This manual links to PowerFlex 6000T Drives Parameters Reference Data, publication

6000-RD100, for parameters and PowerFlex 6000T Drives Conditions Reference Data,
publication 6000-RD101, for fault, alarm, and condition codes. Download the spreadsheets
now for offline access.

PowerFlex 6000T Drives

Bulletin Number 6000T
Firmware Revision 10.xxx

Programming Manual Original Instructions

PowerFlex 6000T Drives Programming Manual

Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.

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, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. 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 Rockwell Automation, Inc., is
prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.

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 a hazard, and recognize the consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

Labels may also be on or inside the equipment to provide specific precautions.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential
Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory
requirements for safe work practices and for Personal Protective Equipment (PPE).

The following icon may appear in the text of this document.

Identifies information that is useful and can help to make a process easier to do or easier to understand.

Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in
alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to
find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our
content while we implement these changes.
2 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024
 Table of Contents

Preface
About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 7
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 1
PowerFlex 6000T Drive Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Features System Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Control and Reference Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Drive Hardware Configuration File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Power Cell Information and Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Automatic Device Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
DeviceLogix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Fan Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Analog Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Analog Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Digital Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Digital Input on Main Control Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Digital Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Emergency Override Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Activate the Emergency Override Feature . . . . . . . . . . . . . . . . . . . . . . 24
Decide Which Protections to Override . . . . . . . . . . . . . . . . . . . . . . . . . 24
Preventative Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Predictive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Static Identity Instances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Supported Communication Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Control Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Accel/Decel Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Maximum Output Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Stop Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Motor Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
T-Link Option Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Precharge Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Primary Precharge Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Secondary Precharge Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Power Loss and Ride-Through. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Cell Bypass . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Current Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Flying Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor Autotune. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Auto Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 3

Table of Contents

PID Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Secondary Motor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Secondary Motor Control Configuration . . . . . . . . . . . . . . . . . . . . . . . 52
Switching Between Motor Control Profiles . . . . . . . . . . . . . . . . . . . . . 52
Application Use Cases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Adaptive Control Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Resonances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Load Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Adaptive Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Power Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Protected Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Enter and Exit Implicit Protected Mode. . . . . . . . . . . . . . . . . . . . . . . . 60
Restrictions Imposed by Implicit Protected Mode. . . . . . . . . . . . . . . 61
Permanent Magnet Motor Application Considerations . . . . . . . . . . . . . 61
eHIM Startup Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Chapter 2
Parameters Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Parameter Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Parameter References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
How Drive Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Overview and System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Port 0 PowerFlex 6000T System Port . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Port 9 Application Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Port 10 Primary and Port 11 Secondary Motor Side Control
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Port 12 Motor Side Power Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . 72
Port 13 Line Side Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Port 14 PF6000T Peripheral Parameters . . . . . . . . . . . . . . . . . . . . . . . . 72
Parameter Organization in Connected Components Workbench
Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Parameter Organization on Integrated Touch Screen Display (eHIM) 74

Chapter 3
Troubleshooting Fault and Alarm Code Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Fault and Alarm Display Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Configurable Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Viewing Faults and Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Faults and Alarms Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
HIM Indication (Fault Display Screen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
HIM Cradle Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024
 Table of Contents

Power I/O Board (PIOB) Status Indicators . . . . . . . . . . . . . . . . . . . . . 85

Fiber-optic Interface Circuit Board Status Indicator . . . . . . . . . . . . 86
Fiber-optic Transceiver Circuit Board Status Indicators . . . . . . . . . 87
Setting Factory Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Hardware Service Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Common Symptoms and Corrective Actions . . . . . . . . . . . . . . . . . . . . . . . 89
Testpoint Codes and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Software Testpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Hardware Testpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Upload Drive Forensic Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Secure Erase. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Use Secure Erase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Secure Erase Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Transferring the DHCF to a Replacement MCB . . . . . . . . . . . . . . . . . . . . 96
Load DHCF Using microSD Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Load DHCF Using ControlFLASH Plus Software . . . . . . . . . . . . . . . . 97
Update Drive Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Update Enhanced HIM Software on eHIM Module . . . . . . . . . . . . . . . . 100
Disable Remote Desktop on eHIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Disposal Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Technical Support Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
What You Need When You Call Tech Support . . . . . . . . . . . . . . . . . 101
Technical Support Wizards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Appendix A
PowerFlex 6000T Control Block Diagram Conventions and Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagrams Line Side Converter Control Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Motor Side Inverter Control Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Appendix B
Develop Secure Applications Drive Security Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
Security Checklists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 5

Table of Contents

Notes:

6 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 Preface

About This Publication This manual provides details regarding functions, parameters, and
troubleshooting information for PowerFlex® 6000T medium voltage drives.

Download Firmware, AOP, Download firmware, associated files (such as AOP, EDS, and DTM), and access
EDS, and Other Files product release notes from the Product Compatibility and Download Center at
rok.auto/pcdc.

Who Should Use This This manual is intended for qualified service personnel responsible for
Manual troubleshooting and repairing PowerFlex 6000T medium voltage drives. You
should have previous experience with, and basic understanding of, electrical
terminology, procedures, required troubleshooting equipment, equipment
protection procedures and methods, and safety precautions.

Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.

Topic Page
Updated topic CIP Security 10
Updated table List of I/O Cards Supported by PowerFlex 6000T Drives 18
Updated topic Preventative Maintenance 25
Updated topic Predictive Maintenance 26
Added topic Supported Communication Protocols 27
Updated topic Maximum Output Frequency 30
Updated topic Motor Control Modes 32, 34
Updated section Feedback Option 36
Updated topic Precharge Control 40
Updated topic Flying Start 46
Updated topic Motor Autotune 47
New topic Permanent Magnet Motor Application Considerations 61
New topic eHIM Startup Wizard 62
Updated graphic System Architecture 71
Updated table List of Faults Which Opens Main/Input Device 78
Updated table PowerFlex 6000T MCB Status Indicator Descriptions 84
Added topic Upload Drive Forensic Data 93
Updated topic Transferring the DHCF to a Replacement MCB 96
Updated topic Update Drive Firmware 97, 98, 99
Added section Disable Remote Desktop on eHIM 100
Added appendix Develop Secure Applications 133

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 7

Preface

Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.

Resource Description
PowerFlex 6000T Drives Shipping and Handling Manual, Provides instructions for shipping and handling PowerFlex6000T drives and related
publication 6000-PC100 equipment.
PowerFlex 6000T Drives Installation Instructions, Provides instructions for installing PowerFlex6000T drives and related equipment.
publication 6000-IN100
Provides instructions for daily recurring drive usage, HMI, and maintenance tasks for the
PowerFlex 6000T Drives Hardware Service Manual, publication 6000-TG100 product’s end user.
PowerFlex 755T Flux Vector Tuning Application Technique, Provides information to assist PowerFlex 755T drive users in tuning Flux Vector position and
publication 750-AT006 velocity loops, filters, and other features to achieve high performance.
Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP
EtherNet/IP Network Devices User Manual, publication ENET-UM006 network.
Ethernet Reference Manual, publication ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
CIP Security with Rockwell Automation Products Application Technique, Describes how to plan and implement a Rockwell Automation system that supports the CIP
publication SECURE-AT001 Security protocol.
Provides guidance on how to conduct security assessments, implement Rockwell
System Security Design Guidelines Reference Manual, Automation products in a secure system, harden the control system, manage user access,
publication SECURE-RM001 and dispose of equipment.
Industrial Components Preventive Maintenance, Enclosures, and Contact Provides a quick reference tool for Allen-Bradley industrial automation controls and
Ratings Specifications, publication IC-TD002 assemblies.
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides
Safety Guidelines for the Application, Installation, and Maintenance of general guidelines for the application, installation, and maintenance of solid-state control in
Solid-state Control, publication SGI-1.1 the form of individual devices or packaged assemblies incorporating solid-state
components.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.

You can view or download publications at rok.auto/literature.

8 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 Chapter 1

PowerFlex 6000T Drive Features

Introduction The PowerFlex 6000T is an adjustable speed AC drive that is suitable for new
and retrofit basic, all-purpose non-regen applications such as flatland
conveyors, sugar mills, electro submersible pump up to 10 kms, fans, pumps,
and compressors. Air-cooled PowerFlex 6000T drives are designed to
maximize energy efficiency by enabling soft starting and variable-speed
control in medium voltage, normal and heavy duty applications.

To achieve the low input harmonics and near-unity power factor that make
this drive an ideal solution for standard motors, the drives use Cascaded “H’”
Bridge (CHB) topology. This proven CHB topology combines an integrally
mounted phase-shifting isolation transformer with series-connected power
modules for each phase. Besides stepping down the input voltage, the isolation
transformer also provides two other principal functions:
• Mitigate common mode voltage stress so that motors with standard
insulation levels can be used
• Reduce Total Harmonic Distortion (THD), due to the phase shifting of its
secondary windings, so that input side harmonics don’t negatively
impact the plant or utility power grid

This chapter describes a few key features in PowerFlex 6000T drives. For
parameter details, see Chapter 2. For troubleshooting information, see
Chapter 3. For Block diagrams, see Appendix A.

The features have been listed under two broad categories: System and Control.

System Features The system features of PowerFlex 6000T drives include the following:
• CIP Security on page 10
• Control and Reference Selection on page 10
• Drive Hardware Configuration File on page 12
• Power Cell Information and Control on page 13
• Automatic Device Configuration on page 14
• DeviceLogix on page 14
• Fan Control on page 17
• Input/Output on page 18
• Analog Input on page 18
• Analog Output on page 18
• Digital Input on page 19
• Digital Input on Main Control Board on page 20
• Digital Output on page 21

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 9

Chapter 1 PowerFlex 6000T Drive Features

• Emergency Override Function on page 23

• Preventative Maintenance on page 24
• Predictive Maintenance on page 26
• Static Identity Instances on page 27
• Supported Communication Protocols on page 27

CIP Security CIP Security™ is a standard, open-source communication mechanism that

helps to provide a secure data transport across an EtherNet/IP™ network. CIP
Security lets CIP™-connected devices authenticate each other before
transmitting and receiving data.

CIP Security uses the following security properties to help devices protect
themselves from malicious communication:
• Device Identity and Authentication
• Data Integrity and Authentication
• Data Confidentiality

Rockwell Automation uses the following products to implement CIP Security:

• FactoryTalk® Policy Manager software (includes FactoryTalk System
Services version 6.40 or later)
• FactoryTalk Linx software version 6.40 or later
Lets workstation software communicate securely using CIP Security.
• Studio 5000 Logix Designer® application version 36.00.00 or later
This application is required to interface with CIP Security-enabled Logix
controllers. The minimum application version varies by controller
product family.

Use this link to access the PowerFlex 6000T Drives Parameters Reference Data,
publication 6000-RD100, for parameters. Download the spreadsheet for
offline access.

For more information on CIP Security, for example, a list of CIP Security
capable products and publications that describe how to use the products,
including limitations and considerations, see the following:
• www.rockwellautomation.com/en-sg/capabilities/industrial-
cybersecurity/ot-practices/cip-security.html
• CIP Security with Rockwell Automation Products Application
Technique, publication SECURE-AT001

Control and Reference In PowerFlex 6000T drives there are many ways to configure control and
Selection reference selection – some pre-defined selections are used as standard. See
detailed descriptions of control block diagram Velocity Reference Selection
(Figure 78)

The customer can configure the drive as follows:

• Local/Remote option allows selection of two sources of control and
referencing
• Local/Remote/DCS option allows selection of three sources of control
and referencing

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 Chapter 1 PowerFlex 6000T Drive Features

In Local mode, hardwired Start, Stop, Jog, Forward/Reverse devices on door

controls the drive. The Speed Pot on the door sets the speed (0:147 [DI ManRef
Sel]) – configured for unipolar operation by 10:930 [Direction Mode]. The drive
is put into “Manual control” when the switch is in Local mode and is mapped to
0:132 [DI Manual Ctrl]. This overrides control from other sources and
references. No controls work on the integrated touch screen display (eHIM)
control bar except for Stop.

In Remote mode, hardwired Start, Stop, Jog, Forward/Reverse devices

remotely connect to the drive. Speed Reference comes from a Digital MOP
function or Preset Speeds that is based on customer’s four position selector.
The Control Bar on the eHIM can be used for Start and Stop. Direction Change
and Jog only work from the eHIM Control Bar if not assigned to digital inputs.
0:151 [DI M Mop Inc] and 0:152 [DI M Mop Dec] are mapped to Port 7 DI0 and
Port 7 DI1.

Speed selection is based on the following table:

Table 1 - Speed Selection and Velocity Reference

DI M Speed Sel 2 DI M Speed Sel 2 DI M Speed Sel 2
(Port 0:142) (Port 0:141) (Port 0:142) Velocity Reference
Port 7 DI2 Port 7 DI5 Port 7 DI3
0 0 0 10:1800 [VRef A Sel] (1)
0 1 0 10:1807 [VRef B Sel]
0 1 1 10:1816 [Preset Speed 3]
1 1 0 10:1819 [Preset Speed 6]
1 1 1 10:1820 [Preset Speed 7]
(1) This Velocity Reference is selected when the drive is in DCS.

In DCS mode, hardwired Start, Stop, Jog, Forward/Reverse devices remotely

connect to drive, eHIM control bar operation, or through controller operation
using either AOP or Anybus modules.

For eHIM or controller – Forward/Reverse and Jog only works if it is not

assigned to digital inputs. If the controller is communicating to the drive –
eHIM control bar is disabled. Speed Selection is through Vref A – embedded
Ethernet for controller or eHIM, analog input for hardwired command. There
are dry contacts available for indication of DCS.

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Drive Hardware The Drive Hardware Configuration File (DHCF) is a file that is saved in the
Configuration File Main Control Board (MCB), which defines the hardware and hardware
options, which have been used to build the drive. It is unique for each drive as
identified by an Order#/Item#. This file is created/loaded at the factory and the
drive does not function without it. DHCF is typically loaded using
ControlFLASH Plus™ or the microSD™ card (if present). The drive hardware
components are factory-designed and cannot be changed in the field. Key
parameters that illustrate the drive ratings are shown in Figure 1. These
parameters are read-only.

Figure 1 - Key Parameters in DHCF

Details of the drive rating are also shown on the main Connected Components
Workbench™ screen (Figure 2) in yellow highlights. First line identifies the
Customer Order/Item Number and revision history while second line provides
information on the Voltage, Current, and Overload capability.

Figure 2 - PowerFlex 6000T Drive Main Screen in Connected Components Workbench Software

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 Chapter 1 PowerFlex 6000T Drive Features

Power Cell Information and This function is used to read and write power cell parameters. The parameters
Control have been organized in Port 12 in two logical groups:
1. Read/Write parameters

These parameters are common to all power cells. When a certain

parameter value is changed, all power cells update the value and
acknowledge. An R/W Error fault is raised if a certain power cell fails to
write the data.

2. Read-Only parameters

These parameters have been organized based on individual power cells.

The display is arranged according to the design number of power cells for
the drive shown in 12:2 [Num Power Cells]. For example, for a 4160V
drive, since there are four power cells/phase, only Power cells [U0…U3],
[V0…V3], [W0…W3] are displayed. The following graphic illustrates a
typical set of parameters that are read from Power Cell U0.

