions 2-149
Fuses 2-48
M
FVC Mode Config 2-112 Masks 2-62
FW Functions En 2-80 Motor Control Mode 2-62
Motor Fdbk Sel 2-102
Motor Nameplate 2-62
G
Motor Overload 2-63
Grounding, General 2-57
Motor Start/Stop 2-64
Mounting 2-64
H Mounting Dimensions 2-64
Heat Dissipation 1-6 Mtr Fdbk Alt Sel 2-102
Heatsink Temp 2-35 Mtr Fdbk Sel Alt 2-111, 2-112, 2-113
HIM Mtr Fdbk Sel Pri 2-111, 2-112, 2-113
Memory 2-57
Operations 2-57
HS OverTemp 2-35
N
HS Pending 2-35 Notch Filter 2-42
Human Interface Module NTC Open 2-35
NTC Shorted 2-35
 Index-3

O DPI Ref Select 2-16, 2-22

Drive Logic Rslt 2-15, 2-21
Output Devices
Encdr1 Position 2-80
Drive Output Disconnection 2-64
Exception Event1 2-111, 2-112
Output Reactor 2-65
Fault Clr Owner 2-66
Output Display Fdbk LsCnfg Alt 2-111, 2-112
Current 2-65 Fdbk LsCnfg Pri 2-111, 2-112
Frequency 2-65
FVC Mode Config 2-112
Power 2-65 FW Functions En 2-80
Voltage 2-65 Jog Owner 2-66
Overcurrent 2-19 Local I/O Status 2-29
Overspeed Limit 2-66 Logic Command 2-80, 2-110, 2-112
Owners 2-66 Logic Status 2-15, 2-30
MC Diag Error 1 2-7
MC Diag Error 2 2-7
P MC Diag Error 3 2-7
Parameter Access Level 2-68 Motor Ctrl Mode 2-5
Parameters Motor NP FLA 2-62
Accel Time 2-1 Motor NP Hz 2-62
Anlg In1 Data 2-3 Motor NP Power 2-63
Anlg In1 Offset 2-3 Motor NP Pwr Units 2-63
Anlg In1 Scale 2-3 Motor NP RPM 2-1, 2-21, 2-62
Anlg In1 Volts 2-3 Motor NP Volts 2-62
Anlg ln1 Data 2-3 Motor Poles 2-63
Anlg ln1 Filt Gain 2-3 Mtr Fdbk Sel Alt 2-111, 2-112, 2-113
Anlg ln1 Offset 2-3 Mtr Fdbk Sel Pri 2-111, 2-112, 2-113
Anlg ln1 Scale 2-3 Mtr TrqCurr Ref 2-4
Anlg ln1Filt BW 2-3 Output Curr Disp 2-65
Anlg Out1 Integer 2-4 Output Current 2-20
Applied LogicCmd 2-111 Posit Detct1 In 2-80
Brake PulseWatts 2-9 PositDetct1 Stpt 2-80
Brake TP Data 2-11 Position Actual 2-80
Brake TP Sel 2-10 Position Control 2-20, 2-80
Bus Reg/Brake Ref 2-8 Position Error 2-4
Bus/Brake Cnfg 2-8 Position Status 2-20, 2-80
Control Options 2-111, 2-112 Rated Volts 2-9
Data In A1 Int 2-20 Real to Int In 2-137
Data In A1 Real 2-20 Real to Int Out 2-137
Data Out A1 Int 2-20 S Curve Spd Ref 2-137, 2-142
Decel Time 2-21 SL Dir Int Rx0 2-137
Delayed Spd Ref 2-143 SL Dir Int Rx3 2-137
Dig Out 1 Bit 2-30 SL Dir Int Tx0 2-136, 2-137
Dig Out 1 Data 2-30 SL Dir Int Tx3 2-136
DigIn 1 Bit 2-28 SL Dir Real Rx0 2-137, 2-145
DigIn 1 Data 2-28 SL Dir Real Rx3 2-137
DigIn 1 Sel 2-28 SL Dir Real Tx0 2-137
DigIn 1 User Data 2-28 SL Dir Real Tx3 2-137
Direction Mask 2-62 SL Mult A In 2-138
Direction Owner 2-66 SL Mult B In 2-138
Dlink OutDataTyp 2-94 SL Mult Base 2-137
Dlink OutDataType 2-16, 2-20 SL Mult Out 2-138
Index-4