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Chapter 1 PowerFlex 6000T Drive Features

Automatic Device Automatic Device Configuration (ADC) is a feature that supports the
Configuration automatic download of drive configuration data. When the Logix controller
establishes an I/O connection with a drive and its associated peripherals, it
checks a configuration signature for each port to determine if an ADC
download is needed. The purpose is to reduce downtime in a field replacement
situation by automatically downloading the configuration rather than
manually with a separate tool.

ADC is available with the following software:

• RSLogix 5000® software
• Studio 5000® environment
• Drive Add-on Profiles (AOPs)

Drive configuration settings are stored inside the ACD project file. With ADC
enabled, the Controller Organizer automatically downloads the configuration
settings for a particular drive port if it detects that there is a 'configuration
signature' mismatch with the port.

ADC can also work in tandem with Firmware Supervisor. If Firmware

Supervisor is configured and enabled for a drive (Exact Match keying must be
used), the drive/ peripheral is automatically upgraded (if necessary) before any
ADC operation for that port.

DeviceLogix PowerFlex 6000T products have embedded DeviceLogix™ (DLX) capability that
provides built-in control capacity for local application and supplementary
supervisory control. DeviceLogix functionality enhances productivity for
standalone applications or complimentary operation to a controller.
DeviceLogix is configured using either function block or ladder logic
programming.

Figure 3 - Example of Function Block Programming

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 Chapter 1 PowerFlex 6000T Drive Features

Figure 4 - Example of Ladder Logic Programming

Some examples of DeviceLogix functionality are:

• Controls Logic Command bits and Speed Reference
• Monitors Logic Status bits and Speed Feedback
• Reads inputs
• Writes outputs
• Reads and writes to parameters

DeviceLogix supports the most frequently used instructions in the industry to

build a logic program, including: Logical, Move, Timer, Counter, Compare, and
Math. You can configure up to 500 instruction blocks to support application
requirements.

DeviceLogix also supports custom instructions that encapsulate logic you

develop with the built-in instruction set. This feature is called a macro
instruction, with which you can design application instructions for the target
device.

Tag Binding in PowerFlex 6000T Products

Tag binding is included in the most recent release of DeviceLogix. This tag-
mapping capability allows you to create tags for any parameter in the drive
that is needed for programming. This new feature provides a consistent
programming experience in DeviceLogix for PowerFlex 6000T drives and
option modules.

Benefits of DeviceLogix

Local control at the drive level allows for simple local control functions without
the need for programmable logic and automation controllers. Some of the
benefits of DeviceLogix include:
• Improves control system performance
• Performs logic on the drive that reduces loading on the centralized
controller and reduces drive-related traffic on the network
• Faster reaction. Capable of achieving response times of 2 ms (with 100
instructions blocks)
• Increases system reliability
• Improves diagnostics and reduces time to troubleshoot
• Continues to run a process during network interruptions
• Increases system/machine modularity

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Chapter 1 PowerFlex 6000T Drive Features

• Divides control responsibility in the controller for smaller programs that

save memory and reduce scan times

Some of the typical applications for DeviceLogix functionality include:

• Material handling
• Cascade pump control
• PID control
• Selector switch functions
• Signal conditioning and scaling
• Fault handling

DeviceLogix Configuration Tool

DeviceLogix functionality is set through the DeviceLogix Editor that runs on a

workstation. You can access the DeviceLogix editor through a Studio 5000
Add-on Profile (AOP) or Connected Components Workbench software.

Figure 5 - Select DeviceLogix in Connected Components Workbench Software

Figure 6 - DeviceLogix Enabled in Port 9

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 Chapter 1 PowerFlex 6000T Drive Features

Fan Control Fan control is used to manage heat dissipation in the Transformer cabinet and
Power Module cabinets (for Frame B), VFD cabinet (Frame A), and optional
Filter cabinet. Fan control starts when either the drive is energized with
Medium Voltage (Transformer cooling fans for Frame B or VFD cabinet for
Frame A) or when the drive starts modulation (power cell or filter).

The number of cooling fans in each drive cabinet and whether the redundant
fan option is available is set at the factory in the Drive Hardware Configuration
File (DHCF). Configuring a redundant fan can help to improve reliability of the
drive and reduce downtime.

There are two fan control modes when a 14:32 [Redn Fan option] is Yes and
selectable by parameter 14:33 [RednFan CtrlMode].
• “Redn Mode”: Main fans run for 14:34 [MainFan Run Time] and
Redundant fan is run briefly for time that is specified in 14:35[RednFan
Run Time].
• “Cyclic Mode”: All fans run in the time that is specified by 14:34 [MainFan
Run Time] and switch periodically. 14:35 [RednFan Run Time] is not valid
in this mode.

A graphical representation of the two modes is illustrated with an example in

Figure 7.

Figure 7 - Redundant Fan Operation in Cyclic Mode and Redundant Mode

Cyclic Mode (with default parameter values)

Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13
[Run] [Run] [Stop] [Run] [Stop] [Run] [Stop] [Run] [Run] [Run] [Run] [Stop]
0 hr 0 hr 0 hr 720 hr 720 hr 0 hr 1440 hr 720 hr 720 hr 1440 hr 1440 hr 1440 hr
Time = 0 After After After
720 hrs 1440 hrs 2160 hrs

Redundant Mode (with default parameter values)

Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13 Fan 10 Fan 11 Fan 13
[Run] [Run] [Stop] [Run] [Stop] [Run] [Run] [Run] [Stop] [Stop] [Run] [On] [On] [On] [Stop]
0 hr 0 hr 0 hr 720 hr 720 hr 0 hr 721 hr 720 hr 1 hr 1441 hr 1440 hr 1 hr 1441 hr 1441 hr 2 hr
Time = 0 After After After After
720 hrs 721 hrs 1441 hrs 1442 hrs

Figure 8 - Fan Configuration Parameters

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Chapter 1 PowerFlex 6000T Drive Features

Input/Output PowerFlex 6000T drives use I/O cards that plug into the backplane of the pod/
bucket. Up to four I/O modules can be mounted in the drive ports. These I/O
cards have digital inputs/outputs and analog inputs/outputs for various drive-
related functions. Table 2 shows the I/O cards that PowerFlex 6000T drives
support.

Table 2 - List of I/O Cards Supported by PowerFlex 6000T Drives

Catalog Number Description Slots
20-750-2262C-2R 22-series I/O 24V with two relay outputs 4, 5, 6, 7, 8
20-750-2262D-2R 22-series I/O 115V with two relay outputs 4, 5, 6, 7, 8
20-750-2263C-1R2T 22-series I/O 24V with one relay output and two transistor outputs 4, 5, 6, 7, 8
20-750-1132C-2R 11-series I/O 24V with two relay outputs 4, 5, 6, 7, 8
20-750-1132D-2R 11-series I/O 115V with two relay outputs 4, 5, 6, 7, 8
20-750-1133C-1R2T 11-series I/O 24V with one relay output and two transistor outputs 4, 5, 6, 7, 8

Table 3 shows typical specifications of an I/O card with a brief description.

Table 3 - Example of Digital Output Specifications

Relay Out Terminal Name Description Related Parameter
R0NO Relay 0 N.O.
Relay normally open contact output: 10, 100, 101, 105, 106
R0C Relay 0 Common 240V AC, 24V DC, 2 A max On port X
R0NO

General-purpose (inductive)/resistive
R0C

R0NC
R0NC Relay 0 N.C.
R1NO

R1C
R1NO Relay 1 N.O. Relay normally closed contact output:
R1NC

240V AC, 24V DC, 2 A max 20, 110, 111, 115, 116
R1C Relay 1 Common
Only resistive On port X
R1NC Relay 1 N.C.

Analog Input There are two analog inputs per I/O module. To access the analog input
parameters, select the port that the module is mounted in, then access the
Analog Input group of parameters.

Analog Output There are two analog outputs per I/O module. To access the analog output
parameters, select the port that the module is mounted in, then access the
Analog Output group of parameters. The following figure shows how to assign
DC Bus Volts from Port 0 to Analog Output#0.

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 Chapter 1 PowerFlex 6000T Drive Features

Digital Input Physical inputs are programmed to desired digital input functions. These
parameters cannot be changed while the drive is running. The following
figures illustrate how Emergency Override can be assigned to a Digital Input.

Figure 9 - Assign Digital Input Step A

Figure 10 - Assign Digital Input Step B

Figure 11 - After Completing Step A and Step B

Figure 12 - PowerFlex 6000T Digital Input Parameters

Number Parameter Name Number Parameter Name Number Parameter Name

103 DI M Enable 127 DI M Jog 2 151 DI M MOP Inc
108 DI M Stop 130 DI M Fwd Reverse 152 DI M MOP Dec
109 DI M Stop Mode B 132 DI M Manual Ctrl 160 DI M SpTqPs Sel0
111 DI M Coast Stop 134 DI EmergencyOVRD 161 DI M SpTqPs Sel1
114 DI Clear Fault 136 DI AC LineSource 163 DI M BusRegMode
115 DI Aux Fault 140 DI M Speed Sel 0 164 DI M PwrLossMode
117 DI M Start 141 DI M Speed Sel 1 166 DI M Pwr Loss
118 DI M HOA Start 142 DI M Speed Sel 2 169 DI Mtr Ctrl Sel
120 DI M Run 144 DI M Accel Time
—
124 DI M Jog 1 145 DI M Decel Time

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Chapter 1 PowerFlex 6000T Drive Features

Digital Input on Main Control In PowerFlex 6000T drives, a digital input is available on the Main Control
Board Board (MCB) and is used as a Hardware Enable function. This function is
achieved by removing the jumper P7 as indicated in Figure 13 and wiring an
emergency stop circuit to the digital input on the MCB. When this input is
open, the drive goes into a Not Enabled state (see the overview page in
Connected Components Workbench software) and prevents starting. If the
drive is running and this input is opened, drive immediately removes PWM
gating signals to the inverter power cells and the motor will coast.

This status is seen in 0:100 [Digital In Sts].

This input is not intended to be used for any other function other than
Hardware Enable/Emergency Stop.

Figure 13 - Remove Jumper P7 on MCB for Hardware Enable

Jumper P7

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 Chapter 1 PowerFlex 6000T Drive Features

Figure 14 - E-stop Open Shown in Connected Components Workbench Software

Digital Output A typical I/O card that is used with PowerFlex 6000T drives has two relay
outputs. Each digital output can be programmed to change state based on one
of many different conditions. These conditions can fall into different
categories.
• Drive status conditions (fault, alarm, and reverse)
• Level conditions (DC bus voltage, current, and frequency)
• Controlled by a digital input
• Controlled by the network
• Controlled by DeviceLogix software

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Chapter 1 PowerFlex 6000T Drive Features

Figure 15, Figure 16, and Figure 17 illustrate assigning only Running status to a
digital output:

Figure 15 - Assign Digital Output Step A

Figure 16 - Assign Digital Output Step B

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 Chapter 1 PowerFlex 6000T Drive Features

Figure 17 - After Completing Step A and Step B

Emergency Override The purpose of the function is to allow the drive to override its internal
Function protections (faults) in emergency situations. This function is important for
applications where customers would trade product longevity for continued
running during an emergency situation.

Configuration

ATTENTION: The emergency override function allows you to configure the

drive to bypass internal protections when operating in emergency override
mode. When the emergency override mode is enabled and active, protections
that are selected are bypassed. Do not use the emergency override function
without considering applicable local, national, and international codes,
standards, regulations, or industry guidelines.

IMPORTANT The emergency override of protections and faults can reduce the life of
the product. Their purpose is to help protect the product from
conditions that can damage the product.
The person or company that configures the override assumes
responsibility for the damage to the product from the conditions that
would otherwise have triggered the protections.

There are two modes for the functions:

• Only Override

In Only Override mode, the product overrides faults to continue

running. The product uses its normal methods for starting and stopping.

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Chapter 1 PowerFlex 6000T Drive Features

• Purge Frequency

In Purge Frequency mode, the product overrides faults to continue

running. It switches to velocity mode and uses the Purge Frequency as its
velocity reference. The function treats the Emergency Override
command like a Run command. The product runs at the Purge
Frequency when the command is set, and stops when the command is
cleared.

Activate the Emergency Override Feature

The Emergency Override function can be activated by setting a bit in the

controller, or by a discrete-wired digital input.

Interaction between Logic Command and Digital Input

You cannot use both logic command and digital input in the same
configuration. The digital input takes priority over the logic command.

Decide Which Protections to Override

The person or company that designs the drive system is responsible for
deciding which protections the function can override. That person or company
takes responsibility for the damage to the product from the conditions that
would otherwise trigger the protections.

See Parameters on page 69 for full descriptions of parameters used in

configuration of this feature. Also, see the fault and alarm tables in the
troubleshooting chapter.

Preventative Maintenance For firmware revisions 8.001 or later, Lifetime (Hours since Replacement)
counters are provided for all cabinet cooling fans and for all power cells. When
the component is within 90 days of its expected life, an alarm condition is
raised and displayed in the alarm queue. After replacing the hardware
component, the runtime parameter for that component can be reset back to
zero.

To accommodate resetting of the cooling fans or the power cell Lifetime

counters, three parameters are required:
• A parameter to enable the operation
• A parameter to select the component to be adjusted
• A parameter to receive the new value of the counter

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 Chapter 1 PowerFlex 6000T Drive Features

The parameters for cooling fans, door/pod fans, and power cells are shown in
the following graphic.

Figure 18 - Parameters for Component Lifetime Counters

When Fan Predictive Maintenance is active on a drive, the Fan Preventive

Maintenance alarms are suppressed, although the counters continue to show
the Hours since Replacement.

In addition to the Hours since Replacement feature, there is a 'Maintenance

Scheduled Hours' for the entire drive. This calculation is based on the Drive
Run hours. When a maintenance schedule is reached, an alarm is raised. It is
recommended to perform maintenance activities at intervals that are defined
in the maintenance schedule. For more information, see the PowerFlex 6000T
Hardware Service Manual, publication 6000-TG100.

When an expected life on a component is reached, or a service interval is

reached, the alarm that is raised can be acknowledged using the parameters
that are shown in the following graphic.

Figure 19 - Maintenance Acknowledgment Parameters

Only then can it be cleared from the alarm queue.

The default alarm times are:

• 45 days for maintenance for the entire drive
• 90 days for component replacement, such as fans, power cells, and so on

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Chapter 1 PowerFlex 6000T Drive Features

Predictive Maintenance For firmware revisions 8.001 or later, the remaining life of components with
predictive maintenance appear on the Predictive Maintenance page in the
Device Details window in Connected Components Workbench software and
the Drive Details window in Studio 5000 Logix Designer application.

Figure 20 - Connected Components Workbench Software - Overview Page

Figure 21 - Predictive Maintenance Page for Drives with Firmware Revision 8.001 or 9.001.

With firmware revision 10.001 or later, the Predictive Maintenance feature is

extended to the multi-phase shifting transformer, the air filters in various
drive cabinets, and to external components such as motor/machine bearing
and motor/machine lubrication. Connected Components Workbench software
version 22 or later is also required.

It is not recommended to repeatedly energize transformers. Transformer

energization results in high inrush current (10…15 times the rated transformer
current). Energizing a transformer multiple times in a short period of time,
may subject the transformer windings and winding insulation to destructive
thermal and electro-mechanical stress, due to the repetitive high inrush
current. This energization limitation is very similar to limiting the number of
motor starts per hour to reduce thermal stress on a motor. The typical inrush

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 Chapter 1 PowerFlex 6000T Drive Features

current for a motor is much lower (6 times the motor full load current) making
the energization limitation for an isolation transformer even more important.

For applications where the motor needs to be started frequently, PowerFlex

Medium Voltage drives should be left in the ‘Drive Ready’ mode. The input
contactor/breaker remains closed in this mode (medium voltage remains
present on the transformer) and the drive starts, runs, and stops the motor
when required, without the need to energize and deenergize the drive
isolation transformer.

Figure 22 - Predictive Maintenance Page for Drives with Firmware Revision 10.001 or Later

For more information on maintenance and replacement of the components,

see the PowerFlex 6000T Hardware Service Manual, publication 6000-TG100.

Static Identity Instances In this new approach from firmware revision 9.001 for the PowerFlex 6000T
drive, an Instance always refers to the same component, which is being
referred to as 'Static'. In some configurations of a product, that means that the
Instance does not exist.

For TotalFORCE® Drives, The assignment of a Static Instance to an actual

component remains constant among all configuration of drives for a given
product. The static instance numbers used between products will however
have no correlation.

The instance mapping can be found in the individual tab for each component
in the PowerFlex 6000T Drives Parameters Reference Data, publication 6000-
RD100. Download the spreadsheet for offline access.

Supported Communication PowerFlex 6000T drives support the following communication protocols:
Protocols • EtherNet/IP through the built-in Ethernet port
• EtherNet/IP through an ENETR option card
• PROFIBUS through a PBUS option card
• Modbus RTU and Modbus TCP through an Anybus adapter

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Chapter 1 PowerFlex 6000T Drive Features

Control Features The control features of PowerFlex 6000T drives include the following:
• Accel/Decel Time on page 28
• Maximum Output Frequency on page 30
• Stop Mode on page 31
• Motor Control Modes on page 32
• Precharge Control on page 40
• Power Loss and Ride-Through on page 41
• Cell Bypass on page 43
• Current Limit on page 44
• Flying Start on page 45
• Motor Autotune on page 46
• Auto Restart on page 48
• PID Function on page 49
• Secondary Motor Control on page 51
• Adaptive Control Configuration on page 53
• Power Configuration on page 55
• Protected Mode on page 60
• Permanent Magnet Motor Application Considerations on page 61
• eHIM Startup Wizard on page 62

Accel/Decel Time The drive's acceleration time and deceleration time can be configured as
follows.

Acceleration Time

10:1915 [Accel Time 1] and 10:1916 [Accel Time 2] set the acceleration rate for all
speed changes. Defined as the time to accelerate from 0 to Motor nameplate
frequency 10:402 [Motor NP Hertz] or to Motor nameplate rated speed 10:403
[Motor NP RPM]. The setting of Hertz or RPM is programmed in 0:46 [Velocity
Units].

A digital input function or Logic Command (sent over a communication

network or DeviceLogix software) controls the selection between Acceleration
Time 1 and Acceleration Time 2.

Adjustment range is 0.00…3600.00 seconds.

Deceleration Time

10:1917 [Decel Time 1] and 10:1918 [Decel Time 2] set the deceleration rate for all
speed changes. Defined as the time to decelerate from motor nameplate
frequency 10:402 [Motor NP Hertz] or from motor nameplate rated speed
10:403 [Motor NP RPM] to 0. The setting of Hertz or RPM is programmed in
0:46 [Velocity Units].

A digital input function or Logic Command (sent over a communication

network or DeviceLogix software) controls the selection between Deceleration
Time 1 and Deceleration Time 2.

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 Chapter 1 PowerFlex 6000T Drive Features

Adjustment range is 0.00…3600.00 seconds.

Digital Input parameters that are used for selecting Accel and Decel time are
shown in the following illustration:

The drive offers two types of Ramp: Linear and S-curve.

Select Linear Ramp by setting 10:1919 [VRef Accel Jerk] and 10:1920 [VRef Decel
Jerk] to default of 0.000%. See Figure 23.

To enable S-curve Set 10:1919 [VRef Accel Jerk] or 10:1920 [VRef Decel Jerk] to a
nonzero value. See Figure 24.

With 10:1915 [VRef Accel Time1] set to 10 seconds and 10:1919 [VRef Accel Jerk]
set to 20%, the total acceleration time can be determined as follows:

Total Acceleration is 10:1915 [VRef Accel Time1] + 0.01 * 10:1919 [VRef Accel Jerk]
* 10:1915 [VRef Accel Time1] = 10 + 0.01 * 20 * 10 = 10 + 2 = 12 seconds, with 1
second S portion at the bottom and 1 second S portion at the top.

Figure 23 - Linear Acceleration to 60 Hz in 10 Seconds

Linear Ramp

Port 10: 1914 VRef Commanded Port 10: 1923 VRef Ramped
Internal Value Internal Value

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Chapter 1 PowerFlex 6000T Drive Features

Figure 24 - Curve Acceleration to 60 Hz in 12 Seconds

S-Curve Ramp

Port 10: 1914 VRef Commanded Port 10: 1923 VRef Ramped
Internal Value Internal Value

Maximum Output Frequency 10:1898 [Vel Limit Pos] and 10:1899 [Vel Limit Neg] adjusts the maximum
output frequency of the drive.

For 2300/3300V drives, the default carrier frequency is 600 Hz when the output
frequency is at 0…75 Hz. When the output frequency is greater than 75 Hz, the
carrier frequency can switch automatically to 900 Hz if selected using 10:425
[PWM Frequency]. To meet the harmonic content specifications for 2300/
3300V drives, this parameter must be set to 900Hz. In this case you must also
derate the drive if operating above 75 Hz output frequency.

The default value is set to Rated Line Frequency given by 13:1001 [Rated
Frequency].

The maximum value that should be set is 120 Hz. If the speed reference is set
higher than 120 Hz and a run is requested, the drive internally limits the
maximum command to 120 Hz and issue an alarm ‘Output Freq Lmt’. This is
shown in Figure 25.

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 Chapter 1 PowerFlex 6000T Drive Features

Figure 25 - Drive Speed Command is Greater than 75 Hz

Stop Mode There are three methods in which a PowerFlex 6000T drive can be stopped –
Ramp down, Coast stop, and Decel to Hold.

10:110/10:111 [Mtr Stop Mode A/B] can be configured as a method of stopping

the drive when a stop command is given. A normal stop command and the run
input changing from true to false results in a normal stop command.

10:145 [Stop Dwell Time] can also be used with a stop command. This can be
used to set an adjustable time between when zero speed is detected and the
drive output is turned off.

Select Coast-to-Stop by setting 10:110/10:111 [Mtr Stop Mode A/B] to 0 “Coast.”

When in Coast-to-Stop, the drive acknowledges the Stop command by
shutting off the output and releasing control of the motor. The load/motor will
coast or free spin until the kinetic energy is dissipated.

A “Ramp” selection always provides the fastest stopping time provided the DC
bus does not exceed a certain rating. Ramp Stop is selected by setting
parameters 10:110/10:111 [Mtr Stop Mode A/B] to 1 “Ramp.” The drive ramps the
frequency to zero based on the deceleration time programmed into
parameters 10:1917/10:1918 [VRef Decel Time1/2]. The normal mode of machine
operation can use 10:1917 [VRef Decel Time1]. If the machine Stop requires a
faster deceleration than desired for normal deceleration, 10:1918 [VRef Decel
Time2] can be activated with a faster rate selected. When in Ramp mode, the
drive acknowledges the Stop command by decreasing or ramping the output
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Chapter 1 PowerFlex 6000T Drive Features

voltage and frequency to zero in a programmed period (Decel Time),

maintaining control of the motor until the drive output reaches zero. The drive
output is then shut off. The load/motor follows the decel ramp. Other factors
such as bus regulation and current limit can alter the actual decel rate.

Decel to Hold Stop is selected by setting parameters 10:110/10:111 [Mtr Stop

Mode A/B] to 3 “DecelToHold”. The active Decel Time defines the rate that the
drive decelerates the motor, until it reaches the Zero Speed threshold. It holds
by continuing to modulate with a zero speed (zero frequency) output, until
there is a new start command, new run command, or another kind of stop
command.

In all stop modes, the deceleration rate is automatically adjusted when DC bus
limit is reached. An alarm Decel Limit is issued if the programmed
deceleration rate does not match the actual deceleration attained.

Motor Control Modes 0:65 [Pri MtrCtrl Mode] selects the output mode of the drive to match the type
of motor control to use. The Default selection is a value of 1 = “Induction SV”.

The parameter settings are:

• InductionVHz (1) – Induction motor, Volts per Hertz control mode

Used for variable torque applications with improved efficiency energy

savings. Can also be used in multi-motor applications.
• Induction SV (2) – Induction motor, Sensorless Vector control mode

Used for most constant torque applications. Provides excellent starting,

acceleration, and running torque.
• Induct Econ (3) – Induction motor, Economize control mode

Used for additional energy savings in constant torque applications that

have constant speed reduced load periods.
• Induction FV (4) – Induction motor, Flux Vector control mode

Used for precise Torque, Velocity, and/or Position regulation. Useful for
variable torque, constant torque, and constant power applications.
Provides precise position and velocity tracking. Provides excellent
disturbance rejection. This mode is needed for position and load sharing
applications. Motor Tuning is required.

Flux Vector is the recommended control mode for both encoder and
encoderless control of induction motors.

Two new control modes that support permanent magnet motors are added in
firmware revision 10.001.
• PM VHz (7) – Permanent magnet motor, Volts per Hertz control mode
• PM SV (8) – Permanent magnet motor, Sensorless Vector control mode

These two control modes apply to both surface permanent magnet motors
(SPM) and interior permanent magnet motors (IPM).

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 Chapter 1 PowerFlex 6000T Drive Features

Volts/Hertz

Volts/Hertz operation creates a fixed relationship between output voltage and

output frequency.

The relationship can be defined in two ways by setting 10:486 [VHz Curve] to 0
“Custom V/Hz” or 1 “Fan/Pump.”

0 = “Custom V/Hz”

Custom Volts/Hertz enables a wide variety of patterns using linear segments.

The default configuration is a straight line from zero to rated voltage and
frequency.

This is the same volts/hertz ratio that the motor sees if started across the line.
As seen in the diagram below, the volts/hertz ratio can be changed to provide
increased torque performance when required by programming five distinct
points on the curve.
• o 10:480 [Start Acc Boost] – Used to create additional torque for
breakaway from zero speed and acceleration of heavy loads at lower
speeds.
• o 10:481 [Run Boost] – Used to create additional running torque at low
speeds.

The value is typically less than the required acceleration torque. The drive
lowers the boost voltage to this level when running at low speeds (not
accelerating). This reduces excess motor heating that could be caused if
the higher start/accel boost level were used.
• o 10:483 [Break Voltage] and 10:484[Break Frequency] – Used to increase
the slope of the lower portion of the Volts/Hertz curve, providing
additional torque.
• o 10:400[Motor NP Volts] and 10:402[Motor NP Hertz] – Set the upper
portion of the curve to match the motor design. Marks the beginning of
the constant power region.
• o 10:421[Maximum Voltage] and 10:422[Maximum Frequency] – Slope the
portion of the curve that is used above base speed.
Figure 26 - Custom V/Hz

Maximum Voltage

Base Voltage
(Nameplate)

Break Voltage
Start/Accel Boost
Run Boost

Break Break Frequency Maximum

Frequency (Nameplate) Frequency

1 = “Fan/Pump”

When this option is chosen, the relationship is 1/x2. Therefore, at full

frequency, full-voltage is supplied. At 1/2 rated frequency, 1/4 voltage is
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Chapter 1 PowerFlex 6000T Drive Features

applied. This pattern closely matches the torque requirement of a variable

torque load (centrifugal fan or pump - load increases as speed increases) and
offers the best energy savings for these applications.

Fan/Pump mode is not supported for permanent magnet motors.

Figure 27 - Fan/Pump

Maximum Voltage

Base Voltage
(Nameplate)

Run Boost

Break Frequency Maximum

(Nameplate) Frequency

Sensorless Vector

Sensorless Vector mode uses a V/Hz core that is enhanced by excellent current
resolution, a slip estimator, a high-performance current limiter, and the vector
algorithms.

The algorithms operate on the knowledge that motor current is the vector sum
of the torque and flux producing components of current. Values can be entered
to identify the motor values or an autotune routine can be run to identify the
motor values (see Motor Autotune on page 46). Sensorless vector offers better
torque production and a wider speed range than V/Hz. However, it is not
appropriate to use when multiple motors are connected to the same drive.

Sensorless Vector w/Economizer

Economizer mode consists of the Sensorless Vector control with an additional

energy savings function. When steady state speed is achieved, the economizer
becomes active and automatically adjusts the drive output voltage based on
applied load. By matching output voltage to applied load, the motor efficiency
is optimized.

Reduced load commands a reduction in motor flux current. The flux current is
reduced as long as the total drive output current does not exceed 75% of motor
rated current as programmed in 10:401 [Motor NP Amps]. The flux current is
not allowed to be less than 50% of the motor flux current as programmed in
10:518 [u Flux Cur Ref]. During acceleration and deceleration, the economizer
is inactive and Sensorless Vector motor control performs normally.

Flux Vector Control

With firmware revision 8.001 or later, PowerFlex 6000T drives also support
Flux Control mode for Induction motors. This section provides a high-level
overview of this mode.

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 Chapter 1 PowerFlex 6000T Drive Features

In Flux Vector mode, the motor Flux (Id) and Torque (Iq) producing currents
are independently controlled as “vectors” with respect to Rotor Flux, thus
providing accurate motor velocity/torque control. The drive can be operated
either without velocity feedback (Open Loop) or with velocity feedback (Close
Loop). Open Loop method uses motor nameplate data/parameters and
current/voltage measurements to estimate Rotor Flux position/velocity and
provide torque control up to 1% base velocity. Closed-loop vector drives on the
other hand use Encoder feedback mounted on the motor shaft to measure the
rotor position directly and improve torque control to about 0.5% of base
velocity, and provide infinite range of operation. With an Encoder, it is
possible to provide rated torque at zero velocity. With Flux Vector control, a
high-bandwidth response to velocity command and load changes is achievable.

To realize high performance, Flux Vector control requires accurate motor

parameter estimation. The Autotune feature, which has been enhanced for
Flux Vector Control (see Motor Autotune on page 46 for details), determines
the estimation. The drive takes the velocity reference that is specified by the
Velocity Reference Selection block and compares it to the velocity feedback,
which is either estimated (Open Loop) or directly measured (Close Loop). The
velocity regulator uses Proportional and Integral gains to adjust the torque
reference for the motor. The torque reference is converted to the torque
producing component of the motor current. Because Flux Vector controls the
Flux and Torque producing currents independently, a torque reference can be
sent directly instead of being generated from the Velocity Regulator. This is
referred to as Torque mode. The independent Flux control also enables motor
flux to be reduced to run above base motor velocity.