SL Mult State 2-137, 2-138 Reference/Feedback Programming 2-93

SL Node Cnfg 2-136 RFI Filter Grounding 2-101
SL Rx Comm Frmt 2-136 Ride Through 2-81
SL Rx DirectSel0 2-136
SL Rx DirectSel3 2-136
SL Tx DirectSel0 2-136 S
SL Tx DirectSel3 2-136 S Curve Spd Ref 2-59
Spd Fdbk Scale 2-15 S-Curve 2-101
Spd Ref 1 2-3
Second Order Low Pass Filter 2-39
Spd Ref Bypass 2-143, 2-145
Specification
Speed Ref 2 2-18, 2-22
Speed Ref Sel 2-16, 2-22 Heat Dissipation 1-6
Start Owner 2-66 Input/Output Ratings 1-5
Stop Owner 2-66 Speed Comp 2-59
TachSwitch Level 2-111, 2-112 Speed Control 2-101
Torque Ref 1 2-20 Speed Feedback 2-102
Tx Buf Data Type 2-138 Speed Mode 2-101
Tx Dir Data Type 2-136
Speed PI Regulator 2-119
Permanent Magnet Control 2-6 Autotune Speed Reference 2-120
Permanent Magnet Motors 2-68 Current Limit Stop 2-121
PET 2-69 Droop 2-124
PI Loop 2-86 Integral Gain 2-123
Posit Detct1 In 2-80 Proportional Gain 2-122
Servo Lock 2-121
PositDetct1 Stpt 2-80
Speed Error 2-121
Position Actual 2-80 Speed Reference Limits 2-120
Position Control 2-80 Speed Regulation Anti-Backup 2-122
Position Loop Speed Regulator Output Filter 2-124
Follower (Electronic Gearing) 2-70 Speed Regulator Output Limits 2-124
In Position Detect 2-74 Speed Trim 2-119
Point to Point 2-75 Speed Ref Sel 2-28
Registration 2-78 Speed Reference 2-113
Position Loop - Position Watch 2-80 Accel/Decel Ramp and S-Curve 2-115
Position Status 2-80 Direction Control and Bipolar Reference
Power Loss 2-81 2-115
Preset Speeds 2-86 Friction Compensation 2-117
Inertia Compensation 2-117
Process PI Loop 2-86
Jog Reference 2-115
Process PI Limits 2-87
Speed Limits 2-115
Process PI Output 2-87
Speed Reference Bypass and Delayed
Process PI Reference and Feedback
Speed Reference 2-116
2-87
Speed Reference Filter 2-118
Process PI Regulator 2-87
Speed Reference Scale 2-118
PWM Frequency 2-11 Speed Reference Scaling 2-113
Speed Reference Select 2-114
R Speed Trim1 2-118
Stop Command 2-115
Reflected Wave 2-88
Virtual Encoder 2-117
Remote I/O Adapter
Speed Reference Select 2-118
ControlLogix System 2-90
Speed Regulation 2-101
Datalink Programming 2-94
 Index-5

Speed Trim 3 2-59 V

Speed/Position Feedback Voltage Class 2-152
Encoder 2-102
Feedback Device 2-102
Feedback Option Cards 2-106 W
Motor Position Feedback 2-109 Watts Loss 2-153
Motor Simulator 2-105 www 1-1, 2-36
Motor Speed Feedback and Scaled
Speed Feedback 2-109
Sensorless 2-105
SpeedTrim3 Scale 2-59
Start Inhibits 2-132
Start/Stop Modes
Configuring the Start and Stop for 2-Wire
Control 2-134
Configuring the Start and Stop for 3-Wire
Control 2-133
Start-Up 2-135
Stop Modes 2-135
Surrounding Air Derates 1-8
SynchLink
Buffered Data 2-138
Configuration 2-136
Direct Data 2-136
Master PowerFlex 700S Setup 2-142
Multiply Block 2-137
Slave PowerFlex 700S Setup 2-144
Speed Synchronization Example 2-141
Technical Information 2-135

T
TachSwitch Level 2-111, 2-112
Test Points 2-147
Thermal Regulator 2-147
Torque Reference 2-147
Torque Select 2-128
Total Inertia 2-7

U
Unbalanced
Distribution Systems 2-148, 2-149
Ungrounded
Distribution Systems 2-148, 2-149
Ungrounded Distribution Systems 2-148
User Display, HIM 2-57
User Functions 2-149
Index-6
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Publication PFLEX-RM002C-EN-E – September 2005

Supersedes PFLEX-RM002B-EN-E - August, 2003 Copyright © 2005 Rockwell Automation, Inc. All rights reserved. Printed in USA.