Figure 28 - Representation of Flux Vector Block Diagram

High Bandwidth Current Regulator

Current Feedback
V mag
Flux Reg
Speed Freq Speed Current Voltage
Torque Ref Inverter Motor
Reg Reg V ang Control

Torque Ref Encoder

Adaptive
Controller
Autotune Parameters
Speed Feedback

Use parameters 10/11:30 [PsnVelTrqMode A]…10/11:33 [PsnVelTrqMode D] to

select Velocity or Torque mode, as shown in the following examples:

Figure 29 - Select Velocity Mode Operation

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Chapter 1 PowerFlex 6000T Drive Features

Figure 30 - Select Torque Mode Operation

Whichever modes are selected, parameter 10/11:34 [PsnVelTrq Actv] shows the
final configuration that the drive runs in.

Feedback Option

As outlined in the previous section, two modes are available for Flux Vector:
Open Loop (no feedback device) or Close Loop (with a feedback device). To
configure Feedback type to match the application requirement, perform the
following steps:
1. If the application needs a feedback device, insert the card in one of the
backplane Option slots. For Close Loop operation, the following option
cards are compatible with PowerFlex 6000T drives:
• 20-750-ENC
• 20-750-DENC
• 20-750-UFB

The single and dual encoder cards are recommended. If you use the universal
feedback card, there are guidelines on what other cards can be inserted into
the control pod.

On startup, the correct profile is loaded. In this example, the profile for 20-750-
UFB is shown (Figure 31). Configure the Type and PPR in the Option card.

Figure 31 - Parameters for 20-750-UFB

2. In Flux Vector Port 10 or Port 11, configure the feedback option

(Figure 32). In this example, Open Loop is set to Primary while Encoder is
assigned to Alternate. The feedback selection can then be set in
parameter 10/11:1019 [Fb Loss Action] (Figure 33, Figure 34, Figure 35).
You can select either Primary or Alternate to be the source of Velocity.

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 Chapter 1 PowerFlex 6000T Drive Features

Figure 32 - Configure Feedback Parameters

Figure 33 - Configure Open Loop Feedback in Flux Vector Port 10 or 11

Figure 34 - Configure Close Loop Feedback in Flux Vector Port 10 or 11

Figure 35 - Configure Close Loop Feedback and to Switch on Loss of Encoder in Flux Vector Port 10
or 11

Load Sharing

In such applications, multiple drive and motor sets are coupled and used to
run one mechanical load. In the strictest sense, load sharing means that the
amount of torque that is applied to the load from each motor is prescribed and
implemented by each drive and motor set. Typically one drive is assigned to be
the “Leader” and other drives in the system act as “Followers”. Load sharing can
be realized by using a supervisory controller along with inter-drive data
transfer options, for example, TLink (a direct fiber-optic link between the
drives) or other communication options based on Ethernet or EtherNet/IP. In
PowerFlex 6000T drives, there are several ways to realize Load sharing and are
discussed briefly in next section.

Figure 36 - Example of Load Sharing with two Drives in Leader-Follower Application Using TLink and
Encoder Option

Leader drive Follower drive

Control Topologies

Three categories of load sharing techniques are presented in this section, each
having unique characteristics. The subtle differences of each technique are

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Chapter 1 PowerFlex 6000T Drive Features

described to identify how to implement each technique to help achieve a

successful application. The categories are Droop, Torque Follower, and Velocity
Trim Follower.

Droop

Droop is used to shed load and is used when a soft coupling of two or more
motors is present in an application. When two or more motors are coupled to
the same load, each slips according to its portion of load, forcing load to be
picked up by the other motor. The Droop feature enhances the natural slip of
the motor by reducing the output frequency in proportion to load current.
Ideally it is only the torque-producing component of the load current that
determines the droop. The Leader drive regulates velocity and the Follower
drive uses droop so that it does not oppose the Leader. The input to the droop
block is the commanded motor torque. The output of the droop block reduces
the velocity reference.

10:1961 [Droop RPM at FLA] – This parameter sets the velocity regulator droop.
It is the amount of base velocity in RPMs that the velocity reference or velocity
command is reduced to when at full-load torque. For example, when
10:1961[Droop RPM at FLA] is set to 50 RPM and the drive is running at 100%
rated motor torque, the droop function subtracts 50 RPM from the velocity
reference.

Figure 37 - Droop Configuration

Follower drive Follower drive

Speed Reference

Torque Follower

A drive must be capable of operating in “Torque mode” (Figure 30) to use this
type of load sharing. If velocity regulation is required, one of the drives can be
in “Velocity mode” (called the “Leader”). While in Velocity mode the velocity
regulator provides a torque command output. This torque command output
can be distributed to the other drives on the system (called the “Torque
Followers”). This torque signal can be scaled at the Leader output or the
Follower input to divide the load sharing in any ratio desired. In this scenario,
you can have drive and motor sets of different horsepower sizes, each pulling
load to the extent of their capability. For example, one 600 HP drive and motor

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 Chapter 1 PowerFlex 6000T Drive Features

set plus one 800 HP drive and motor set, each running at 86% of its power
rating can power a system that requires 1200 horsepower. The ratio of load
sharing can be adjusted such that each motor and drive set pulls a proportional
amount of load under all conditions.

Figure 38 - Torque Follower Configuration

Leader drive Follower drive

Speed Reference Speed Reference

Torque Reference

Velocity Trim

In this configuration, the Leader and Follower drives are operated in velocity
regulation mode and receive the same velocity reference. Interconnection of
the drives is necessary so that torque references can be compared. The torque
reference of the Leader drive is sent to the Follower drives. Each Follower drive
compares its own torque reference with the torque reference of the Leader
drive. The output of the comparator is an error signal that trims the velocity of
the Follower drive.

T-Link Option Card

The T-Link option card for PowerFlex 6000T drives enables high-speed drive to
drive communication.

High-speed drive to drive communication simplifies or minimizes logic and

hardware necessary to synchronize control between drives. It could also
simplify commissioning by reducing the time to tune follower drives by
directly controlling torque or velocity outputs from the leader drive.

This functionality is well suited for the following scenarios:

• When synchronization is needed between drives
• When multiple motors are coordinated to simulate mechanically coupled
system (Electronic line-shaft applications)
• When multiple motors are rigidly coupled (Load sharing applications)
• When there is single leader with multiple followers (Rotary table
applications)

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Chapter 1 PowerFlex 6000T Drive Features

Industry Applications:
• Mining dredger, dragline, and hoist (velocity regulator leader with
torque follower when connected to single shaft)
• Metals wire drawing, levelers, flying shear, and low-twist rod mill
• Automotive test stands, dynes, and wheel followers
• Commercial printing operations

Precharge Control For B-frame drives with ratings greater than 215 A (normal duty), the
PowerFlex 6000T drive offers an optional precharge circuit on either the
primary side of the transformer or the secondary side of the transformer. The
Precharge function can only be enabled through the DHCF, which is
configured at the factory, as seen in 0:1003 [Prchrg Option].

Primary Precharge Circuit

The primary precharge circuit is used to magnetize the transformer and to

charge the DC bus capacitors in the power cells with lower current, thus avoid
tripping the primary protection (fuse or circuit breaker) or causing physical
damage to the power component. The primary precharge circuit is shown in
Figure 39.

The primary precharge is initiated when the drive detects that Medium
Voltage has been applied to the primary of the transformer. The resistors are in
circuit and charge the DC bus in the individual power cells, which also
minimizes transformer inrush. Once the measured DC bus feedback has
reached 0:1004 [Prchrg DCBus Lvl], the drive initiates closing of the precharge
device and indicates that the precharge process is complete. The minimum
interval between two precharge processes is limited to 80 seconds (a value set
in the DHCF at the factory).

Figure 39 - Primary Precharge in PowerFlex 6000T Drives

Starter Precharge P. cell

cabinet cabinet
P. cell

P. cell

P. cell

Fan power circuit

VSB
External control power
from customer
Control (optional)
power

HPC control

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 Chapter 1 PowerFlex 6000T Drive Features

Secondary Precharge Circuit

The secondary precharge circuit is used to temporarily magnetize the

transformer and to charge the DC bus capacitors in the power cells with lower
current, thus helping to avoid tripping the primary protection (fuse or circuit
breaker) or causing physical damage to the power components. The secondary
precharge circuit is show in Figure 40.

The secondary precharge is initiated when the drive is ready to allow Medium
Voltage to be applied. The resistors are brought into the circuit and charge the
DC bus in the individual power cells, which also minimizes transformer
inrush. Once the measured DC bus feedback has reached 0:1004 [Prchrg
DCBus Lvl], the drive initiates opening of the secondary precharge voltage
source, closing of the main device, and then indicates that the precharge
process is complete. The minimum interval between two precharge process is
limited to 15 minutes (a value set in the DHCF at the factory). However, it is
recommended to start the drive only once per hour.

The secondary precharge circuit is contained within the LV compartment and

thus there is no need for an additional MV cabinet. However, this feature
requires you to supply an LV source.

Figure 40 - Secondary Precharge in PowerFlex 6000T Drives

Starter P. cell
cabinet
P. cell

P. cell

External secondary
P. cell precharge power from
customer (optional)

VSB Fan power circuit

External control power

from customer
Control (optional)
power
HPC control

Power Loss and Ride- The drive contains a sophisticated algorithm to manage initial application of
Through power and recovery from a partial power loss event. The drive also has
programmable features that can minimize the problems that are associated
with a loss of power in certain applications.

Power Loss Modes

The drive is designed to operate at a nominal input voltage. When voltage falls
below this nominal value by a significant amount, action can be taken to

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Chapter 1 PowerFlex 6000T Drive Features

preserve the bus energy and keep the drive logic alive as long as possible. The
drive has three methods of dealing with low bus voltages.
• “Coast” – Disable the drive and allow the motor to coast. (default)
• “Decel” – Decelerate the motor at a rate that regulates the DC bus until
the load's kinetic energy can no longer power the drive.
• “Continue” – Allow the drive to power the motor down to 50% of the
nominal DC bus voltage.

If parameter 10:270 [Power Loss Actn] is set to 3 “FltCoastStop,” an F1 “Power

Loss” fault occurs when the power loss event exceeds 10:273/277 [Pwr Loss A/B
Time].

Coast

This mode of operation is the default setting. The drive determines a power
loss has occurred if the bus voltage drops below 10:272/276 [Pwr Loss A/B
Level]. If the drive is running, the inverter output is disabled and the motor
coasts.

Decel

This mode of operation is useful if the mechanical load is high inertia and low
friction. By recapturing the mechanical energy, converting it to electrical
energy and returning it to the drive, the bus voltage is maintained. As long as
there is mechanical energy, the ride-through time is extended, and the motor
remains fully fluxed.

If AC input power is restored, the drive can ramp the motor to the correct
speed without the need for reconnecting.

If the drive is running, the inertia ride-through function is activated. The load
is decelerated at the correct rate so that the energy that is absorbed from the
mechanical load regulates the DC bus.

The inverter output is disabled if the drive is not able to regulate the DC bus
due to low motor speed or if any of the Run Permit inputs are de-energized.

If the drive is still in inertia ride-through operation when power returns, the
drive immediately accelerates at the programmed rate to the set speed. If the
drive is coasting and it is in a Run Permit state, the reconnect algorithm is run
to match the speed of the motor. The drive then accelerates at the programmed
rate to the set speed.

Continue

This mode provides the maximum power ride-through. The input voltage can
drop to 50% and the drive is still able to supply drive rated current (not drive
rated power) to the motor.

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Cell Bypass This feature is an option in which a drive can automatically bypass a faulty cell
and resume operation with reduced capacity. When engineered as an option, a
power cell has semiconductor devices on the output in such a way that by
turning on these switches, the cell can be bypassed. The load current now flows
through these switches and bypasses the main power cell. This is shown in
Figure 41.

Figure 41 - Cell Bypass Option Using IGBT

Basic operation (Figure 42) is explained as follows:

Scenario A

At the onset (A), all cells are healthy and drive is running with three cells/phase.

Scenario B

In (B) cell U0 experiences a bypass fault. The controller senses this condition
and immediately stops power cell modulation. The drive waits for motor
voltage to drop to safe levels and determines the bypass strategy as follows:

The drive bypasses three power cells U0, V0, and W0 and reconnects
automatically to the motor. Cells V0 and W0 are healthy and are being
bypassed to keep the number of cells/phase the same in all three phases. The
drive now runs with six active power cells and lower speed and load (assuming
Fan type of load).

Scenario C

In (C), cell V2 fails. Since cell V0 is a healthy cell that was forced in bypass mode
in (B), it is possible to bypass V2 safely and bring V0 back online while keeping
U0 and W0 bypassed. W0 is still healthy.

Scenario D

In (D), cell W1 fails. Since cell W0 is a healthy cell that was forced in bypass
mode in (B), it is possible to bypass W1 safely and bring W0 back online while
keeping U0 and V2 bypassed.

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Chapter 1 PowerFlex 6000T Drive Features

Figure 42 - Cell Bypass Strategy

All power cells healthy U0, V2, W1 faulted

(A) U0, V2, W1 bypassed
W0 reconnected
(D)

U0 faulted U0, V2 faulted

U0, V0, W0 bypassed U0, V2, W0 bypassed
V0, W0 healthy V0 reconnected, W0 healthy
(B) (C)

Figure 43 - Parameters Used in Cell Bypass

Current Limit This feature attempts to reduce/limit current by folding back output voltage
and frequency if the output current exceeds a programmable value set in
10:222/223 [Current Limit 1/2] and selected by 10:221 [Current Lmt Sel]. The
final selection of current limit is shown in 10:224 [Active Cur Lim].

The following figure shows a typical acceleration of a 600 HP medium voltage

drive under no load. Initially the current limit is set to 15 A and the rate of
acceleration is reduced. When the current limit is raised to 20 A, rate of
acceleration increases and when the current limit is raised to 127 A, the drive

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 Chapter 1 PowerFlex 6000T Drive Features

resumes normal acceleration. During the acceleration process, if the drive

reaches the current limit, it raises a Type 1 alarm Accel Limit [code 10048].

Figure 44 - Current Limiter

Current Limiter

Port 10: 1 Output Frequency Port 10: 224 Active Cur Lim Output Current Unfil
Internal Value Internal Value

Flying Start The Flying Start feature is used to start into a rotating motor that is spinning
in either direction, 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 desired frequency. If the drive is started in this mode with
the motor already spinning, large currents are generated. An overcurrent trip
can result if the current limiter cannot react quickly enough. The likelihood of
an overcurrent trip is further increased if there is a residual flux (Back EMF) on
the spinning motor when the drive starts. Even if the current limiter is fast
enough to help prevent an overcurrent trip, it can 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.

In Flying Start mode, the response of the drives to a start command is to

synchronize with the motors speed (frequency and phase) and voltage. The
motor then accelerates to the commanded frequency. This process helps
prevent an overcurrent trip and significantly reduce the time for the motor to
reach its commanded frequency. Because the drive synchronizes with the
motor at its rotating speed and ramps to the proper speed, little or no
mechanical stress is present.

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Chapter 1 PowerFlex 6000T Drive Features

Configuration

Configure Flying Start by setting 10:70 [FlyingStart Mode] to the following:

• 0 “Disabled”

Disables the feature.

• 1 “CounterEMF”

An advanced mode that reconnects the motor quickly by using the

motor's Counter Electromotive Force or CEMF as a means of detection.
This mode is the default setting for this feature.

The CounterEMF mode is the only Flying Start method for permanent
magnet motors. Due to permanent magnets and motor rotation, there is
always a detectable Back EMF, which allows a quick Flying Start.
• 2 “Sweep”

This mode attempts a reconnect by outputting a frequency that starts at

P520 [Max Fwd Speed] + 10:1904 [Overspeed Limit], and decreases
according to a slope that is modified by P359 [FS Speed Reg Ki] until
there is a change in the monitored current that indicates the speed of the
spinning motor has been found. If the motor was not found from the
forward sweep, the drive sweeps in the reverse direction from P521 [Max
Rev Speed] + 10:1904 [Overspeed Limit].

The Sweep mode is not offered with permanent magnet motor control.

Motor Autotune The Autotune feature is used to measure motor characteristics. The Autotune
feature is composed of several individual tests, each of which is intended to
identify one or more motor parameters. These tests require motor nameplate
information to be entered into the drive parameters. Although some of the
parameter values can be changed manually, measured values of the motor
parameters provide the best performance.

The information that is obtained from these measurements is stored in the

drives nonvolatile memory for use during operation of the drive. The feature
lets these tests to be separated into tests that do not require motor rotation
(Static Tune), and tests within the selected control mode (Rotate Tune).

The tests are described briefly for Frequency control modes (V/Hz and SVC)
and Flux Vector control mode.

The Autotune tests are selected through parameter 10:910 [Autotune]. The
feature provides a manual or automatic method for setting 10:512 [u IM Stator
Res], 10:515 [u IM Leakage L] and 10:518 [u Flux Cur Ref] and 10:433 [u
FluxUpTime].

Frequency Control

This section describes Autotune modes available in Frequency Control modes.

Four Autotune selections are available in the PowerFlex 6000T drive control.
All four selections are selected from the Autotune parameter.
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Parameter 10:910 [Autotune] selections:

• 0 = Ready
• 1 = Direction

Direction tuning is generally the first step in tuning. This mode runs the
motor at approximately 8% of 10:403 [Motor NP RPM] and is used for
verifying the direction of rotation of the motor as per the application
requirement.
• 2 = Static

Static Tuning is used to determine Stator Resistance of the motor.

• 3 = Rotate

Rotate Tuning is used to determine Stator Resistance, Motor Rated Flux

Current, and the Flux Up Interval. As the name implies, this mode runs
the motor. For accurate results, verify that the load is not coupled to the
motor.

Rotate Tuning is not supported for permanent magnet motor control

modes.

After a successful tuning, verify that the following parameters are selected as
User Entered: 10:510 [MtrParam C/U Sel] and 10:431 [FluxUpTm C/U Sel].

Flux Vector Control

This section describes Autotune modes available in Flux Vector mode.

(Figure 45, Figure 46)

General Modes – Autotune defaults to Ready and performs a direction test.

• 10:910 [Autotune] = Ready (0)
• 10:910 [Autotune] = Direction (1)

Motor Electrical Parameters – Autotune performs static and dynamic tests to

measure motor electrical parameters.
• 10:910 [Autotune] = Static MtrID (2)
• 10:910 [Autotune] = Rotate MtrID (3)

Inertia Tests – Autotune performs a dynamic ‘bump’ test that initiates

momentary motor rotation to measure inertia.
• 10:910 [Autotune] = InertiaMotor (4)
• 10:910 [Autotune] = InertiaTotal (5)

Gain Calculation – Autotune calculates control loop gains, filter bandwidths,

and dynamic limits.
• 10:910 [Autotune] = BW Calc (6)
• 10:910 [Autotune] = JMtr BW Calc (7)
• 10:910 [Autotune] = JTotalBWCalc (8)

For more information, see the PowerFlex 755T Flux Vector Tuning Application
Technique, publication 750-AT006.

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Figure 45 - Motor Parameter C/U Selector

489 c Slip RPM at FLA MtrParam C/U Sel

511 c IM Stator Res (ohms) 510

400 Automatic 514 c IM LeakageL (mH) Calculated

Motor NP Volts
Motor NP Amps Calculations 517 c Flux Cur Ref
401
402 Motor NP Hertz 520 c EncLs AngCmp
403 Motor NP RPM 000 User Entered 523 c IM StatResComp
405 Motor NP Pwr Units 000 Read Only Motor Control
490 u Slip RPM at FLA
406 Motor NP Power
512 u IM Stator Res (ohms) User
407 Motor Poles
[Autotune] = 515 u IM LeakageL (mH) Entered
910 Autotune “Static MtrID”
518 u Flux Cur Ref
“Rotate MtrID”
521 u EncLs AngCmp
524 u IM StatResComp

Figure 46 - Current Regulator C/U Selector

MtrParam C/U Sel

From 510
Automatic 000 User Entered
Calculations 511 c IM Stator Res Calc
000 Read Only VCL CReg C/U Sel
514 c IM LeakageL
From 444
Autotune
Results 512 u IM Stator Res User Automatic 446 c VCL CReg Kp Calc
Calculations To Current
515 u IM LeakageL 448 c VCL CReg Ki
Regulator

445 VCL CReg BW 447 u VCL CReg Kp User

449 u VCL CReg Ki

Auto Restart The Auto Restart feature provides the ability for the drive to perform a fault
reset automatically, followed by a start attempt without user or application
intervention. This feature enables remote or unattended operation. Only
certain faults are allowed to be reset. Faults listed as ‘Non-Resettable’ in the
programming manual indicate possible drive component malfunction and are
not resettable.

Use caution when enabling this feature, because the drive attempts to issue its
own start command based on user selected programming.

Configuration

Set parameter 0:61 [Auto Rstrt Tries] to a value greater than zero to enable the
Auto Restart feature. Set the number of tries equal to zero to disable the
feature. 0:62 [Auto Rstrt Delay] sets the time, in seconds, between each reset/
run attempt.

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PID Function The internal PID function provides closed loop process control with
proportional and integral control action. The function is used in applications
that require simple control of a process without the use of a separate
standalone loop controller.

The PID function reads a process variable input to the drive and compares it to
a desired setpoint stored in the drive. The algorithm then adjusts the output of
the PID regulator and changes drive output frequency to attempt zero error
between the process variable and the setpoint.

The Process PID can be used to modify the commanded speed or can be used to
trim torque. There are two ways the PID Controller can be configured to
modify the commanded speed.
• Velocity or Torque Trim – The PID Output can be added to the master
Velocity or Torque reference.
• Exclusive Control – The PID can have exclusive control of the
commanded Velocity or Torque.

The mode of operation between Velocity trim, exclusive control, and torque
trim is selected in 9:14 [PID Output Sel].

Figure 47 - PID Options

PID is assigned Port 9 and is enabled in Connected Components Workbench

software as shown in Figure 48 and Figure 49.

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Figure 48 - Enable PID in Connected Components Workbench Software

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Figure 49 - Enable PID in Connected Components Workbench Software (continued)

Secondary Motor Control PowerFlex 6000T product supports user-configuration of a secondary motor
control profile that provides application flexibility.

The secondary motor control modular control profile is installed in port 11 of

the PowerFlex 6000T drive. When defining the motor control type to be used
with the secondary motor control profile, only parameters for that type of
motor control are present in the profile, similar to port 10 primary motor
control. When used with the primary motor control profile, you can define
different control types, motor types, or motor parameters to increase the
flexibility of the PowerFlex 6000T drive.

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Secondary Motor Control Configuration

The secondary motor control modular control profile in port 11 is defined in

0:67 [Sec MtrCtrl Mode]. The same motor control types that are available in the
primary motor control profile are configurable in the secondary motor control
profile. Motor control profiles include Induction VHz, Induction SV,
Induction Economizer, and Flux Vector. The active motor control type that is
configured in the secondary motor control profile port 11 is displayed in 0:68
[Sec MtrCtrl Act].

The motor control type that is defined for the secondary motor control profile
determines the parameters that are accessible in port 11. All motor data and
application tuning configuration of the secondary motor control profile is
done in port 11. You can see the parameter list in the parameter spreadsheet.
For more information about the parameter spreadsheet, see Chapter 2.

Switching Between Motor Control Profiles

The active motor control profile is defined in 0:74 [Motor Ctrl Sel]. There are
two methods you can use to change between the primary and secondary motor
control profiles.

Logix Configuration

The motor control profile that is actively being used can be changed by writing
to 0:74 [Motor Ctrl Sel] either through a datalink or with an explicit message
instruction. You can verify that the active motor control profile has changed as
expected by doing a readback from the PowerFlex 6000T drive by using 0:75
[Mtr Ctrl Sel Act].

Discrete-Wired Digital Input

You can wire a digital input to an I/O option module installed in the PowerFlex
6000T drive. The digital input is configured to 0:169 [DI Mtr Ctrl Sel] to switch
between the primary and secondary motor control profiles. If the input is open
or de-energized, the drive selects the primary motor control profile.

Interaction between Logix and Digital Input

If both methods to control the active motor control profile are being used, the
digital input that is configured in 0:169 [DI Mtr Ctrl Sel] takes priority.

Application Use Cases

Secondary motor control profiles can be used for applications that require one
drive to control two different-sized motors independently. Also the two motors
can use either the same or different motor control modes. For example, a
600 HP motor could run with Induction SV while a 500 HP motor from the
same drive could run in secondary control mode with Induction VHz.

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Adaptive Control This section provides a brief overview of Resonances, Load Observer, Adaptive
Configuration Tuning, and Autotune. For detailed information, see the PowerFlex 755T Flux
Vector Tuning Application Technique, publication 750-AT006.

Resonances

Resonances is the tendency for a system output to oscillate with greater

magnitude at some frequencies than at others. Resonant frequencies are
frequencies where the magnitude is at a relative maximum. Here, the system is
sensitive to input and the gain is high. Resonances are difficult to control
because even small input forces can produce large magnitude oscillations in
the output.

Figure 50 - Tuning Fork Resonance

Time [s]

FREE VIBRATION

Frequency = 1/(2pi*T) [Hz]

Anti-resonant frequencies are frequencies where the magnitude is at a relative

minimum. Here, the system does not respond well to input and the gain is low.
Anti-resonances are difficult to control because even large input forces can
produce little or no response in the output.

Compliance and backlash create resonances. Increasing the load inertia makes
these problems worse. As a result, mechanical loads exhibit resonances that
limit performance, damage hardware, consume energy, and generate noise.

It is often left to the user to suppress these resonances through manual tuning,
a challenging and time consuming task. Resonances typically increase in
number and severity as controller gains are increased. They range in frequency
from a few Hz to a few thousand Hz.

A typical approach is to reduce regulator gains to a low enough level so that the
system bandwidth falls below the lowest resonant frequency. However, this
approach results in limited performance.

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Load Observer

The load observer feature is a control loop inside the drive that estimates the
mechanical load on the motor and compensates for it while the drive is
running. This feature allows high performance and control loop tuning
simplicity similar to that of a mechanically disconnected motor. Its primary
function is to:
• Automatically compensate for unknown inertia, compliance, and low
frequency resonance
• Automatically compensate for disturbances and changes in inertia
• Force consistent dynamic behavior, which makes the drive easier to tune

Benefits

You can use load observer with out-of-box control loop gains, where the load is
unknown or compliant and thus 10/11:901 [Load Ratio] = 0. You can also use
load observer with autotuned control loop gains where 10/11:901 [Load
Ratio] > 0. This value can be a known positive value or one that is calculated by
performing an autotune procedure.

Adaptive Tuning

The adaptive tuning feature is an algorithm that continuously monitors and, if

necessary, adjusts filter parameters and control loop gains to compensate for
unknown and changing load conditions. Adaptive tuning performs the
following functions:
• Monitors motor-side resonances
• Automatically adjusts torque loop notch and low pass filter parameters to
suppress resonances

Automatically tunes control loop gains to avoid instability.

Benefits

When you enable adaptive tuning with the recommended out-of-box control
loop settings, you do not need a tuning expert.

Autotune

The Autotune function is used to measure motor characteristics. It is

composed of several individual tests, each of which is intended to adjust one or
more motor parameters. These tests require you to enter motor nameplate
information into the drive parameters. Although you can change some of the
parameter values manually, measured values can provide improved
performance.

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Power Configuration There are six power configuration modes that are supported and they are
shown in the following table:

Power Configuration Mode Description

0 No output device
1 Output power device control circuit
2 Manual bypass - 1 motor
3 Manual bypass - 2 motor
4 Automatic bypass - 1 motor
5 Automatic bypass - 2 motor

To support these six power configurations, the drive does not require an
additional PLC. Configurations 2, 3, 4, and 5 are supported using DeviceLogix
(see DeviceLogix on page 14) and firmware while configurations 0 and 1 do not
need DeviceLogix.

The power configuration is set at the factory and defined by the hardware that
is installed and DHCF parameter 0:1000 [Drive Power Cfg].

Power devices are identified by their location as Main/Input device, Output

and Bypass devices, and Precharge device. They can be circuit breakers and
contactors (electrically held or mechanically held). Further, depending on how
they are controlled, power devices are defined as:
• 1 - Coil – Close command only - Maintained
• 2 - Coil – Close and Open commands - Interlocked with feedback
• Hybrid – Permissive to close, open command

An example of how 0:1001 [Main/Inp Dvc Type] is shown in Figure 51.

Figure 51 - Configure Main/Input Device

The timing of such configurations is shown inFigure 52 and Figure 53.

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Chapter 1 PowerFlex 6000T Drive Features

Figure 52 - Timing for 1-Coil and 2-Coil Power Devices

Close
request Open
request

PIOB
1 Coil
Close (NO)

PIOB
Close (NO)
2 Coil
PIOB
Open (NO)
Output has
opened
Output Device
Status Output has
closed

Figure 53 - Timing for Hybrid Power Devices

Input can
close
Open
request
PIOB
1 Coil Close
Permissive
(NO)

PIOB
Close
Permissive
2 Coil (NO)
PIOB
Open (NO) Input has
opened
Input Device
Status
Input has
closed

Graphical representation of power topology is shown on eHIM screens in

Figure 54…Figure 59. A standard status banner is available on each screen,
which shows the Power state of the drive.

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Figure 54 - Power Configuration 0

Figure 55 - Power Configuration 1

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Figure 56 - Power Configuration 2

Figure 57 - Power Configuration 3

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Figure 58 - Power Configuration 4

Figure 59 - Power Configuration 5

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Parameters used to support Power Configurations are listed in the following

illustration.

Protected Mode Protected mode is a state where the device is operational, but has implemented
defenses against disruptive changes that could take the product out of service
for the process.

The following type of Protected Mode is available:

• Implicit

The following summary indicates how a device behaves when in such a state
and what type of actions are prohibited.

Implicit Protected Mode is a security enhancement that is automatically

triggered as soon as one of the following occurs:
• When drive has an open I/O mode connection in the RUN mode
• When the drive is in the RUN state

Enter and Exit Implicit Protected Mode

The drive enters Protected Mode as soon as the device opens an I/O connection
in run mode or the drive is running.

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The drive exits Protected Mode as soon as the device stops running and no
longer has an open I/O connection in run mode.

Restrictions Imposed by Implicit Protected Mode

Protected Mode helps prevent service disruption after the device is configured
and in normal operation. Protected Mode disables features that can make the
device vulnerable to disruptive actions. By doing so, Protected Mode helps to
reduce the attack surface.

In implicit Protected Mode, the HPC device considers the following messages/
services as disruptive:
• Reset
• Flash update
• Start up
• Device configuration
• Datalink configuration
• Network configuration change

If drive has an open IO connection in run mode, then parameters for which
“No Write Over I/O” column is marked as “Yes” in the PowerFlex 6000T Drives
Parameters Reference Data, publication 6000-RD100 cannot be written using
explicit messaging writes.

If drive is running, then parameters for which “Stop to Change” column is

marked as “Yes” in the PowerFlex 6000T Drives Parameters Reference Data,
publication 6000-RD100 cannot be written.

Permanent Magnet Motor When you use permanent magnet motors in your application, consider the
Application Considerations following:
1. Use permanent magnet motor up to a maximum of 10% field weakening
range. For example, for a 60 Hz base machine, limit the maximum
Velocity Reference to 1.1 x 60 = 66 Hz. This limit is to help prevent damage
to the power converter when running at high speeds and an unexpected
loss of motor control occurs. Due to the permanent magnet, a high
voltage is applied to the converter.
2. The DC Injection method is used at the start to synchronize the stator
field and rotor magnets.
3. The permanent magnet motor control modes that are offered in
firmware revision 10.001 run applications such as standard fans, pumps,
and compressors.

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eHIM Startup Wizard In the eHIM application version 1.3 or later, there is a new tab “Wizard” that
guides you in configuring the drive for startup.

To use the startup wizard, perform the following steps:

1. On the Wizard tab, select Start.

IMPORTANT To enable the startup wizard, the Control Bar must be disabled.

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2. Select the Motor Control from the parameter dropdown menu, then
select Next.

3. The Motor Control Mode is automatically selected. Select Next.

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4. Select the Flying Start Mode from the parameter dropdown menu, then
select Next.

5. Complete the Motor Rating Information fields, then select Next.

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6. Select the Stop Mode and Bug Regulator Mode from the respective
parameter dropdown menu, then select Next.

7. Perform the Direction Test, then select Next.

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8. Perform the Motor ID Test, then select Next.

9. Select the Start and Stop Control Signals from the respective parameter
dropdown menu, then select Next.

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10. Select the Speed Reference from the parameter dropdown menu, then
select Next.

11. Select the Ramp Rates and Speed Limits from the respective parameter
dropdown menu, then select Next.

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Chapter 1 PowerFlex 6000T Drive Features

12. Select any other Digital Inputs from the respective parameter dropdown
menu, then select Next.

13. Review the parameters that you have configured, then select Finish.

14. Select Yes to acknowledge the changes and finish the startup wizard
procedure.

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 Chapter 2

Parameters

This chapter lists and describes the parameters in PowerFlex 6000T drives. The
parameters can be programmed (viewed/edited) using the integrated touch
screen display (eHIM), or the standard HIM (20-750-C6S). You can also use
Connected Components Workbench software (version 10 or later). If the drive
is connected to a ControlLogix® or CompactLogix™ controller, you can also use
Studio 5000 Logix Designer application (version 20 or later).

Parameter Descriptions PowerFlex 6000T drive parameters are listed in the Microsoft® Excel®
spreadsheet publication that is available on at rok.auto/literature.

Use this link to access the PowerFlex 6000T Drives Parameters

Reference Data, publication 6000-RD100, for parameters. Download
the spreadsheet for offline access.

To view the parameters and for full functionality (filter and search), open the
file in the Microsoft Excel application.

About Parameters To configure a drive module to operate in a specific way, certain drive
parameters may have to be configured appropriately. Four types of parameters
exist:
• Numeric Parameters
These parameters have one numeric value (such as 1750.0 RPM).
• ENUM Parameters
These parameters allow a selection from two or more items. The
integrated touch screen display will display a text message for each item.
• Indirect Parameters
These parameters assign or select sources for data. They have a
maximum value of 159999.15. The two most significant digits select the
port of the source. The following four digits select the parameter number
of the source. The two digits below the decimal point select the bit
number of the source.

For example, parameter 0:117 [DI M Start] is an indirect parameter for

selecting the source of the Start digital input function. You may want to
select input 01 on an IO card in port 4. You would enter 04 and 0001 and
.01. This assigns bit 01 of parameter 0001 [Dig In Sts] of the card in port 4
to the Start function.

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Chapter 2 Parameters

• Bit Parameters
These parameters have individual bits associated with features or
conditions. If the bit is 0, the feature is off or the condition is false. If the
bit is 1, the feature is on or the condition is true.

Parameter Access Level This function is only applicable when using the optional HIM. It does not apply
when using the integrated touch screen display or Connected Components
Workbench software to program parameters.

Three parameter access level options are selectable by 0:30 [Access Level].
• Option 0 ‘Basic’ is the most limited view that only displays parameters
and options that are commonly used by operators.
• Option 1 ‘Advanced’ is an expanded view of parameters that is helpful to
maintenance technicians and for engineers to access more advanced
drive features when they commission the drive.
• Option 2 ‘Expert’ provides design engineers with a comprehensive view
of the entire parameter set.

Parameter References Parameter references are shown as Port#:Parameter# [Parameter Display

Name] convention. For example, 0:30 [Access Level] tells you that the Access
Level parameter is number 30 in port 0.

How Drive Parameters are The integrated touch screen display and Connected Components Workbench
Organized programming software display parameters in ‘Linear List’ or ‘File Group
Parameter’ format. The ‘File Group Parameter’ format simplifies
programming by dividing Files into groups of parameters that are used for
similar functions.

Overview and System Architecture

The PowerFlex 6000T architecture is aligned with the PowerFlex 755T

architecture. There are changes to improve usability and performance. There
are changes to include new functionality and additional power modules.

Ports, files, and groups are containers for control and parameters. This
architecture organizes the parameters among these containers to make them
easy to find. It also limits which parameters are presented. It only presents the
parameters that are related to the active configuration.

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Figure 60 - System Architecture

Port 0
System (Whole Product)
Monitor Embedded ENET
Product Config Protection
Feedback & I/O Diagnostics
Communication

Port 10 Port 11 Port 12

Pri MtrSideCtrl Sec MtrSideCtrl Motor Side Power
Monitor System Monitor System PwrModule Common
Dynamic Control Feedback Dynamic Control Feedback U1…U9 Power Module
Protection Velocity Protection Velocity V1…V9 Power Module
Diagnostics Torque Diagnostics Torque W1…W9 Power Module
Electrical Electrical

Port 13 Port 14 Port 9

Line Side Ctrl PF6000Peripheral Application
Monitor Protection Power Supply Process PID DeviceLogix
Dynamic Control Diagnostics Air Cooling Diagnostics
Point I/O
Thermal Protn

Port 1 Port 2 Port 3 Port 4 Port 5 Port 6 Port 7 Port 8

Option Slot HIM (Door) Option Slot Option Slot Option Slot Option Slot Option Slot Option Slot

Port 0 PowerFlex 6000T System Port

This port contains parameters for monitoring and configuring the whole
drive. It contains parameters for configuring digital input functions. It
includes parameters for the Embedded EtherNet/IP interface.

This port also contains parameters that configure port 9 (the application port)
and port 10 (the primary motor control port). These parameters determine
what ports 9 and 10 contain. Ports 9 and 10 do not display parameters or
software that is related to unused configurations. For example, if you do not
select Process PID in the Application Selection parameter then port 9 does not
contain parameters for Process PID. If you do not select the Volts per Hertz
motor control mode, then port 10 does not display Volts per Hertz parameters
or software.

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Port 9 Application Parameters

This port contains parameters and software that is related to specific

applications. The contents of this port depend on the setting of parameter 0:70
[Application Sel]. It can contain nothing, Process PID, or DeviceLogix.

Port 10 Primary and Port 11 Secondary Motor Side Control Parameters

These ports contain parameters and software that is related to the primary and
secondary control of the motor side inverter. Port 10 is the primary motor side
control port and port 11 is the secondary port. The contents of these ports
depend the setting of parameters 0:65 [Pri MtrCtrl Mode] and 0:67 [Sec
MtrCtrl Mode]. They can contain Volts per Hertz, Sensorless Vector, or
Economizer. They contain parameters for configuring the starting and
stopping of the motor side inverter. They contain parameters for entering the
electrical attributes of the motor.

Port 12 Motor Side Power Parameters

This port contains parameters that are related to control and protection of
IGBT-based power cells. There are multiple power cells in series in each phase
that is used to supply voltage for control of medium voltage motors. These
parameters monitor and configure the power cells.

Port 13 Line Side Control Parameters

This port contains parameters and software that is related to protection and
monitoring of the line side converter. It contains parameters for configuring
protection features such as High/Over voltage, Ground Current, Unbalance,
and so on. It also contains line monitoring data such as Line-to-Line Voltages,
Line Currents, and so on.

Port 14 PF6000T Peripheral Parameters

This port contains parameters that are related to functionality available in
Power IO Board. This board is specific to PowerFlex 6000T drives and is
responsible for several functions like Fan Control, Power Rail and Power
Supply Monitoring, Transformer RTD Protection, User Thermal Option, and
POINT I/O™ Configuration.

Parameter Organization in The following figure shows PowerFlex 6000T drive parameters that are
Connected Components organized in Connected Components Workbench software by All Ports
starting from port 0 to port 14.
Workbench Software

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Figure 61 - Parameter Organization, All Ports

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Chapter 2 Parameters

The following figure shows the parameters that are organized in a specific
port. For example, 10-Induction SV.

Figure 62 - Parameter Organization, Port 10-Induction SV

Parameter Organization on The following figure shows PowerFlex 6000T drive parameters that are
Integrated Touch Screen organized on the integrated touch screen display (eHIM) by All Ports.
Display (eHIM) Figure 63 - Parameter Organization in eHIM, All Ports

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 Chapter 2 Parameters

The following figure shows PowerFlex 6000T drive parameters that are
organized on the integrated touch screen display (eHIM) by a specific port.

Figure 64 - Parameter Organization in eHIM, Specific Ports

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Notes:

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 Chapter 3

Troubleshooting

This chapter provides information to guide through troubleshooting

PowerFlex 6000T drives common symptoms and corrective actions.

Fault and Alarm Code PowerFlex 6000T drive fault, alarm, event, and exception codes are listed in
Descriptions the Microsoft Excel spreadsheet publication that is available on at
rok.auto/literature.

Use this link to access the PowerFlex 6000T Drives Conditions

Reference Data, publication 6000-RD101, for fault, alarm, event, and
exception codes. Download the spreadsheet for offline access.

To view the fault, alarm, event, and exception code descriptions and for full
functionality (filter and search), open the file in the Microsoft Excel
application.

Fault and Alarm Display Event numbers for PowerFlex 6000T faults and alarms are displayed in one of
Codes three formats.
• Port 00 (Host Drive) displays the event number only. For example, Fault
21 ‘Clr Fault Queue’ is displayed as:
Fault Code 21
• Ports 01...09 use the format PEEE, indicating port number (P) and event
number (EEE). For example, Fault 1 ‘Analog In Loss’ on an I/O module
that is installed in Port 4 is displayed as:
Fault Code 4001
• Ports 10...14 use the format PPEEE, indicating port number (PP) and
event number (EEE). For example, Fault 245 ‘Xfrmr1RTDOvrTmp’ on
Port 14 is displayed as:
Fault Code 14245

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Chapter 3 Troubleshooting

Faults A fault is a condition that stops the drive. There are four types of faults.

Type Description
If this type of fault occurs while the line side converter or motor side inverter is modulating, it
Major Fault stops modulating. If it occurs while the line side converter or motor side inverter is not
modulating, it prevents starting. It prevents starting until the fault is cleared.
If this type of fault occurs while the line side converter or motor side inverter is modulating, it
Minor Fault allows modulation to continue. If it occurs while the line side converter or motor side inverter
is not modulating, it prevents starting. It prevents starting until the fault is cleared.
Resettable This type of fault can be cleared. Resettable faults are identified by ‘Resettable Fault’.
This type of fault normally requires drive or motor repair. The cause of the fault must be
Non-Resettable corrected before the fault can be cleared. The fault resets on power-up after repair. Non-
Resettable faults are identified by ‘Non-Reset Fault’.

Table 4 - List of Faults Which Opens Main/Input Device

Port:Code Fault Port:Code Fault
0:58 PwrDn Data Chksm 0:273 Fiber Offline 23
0:186 MnInpDvcOpenRun 0:274 Fiber Offline 24
0:187 MnInpDvcFailOpen 0:275 Fiber Offline 25
0:188 PrchrgDvcFailCls 0:276 Fiber Offline 26
0:189 PrchrgDvcFailOpn 0:277 PIOBFbrOffline 0
0:190 MnInpDvc FailCls 0:278 PIOBFbrOffline 1
0:191 MnInpDvcMismatch 0:291 VltgDtctdSysTest
0:192 PrchrgDvcMismtch 0:385 Pre Charge Fail
0:203 Fiber Offline 0 10:197 IGBT Overcurrent
0:204 Fiber Offline 1 10:199 Cell Overtemp
0:205 Fiber Offline 2 10:201 One Phase Loss
0:206 Fiber Offline 3 10:203 DC OvrVltg Lvl1
0:207 Fiber Offline 4 10:208 Cap Vltg Sharing
0:208 Fiber Offline 5 10:210 Cell Bypass HW
0:209 Fiber Offline 6 10:211 Two Phase Loss
0:210 Fiber Offline 7 10:212 DC OvrVltg Lvl2
0:211 Fiber Offline 8 10:213 Fiber Comm Loss
0:212 Fiber Offline 9 13:065 SW Bus Low Volt
0:213 Fiber Offline 10 13:193 VltgDtctdInpOpen
0:214 Fiber Offline 11 13:450 SecPrchrgOvrVltg
0:215 Fiber Offline 12 13:451 SecPrchrgInpShrt
0:216 Fiber Offline 13 13:499 MnDvcOnPrchNotDn
0:217 Fiber Offline 14 13:500 MainDvc Cmd Fail
0:218 Fiber Offline 15 13:501 VltgDtctPrchOpen
0:219 Fiber Offline 16 14:237 Drv Cabinet Open
0:220 Fiber Offline 17 14:245 Xfrmr1RTD1OvrTmp
0:221 Fiber Offline 18 14:247 Xfrmr1RTD2OvrTmp
0:222 Fiber Offline 19 14:249 Xfrmr1RTD3OvrTmp
0:223 Fiber Offline 20 14:251 Xfrmr2RTD1OvrTmp
0:224 Fiber Offline 21 14:253 Xfrmr2RTD2OvrTmp
0:225 HSI Offline 0 14:255 Xfrmr2RTD13vrTmp
0:226 HSI Offline 1 14:288 PIOBFbrOffline 0
0:271 NVS Checksum Flt 14:289 PIOBFbrOffline 1
0:272 Fiber Offline 22 14:323 VltgSensBoardFlt

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Alarms An alarm is a condition that, if left unaddressed, can stop the drive if running
or does not allow starting of the drive. There are two types of alarms.

Type Description
Alarm 1 Alarms of type 1 indicate that a condition exists. Type 1 alarms are user configurable.
Alarms of type 2 indicate that a configuration error exists and the drive cannot be started.
Alarm 2 Type 2 alarms are non-configurable.

Events Events occur under normal operation of the product. When an event occurs,
an entry consisting of a numeric event code and a time stamp is recorded in an
event queue. Events can help to troubleshoot problems if they occur.

Exceptions Exceptions occur when a condition that would normally have been accessed as
a fault or alarm has been suppressed due to the configuration of the fault or
alarm. An exception is an indication that the fault or alarm condition occurred
but was ignored by the drive. The drive takes no action to an exception. When
an exception occurs, an entry consisting of a numeric code and a time stamp is
recorded in an exception queue. Exceptions can help to troubleshoot problems
if they occur.

Configurable Conditions User configurable conditions can be enabled as an alarm or fault.

Type Description
Event action is enabled/disabled by a parameter.
Options can include:
‘Ignore’ (0) – No action is taken.(1)
Configurable ‘Alarm’ (1) – A type 1 alarm is indicated.
‘Flt Minor’ (2) – A minor fault is indicated. If running, drive continues to run.
‘FltCoastStop’ (3) – A major fault is indicated. Coast to Stop.
‘Flt RampStop’ (4) – A major fault is indicated. Ramp to Stop.
(1) When ‘Ignore’ (0) is the default setting, the occurrence is recorded in the exceptions queue. When you set a configuration
parameter to ‘Ignore’ (0), the occurrence is recorded in the event queue.

Viewing Faults and Alarms The fault and alarm queues that are accessible through Connected
Components Workbench software or the integrated touch screen display
(eHIM) provide you with a history of faults, alarms, and events. You can also
access diagnostic file parameters for additional information.

Faults and Alarms Screen

A typical Fault and Alarms screen in Connected Components Workbench

software is shown in Figure 65. The drive is running at commanded speed and
the status is At Reference.

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Figure 65 - Healthy Status with Drive Running

After a fault occurs, the status changes to Faulted and the various fault codes
along with the description and time stamp is logged (Figure 66).

Figure 66 - Faulted Status

Use either the Clear Trip button or Clr Flts button on the control bar to reset
the drive. The Clear Queue button clears the Fault, Alarm, or Event Queue.

To get Online Help on the conditions, select More Details as shown in Figure 67
and Figure 68.

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Figure 67 - Get Online Help on Drive Condition

Figure 68 - Embedded Help on Drive Condition

The Faults and Alarms screen can also be viewed in the integrated touch screen
display (eHIM), see Figure 69.

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Figure 69 - Faults and Alarms Screen in eHIM

HIM Indication (Fault The popup fault display screen automatically appears when a fault condition
Display Screen) for the host drive or any connected peripheral is detected. By default, the
status bar flashes to alert the operator. To change the display flash mode, see
the PowerFlex 20-HIM-A6 and 20-HIM-C6S HIM (Human Interface Module)
User Manual, publication 20HIM-UM001 for instructions.

The fault display screen displays the following information.

• Fault Code number (See Fault and Alarm Display Codes on page 77.)
• Fault description
• Elapsed time (in hh:mm:ss format) from fault detection

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Figure 70 - Pop-Up/Flashing Fault Display Screen

Stopped AUTO
0.00 Hz F
– – FAULTED – –
Fault Code 81
Port 1 DPI Loss
Elapsed Time 01:26:37
ESC CLR

Soft Key Functions

Label Name Description

ESC Escape Reverts to the previous screen without clearing the fault.
Removes the popup Fault Display screen from the display and clears the
CLR Clear fault.

Single Function Key

Key Name Description

Removes the popup Fault Display screen from the display and clears the
Stop fault.

Manually Clearing Faults

Step Keys
1. Press the ‘Clear’ soft key to acknowledge the fault. The fault information is removed so that
you can use the HIM. CLR
2. Address the condition that caused the fault.
The cause must be corrected before the fault can be cleared.
3. After corrective action has been taken, clear the fault by one of these methods:
Press Stop (if running the drive stops)
Cycle drive power
Select the ‘Clear’ soft key on the HIM Diagnostic folder Faults menu.

Status Indicators Status indicators report the condition of the product.

HIM Cradle Status Indicators

IMPORTANT The status indicators on the HIM cradle do not indicate the status of an
installed communication adapter option. If an optional communication
adapter is installed, refer to the adapter user manual for the location a
description of any status indicators.

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Table 5 - PowerFlex 6000T MCB Status Indicator Descriptions

Name Color State Description
Flashing Drive is ready but not running, and no faults are present.
Green
DS10 DS3 DS2 DS1 Steady Drive is running, no faults are present.
Drive is not running, a type 2 (non-configurable) alarm condition exists, and the
Flashing drive cannot be started. See parameter 10/11:467 [Type 2 Alarms].
Yellow A type 1 (user configurable) alarm exists. If the drive is stopped, it is prevented
from starting until the alarm condition is cleared. If the drive is running, it
Steady continues to run but cannot restart until the alarm condition is cleared.
See parameters 10/11:465 [Alarm Status A] and 10/11:466 [Alarm Status B].
A major fault has occurred. The drive stops. The drive cannot be started until
Flashing
DS1 Red fault condition is cleared. See parameter 0:610 [Last Fault Code].
Steady A non-resettable fault has occurred in the converter or inverter.
A minor fault has occurred. When running, the drive continues to run. The
Red / Flashing system is brought to a stop under system control. The fault must be cleared to
Yellow Alternately continue.
Yellow / Flashing When running, a type 1 alarm exists.
Green Alternately See parameters 10/11:465 [Alarm Status A] and 10/11:466 [Alarm Status B].
Green / Flashing The product is flash updating the main control board, an option card, or a
Red Alternately peripheral device.
Unlit Off The main control board is not powered.
Embedded EtherNet/IP is not properly connected to the network or needs an IP
Unlit Off address.
An EtherNet/IP connection has timed out. Explicit messaging control timed out.
Flashing Network address rotary switches have changed or IP address is invalid
Red (defaulting to DHCP) or DHCP lease expired.
The adapter failed the duplicate IP address detection test.
DS2 Steady The rotary switches are set to 888 or the DHCP lease has expired.
DS6 Red / Flashing The adapter is performing a self-test.
Green Alternately
The adapter is properly connected but is not communicating with any devices
Flashing
Green on the network.
Steady The adapter is properly connected and communicating on the network.
Unlit Off The adapter is not powered or is not transmitting on the network.
The adapter is properly connected (100 Mbps) and transmitting data packets on
Flashing the network.
Green
The adapter is properly connected (100 Mbps) but is not transmitting on the
DS3 Steady network.
DS10
The adapter is properly connected (10 Mbps) and transmitting data packets on
Flashing the network.
Yellow
Steady The adapter is properly connected (10 Mbps) but is not transmitting on the
network.
When the PowerFlex 6000T control bucket is powered up, the DS6 indicator is
off until the system is initialized correctly and all required peripherals are
DS6 Green Flashing loaded. After the process is complete, the indicator flashes Green, otherwise it
remains off.

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Power I/O Board (PIOB) Status Indicators

PowerFlex 6000T power modules use status indicators to report conditions.

DS1 State DS3 State Description

Green Off Boot mode is in process.
Flashing at 1 Hz
DS3 DS1
Green Green Login mode is in process.
Steady Blink 2 Count
Green Off Active mode is in process.
Steady
Green Off Loopback test is in process.
Flashing at 2 Hz
Red Red Firmware fault
Flashing at 4 Hz Steady
Green Red No application
Flashing at 1 Hz Blink 1 Count
Green Red No FPGA
Flashing at 1 Hz Blink 3 Count
Green Red The application failed to load.
Flashing at 1 Hz Blink 5 Count
Green Red FPGA failed
Flashing at 1 Hz Blink 6 Count
Green Red The power on self test memory test failed
Flashing at 1 Hz Blink 2 Count

Name Color Description

DS2 DS4 Green PIOB connection is online.
Flashing
DS2/DS4
Red PIOB connection is offline.
Flashing

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Fiber-optic Interface Circuit Board Status Indicator

The PowerFlex 6000T fiber-optic interface uses a status indicator to report

conditions. The fiber-optic interface circuit board is mounted on the rear panel
of the control pod assembly.

Name Color State Description

Flashing at 2 Hz Active mode is in process.
Green
Flashing at 0.5 Hz Update is in process.
Green / Flashing Alternately Login mode is in process.
Yellow
Green / Flashing Alternately Erase is in process.
Red
Flashing at 2 Hz Loopback fiber test mode is in process.
DS1 Yellow
Flashing at 0.5 Hz Boot mode is in process.
Blink 2 Count Clock fault
Blink 3 Count Firmware fault
Blink 4 Count Flexbus fault
Red
Blink 5 Count PRGM fault
Blink 6 Count FPGA PRGM fault
Blink 7 Count SFLASH PRGM fault
Control pod assembly

DS1

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Fiber-optic Transceiver Circuit Board Status Indicators

PowerFlex 6000T fiber-optic transceiver circuit boards use status indicators to

report conditions. The fiber-optic transceiver circuit boards plug into edge
connectors on the fiber interface circuit board in the control pod assembly.

Name Color State Description

Green Flashing Fiber connection is online.
DS1, DS2, DS3
Red Flashing Fiber connection is offline.
Control pod assembly

DS3

DS2

DS1

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Setting Factory Defaults The following tables list the parameters that are not reset when Set Defaults
‘Most’ is executed. Also, the internal date and time properties are not reset by
this operation.

Port 0: Product Config File, Preferences Group

Number Display Name Full Name
30 Access Level User Access Level
31 Language Display Language
46 Velocity Units Velocity Units

Port 0: Product Config File, Port Mode Group

Number Display Name Full Name
65 Pri MtrCtrl Mode Primary Motor Control Mode
70 Application Sel Application Select

Port 0: Feedback & I/O File, Command Group

Number Display Name Full Name
134 DI EmergencyOVRD Digital Input Emergency Override

Port 0: Embedded ENET File, Address Config Group

Number Display Name Full Name
300 Net Addr Sel Network Address Selection
302 IP Addr Cfg 1 IP Address Configuration 1
303 IP Addr Cfg 2 IP Address Configuration 2
304 IP Addr Cfg 3 IP Address Configuration 3
305 IP Addr Cfg 4 IP Address Configuration 4
306 Subnet Cfg 1 Subnet Configuration 1
307 Subnet Cfg 2 Subnet Configuration 2
308 Subnet Cfg 3 Subnet Configuration 3
309 Subnet Cfg 4 Subnet Configuration 4
310 Gateway Cfg 1 Gateway Configuration 1
311 Gateway Cfg 2 Gateway Configuration 2
312 Gateway Cfg 3 Gateway Configuration 3
313 Gateway Cfg 4 Gateway Configuration 4
314 Net Rate Cfg 1 Net Rate Configuration 1
316 Net Rate Cfg 3 Net Rate Configuration 3

Port 0: Protection File, Overrides Group

Number Display Name Full Name
454 Emerg OVRD Mode Emergency Override Mode
455 Emerg Prot OVRD ProtectionsOverridenbyEmergencyOverride

Hardware Service Manual The PowerFlex 6000T Drives Hardware Service Manual, publication
6000-TG100, provides schematics and detailed instructions on part
replacement for PowerFlex 6000T products.

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Common Symptoms and Drive does not Start from Start or Run Inputs that are wired to the terminal
Corrective Actions block.

Causes Indication Corrective Action

Clear fault.
• Press Stop
Flashing red
Drive is Faulted • Cycle power
status light
• ‘Clear Faults’ on the HIM Diagnostic
menu.
Incorrect input wiring. See Installation
Instructions, publication 6000-IN100, for wiring
examples.
2-wire control requires Run, Run Forward, Run None Wire inputs correctly.
Reverse, or Jog input.
3-wire control requires Start and Stop inputs.
Verify that 24V Common is connected to Digital
Input Common.
None Configure input function.
Flashing yellow
Incorrect digital input programming. status light and
Mutually exclusive choices have been made (that ‘DigIn Cnfg B’
is, Jog and Jog Forward). or
2-wire and 3-wire programming may be ‘DigIn Cnfg C’
conflicting. indication on LCD Resolve input function conflicts.
Start configured without a Stop configured. HIM.
10/11:355 [Motor
Side Sts 2] shows
type 2 alarms.
Terminal block does not have control. None Check 0:41 [Logic Mask].

Drive does not Start from HIM.

Causes Indication Corrective Action

Drive is configured for 2-wire level Change 0:101 [Digital In Cfg] to correct control
None
control. function.
Another device has manual control. None –
Port does not have control. None Change 0:41 [Logic Mask] to enable correct port.

Drive does not respond to changes in speed command.

Causes Indication Corrective Action

LCD HIM Status
No value is coming from the source of Line indicates ‘At 1. If the source is an analog input, check wiring and
the command. Speed’ and output use a meter to check for presence of signal.
is 0 Hz.
2. Check 10/11:1800 [VRef A Sel] for the source of the
Incorrect reference source has been speed reference.
None
programmed. 3. Reprogram 10/11:1800 [VRef A Sel] for correct
source.
4. Check 10/11:354 [Motor Side Sts 1], bits 12 and 13
for unexpected source selections.
Incorrect Reference source is being 5. Check 0:100 [Digital In Sts], to see if inputs are
selected via remote device or digital None selecting an alternate source.
inputs.
6. Check configuration of 173…175 [DI Speed Sel n]
functions

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Motor and/or drive does not accelerate to commanded speed.

Causes Indication Corrective Action

Acceleration time is excessive None Reprogram 10/11:1915/1916 [VRef Accel Timen].
1. Check 10/11:354 [Motor Side Sts 1], bit 27 to see if
Excess load or short acceleration times the drive is in Current Limit.
force the drive into current limit, None
slowing or stopping acceleration. 2. Remove excess load or reprogram 10/11:1915/1916
[VRef Accel Timen].
Speed command source or value is not None Check for the proper Speed Command using Steps
as expected. 1…6 above.
Check 10/11:1898 [Vel Limit Pos], 10/11:1899 [Vel Limit
Programming is preventing the drive
output from exceeding limiting values. None Neg], and 10/11:422 [Maximum Freq] to verify that
speed is not limited by programming.

Motor operation is unstable.

Causes Indication Corrective Action

1. Correctly enter motor nameplate data.
Motor data was incorrectly entered or None 2. Perform ‘Static Tune’ or ‘Rotate Tune’ Autotune
Autotune was not performed.
procedure. See parameter 10/11:910 [Autotune].

Drive does not reverse motor direction.

Causes Indication Corrective Action

Digital input is not selected for Check that the DI Reversing function is correctly
None
reversing control. configured.
Digital input is incorrectly wired. None Check digital input wiring.
Direction mode parameter is Reprogram 10/11:930 [Direction Mode], for analog
None
incorrectly programmed. ‘Bipolar’ or digital ‘Unipolar’ control.
Motor wiring is improperly phased for None Switch two motor leads.
reverse.
1. Use meter to check that an analog input voltage is
present.
A bipolar analog speed command input None
is incorrectly wired or signal is absent. 2. Check bipolar analog signal wiring.
Positive voltage commands forward direction.
Negative voltage commands reverse direction.

Stopping the drive results in a Decel Inhibit fault.

Causes Indication Corrective Action

The bus regulation feature is enabled 1. Reprogram parameters 10/11:116/117 [Bus Reg
and is halting deceleration due to Mode n] to remove any ‘Adjust Freq’ selection.
excessive bus voltage. Excess bus Decel Inhibit fault 2. Disable bus regulation (parameters 10/11:116/117
voltage is normally due to excessive screen. [Bus Reg Mode n]).
regenerated energy or unstable AC line LCD Status Line 3. Correct AC input line instability.
input voltages. indicates ‘Faulted.’ 4. Access 10/11:170 [Dec Inhibit Actn] to select
Internal timer has halted drive desired fault action.
operation. 5. Reset drive.

Problems adding a datalink.

Causes Indication Corrective Action

Verify that a PLC is not communication with the
Another device is communicating with None drive. Disconnect communication cable or inhibit
the processor. communication in PLC software.

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Testpoint Codes and Software Testpoints

Functions
Select testpoint with a [Testpoint Sel n] parameter. View testpoint values with
[Testpoint REAL n] and [Testpoint DINT n] parameters.

Table 6 - Port 10 Testpoint Codes

No. Name Description Data Type Units
Velocity Reference at the input to the ramp and
1 VRef Ramp In REAL PU
S-curve function
This signal is the active rate of change of the
2 VelRamp Rate velocity reference. It is produced by the velocity REAL PU/S
reference ramp and S-curve function.
Velocity Droop offset signal output from droop
3 Vel Droop REAL PU
function
If this signal is nonzero, then the PID Output Meter
has exclusive control of the Velocity Reference. If
30 VRef PID Sel DINT t/f
this signal is zero, then the Velocity Reference is
controlled by 10/11:1892 [VRef Selected].
Velocity reference signal used for the Homing
31 VRef Homing REAL PU
function
If this signal is nonzero, then the active direction for
Unipolar Direction Mode is forward. If this signal is
32 VRef DIR Sel DINT t/f
zero, then the active direction for Unipolar Direction
Mode is reverse.
Velocity Reference signal at the input to the Min and
33 Vref CLmt In REAL PU
Max Velocity Command Limiters
Velocity Reference signal at the output of the Skip
34 VRef SkipOut REAL PU
Band function
A-phase simultaneously sampled current feedback
115 IaFbk REAL PkA
that is scaled to units of the system.
B-phase simultaneously sampled current feedback
116 IbFbk REAL PkA
that is scaled to units of the system.
C-phase simultaneously sampled current feedback
117 IcFbk REAL PkA
that is scaled to units of the system.
This signal indicates the status of the delay when
FreqSync Enhanced
120 Flying Start function is activated. This is for the DINT t/f
Delay CEMF mode of the Flying Start function.
This signal indicates the status of Flying Start
FreqSync Enhanced
121 operating state. This is for the CEMF mode of the DINT t/f
State Flying Start function.
This signal indicates the status of Flying Start
122 FreqSync Sweep State operating state. This is for the Sweep mode of the DINT t/f
Flying Start function.
125 PrchrgState State of the Precharge state machine DINT t/f
If this signal is nonzero, then a Line Loss Condition
130 LineLoss Act is active. If this signal is zero, then a Line Loss DINT t/f
Condition is not active.
The present state being executed by the power state
135 Power State Handler DINT t/f
handler
Commanded state from the PowerStateMach to the
136 PwrStateCmd DINT t/f
PowerStateHandler
If this signal is nonzero, then a Current Limit
Current Limit Stop Stopping Sequence is active. If this signal is zero,
140 DINT t/f
Active then a Current Limit Stopping Sequence is not
active.
141 Sequencer State The present state of the Sequencer DINT t/f
145 ActvPwmFreq Active PWM frequency REAL Hz
Active max junction temperature used in thermal
146 MaxJuncTemp REAL °C
manager
This is the level of DC Bus voltage where the PWM
155 RideThruRcvrLvl can become active again when power loss has REAL VDC
occurred and power is recovered.

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Table 6 - Port 10 Testpoint Codes (Continued)

No. Name Description Data Type Units
This is the level of bus voltage where the PwrLoss
156 RideThruStrtLvl REAL VDC
mode is triggered.
This is the level set to trigger a bus under voltage
157 VbusUnderVltgLvl REAL VDC
event.
This signal is the Theta_e, the electrical stator angle,
160 Theta_e REAL Rad
in radians.
170 IdSyncFdbk Flux current feedback REAL PkA
171 IqSyncFdbk Torque current feedback REAL PkA
172 VdSyncFdbk This signal is the d-axis voltage feedback. REAL PkV
173 VqSyncFdbk This signal is the q-axis voltage feedback. REAL PkV
D-axis voltage command in synchronous reference
180 VdsCmd REAL PkV
frame
Q-axis voltage command in synchronous reference
181 VqsCmd REAL PkV
frame
230 IdSyncRef Flux current command REAL PkA
231 IqSyncRef Torque command REAL PkA
255 ActvCurLim This is the active current limit value. REAL PkA
269 OutputFreqUnFilt This is unfiltered Output Frequency. REAL Hz
270 VbusFrmFdbk This is DC Bus Feedback. REAL VDC
271 CurFdbkMag This is Output Current Feedback. REAL A

Hardware Testpoints

Testpoints are located on the back of the power I/O board (Figure 71). For
details on scaling, contact Rockwell Automation Customer Support and
Maintenance.

Figure 71 - Testpoints on PIOB

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Table 7 - PIOB Testpoints

Testpoint Name Usage Referenced to Range
IL1 Line Current L1 AGND -5…+5V DC
IL2 Line Current L2 AGND -5…+5V DC
IL3 Line Current L3 AGND -5…+5V DC
AGND
Iu Motor Current Phase U AGND -10…+10V DC
Iw Motor Current Phase V AGND -10…+10V DC
AGND
VL1 Line Voltage L1 AGND -5…+5V DC
VL2 Line Voltage L2 AGND -5…+5V DC
VL3 Line Voltage L3 AGND -5…+5V DC
Vu Motor Line Voltage L1 AGND -5…+5V DC
Vv Motor Line Voltage L2 AGND -5…+5V DC
Vw Motor Line Voltage L3 AGND -5…+5V DC
VL11 Reserved
VL12 Reserved
VL13 Reserved
P5V_ANA Internal 5V Supply AGND —
AGND
HECS_P24V +HECS Power Supply HECS COM —
HECS_N24V -HECS Power Supply HECS COM —
HECS COM

Upload Drive Forensic Data PowerFlex 6000T drives have a Forensic Data Recorder (FDR) that logs drive
information to help with troubleshooting.

The forensic data contains information such as fault/alarms, trending data,

and control data. We recommend and advise customers to limit access to the
device and microSD card. The topic of securing physical access is described in
the System Security Design Guidelines Reference Manual, publication
SECURE-RM001 (see section Physical Access). It is important to raise
awareness of threats through trainings and communication to personnel and
implement physical barriers such as locked cabinets

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To upload your drive’s Forensic Data to Rockwell Automation, perform the

following steps:
1. On the drive Overview page, select the Upload Forensic Data from the
Help dropdown menu.

2. Select a location on your computer to save your drive’s Forensic Data.

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3. After you save the Forensic Data (.fdp) file, the upload process starts
automatically.

4. When the Forensic Data upload is completed, select Finish.

Secure Erase PowerFlex 6000T drives with TotalFORCE control firmware revision 9.001 and
later can be reset with the Secure Erase feature. Secure Erase permanently
removes all control and network configurations from the product. This
technology protects the product from any attempt at data recovery.

Use Secure Erase

• When the product is decommissioned for disposal
• When the product is decommissioned and repurposed
• Before return for repair
• When clearing the DHCF information from another drive MCB

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Secure Erase Procedure

1. Power down the product.
2. Locate the three IP address Switches on the main control board.
3. Record the positions of the switches so they can be set back to these
positions at the end of the procedure.

4. Set all three switches to position 8, for an overall value of 888.

5. Power up the product.

6. Wait for the STS indicator to turn flashing red and the ENET indicator to
turn steady red.
7. Power down the product.
8. Set the Ones Position switch to position 9, for an overall value of 889.
9. Power up the product.
As Secure Erase is performed, the STS indicator and ENET indicator turn
flashing red.
Wait for the ENET indicator to turn steady red meaning a successful
completion of Secure Erase. The procedure takes approximately 15
minutes to complete.
10. Power down the product.

To return the product to service:

1. Set the IP address switches to the positions recorded in step 3.
2. Power up the product.
3. Recommission the product.

Transferring the DHCF to a The MCB only accepts a DHCF to which it has been previously 'paired' to. If the
Replacement MCB replacement board is new and has never been in a drive, then the MCB accepts
this DHCF and pairs to it automatically. If the board has been in another drive,
the new board is paired to another DHCF, and this 'pairing' information must
be removed from the new board so that it accepts the DHCF that is being
transferred. The procedure to return the MCB to factory settings and remove
the 'pairing' information is described in Secure Erase on page 95.

There are two methods for loading the DHCF from the old drive:
• Use the microSD card
• Use the ControlFLASH Plus software

The drive does not function without a valid DHCF file. Contact MV Technical
Support for assistance if required.

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Load DHCF Using microSD Card

The microSD card contains a backup of the DHCF. Remove the microSD card
from the old MCB and insert it into the new MCB, which loads the DHCF upon
power-up in the new MCB.

Load DHCF Using ControlFLASH Plus Software

To load the DHCF using ControlFLASH Plus software, do the following:

1. Launch ControlFLASH Plus software.
2. In the Flash Devices tab, select the drive, then select the DHCF file to
load, then select Next.

3. Confirm your selections, then select Flash to start the process.

4. Observe the progress under Status.
5. When the update is complete, a Flash Results dialog displays.

Update Drive Firmware If the drive firmware is updated from firmware revision 7.001 to 8.001 or later,
the maintenance and replacement counters are available upon upgrade. The
values in the earlier counters for the drive and components are used to set the
initial values in the new counters. For more information, see Predictive
Maintenance on page 26.

IMPORTANT If you are upgrading the drive firmware revision from 7.001 to 8.001 or
later, you must first delete the “T3” folder from your computer. The
default location of the folder is “C:\ProgramData\Rockwell\IDF\Data\”.

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Table 8 indicates which counters and predictive maintenance features are

available with different firmware revisions and different options.
Table 8 - Counters and Predictive Maintenance Features
8.001 or 9.001 10.001 or later
Firmware Revision 7.001 with -14PDM option with -14PDMAT and -14PDM options
Component Counter PdM Counter PdM Counter PdM
Fans Not applicable Not applicable X X X X (with -14PDM option)
Air Filter Not applicable Not applicable Not applicable Not applicable Not applicable X (with -14PDMAT option)
Transformer Not applicable Not applicable Not applicable Not applicable Not applicable X (with -14PDMAT option)
MMBL Not applicable Not applicable Not applicable Not applicable Not applicable X (with -14PDM option)
Drive Preventative Not applicable Not applicable X Not applicable X Not applicable
Maintenance

To update the drive firmware, follow these instructions:

1. Launch Connected Components Workbench software and connect to the
drive.
2. Power down the control bucket.
If you are updating from firmware revision 7.001, you must also remove
all option cards.
3. Power up the control bucket and connect to the drive in Connected
Components Workbench software. Accept the new configuration.
4. Launch ControlFLASH Plus software.
5. In the Flash Devices tab, select the drive, then select the firmware
revision to update, then select Next.

98 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 Chapter 3 Troubleshooting

6. Confirm your selections, then select Flash to start the process.

7. Observe the progress under Status.

8. When the update is complete, a Flash Results dialog displays.

9. Connect to the drive in Connected Components Workbench software.

10. Power down the control bucket.
If you are updating from firmware revision 7.001, you must also reinstall
all option cards.
11. Power up the control bucket and connect to the drive in Connected
Components Workbench software. Accept the new configuration.

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 99

Chapter 3 Troubleshooting

Update Enhanced HIM The following steps explain about how to install the Enhanced HIM software
Software on eHIM Module update on an eHIM module:
1. Power down the eHIM module.
2. Remove the eHIM module's Ethernet connection from the product.
3. Connect the Ethernet connection to a network. If needed, change the IP
address settings. Before doing so, record the existing settings so that
they can be set back at the end of the procedure.
4. Download the latest version of the Enhanced HIM software from
Rockwell Automation Product Compatibility and Download Center
(PCDC) at rok.auto/pcdc to the local “Download” folder.
5. After the software is downloaded, power down the eHIM module and
remove the Ethernet connection from the network.
6. Power up the eHIM module.
7. Go to the “Download” folder and double-click the file
“EnhancedHIM.Installer.Bootstrapper.exe”.
8. Follow the on-screen installation instructions to complete the Enhanced
HIM software update procedure.
9. Connect the eHIM module’s Ethernet connection to the product. If
needed, set back the IP address settings as recorded in step 3.

If for any reason this method is not accessible, additional upgrade method
instructions are available in the “Enhanced HIM (eHIM)” download package
on PCDC.

Disable Remote Desktop on eHIM

The eHIM is a Microsoft Windows® 10 based device that is used to configure

and maintain PowerFlex 6000T drives. To help prevent remote access to the
eHIM, disable the remote desktop feature if it is not in use.

To disable remote desktop on the eHIM, do the following:

1. Open the Control Panel.
2. Go to System and Security.
3. Select System.
4. Select Advance System Settings.
5. Select Remote Setting.
6. Clear the ‘Allow remote connections to this computer’ checkbox.
7. Select Apply, then select OK.

Disposal Guidelines Devices contain various types of memory that store device and network
settings, information from embedded solutions, and user data. The types of
memory – along with the types of data in each – are described as follows.
• Volatile memory – Some devices use random access memory (RAM) to
buffer user data temporarily.
• Nonvolatile memory – Some devices use EEPROM or NAND nonvolatile
memory to store the operating system, device settings, and network
information.
• SD card memory – Some devices support the use of an SD card to store
user data.

100 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 Chapter 3 Troubleshooting

To dispose of this data:

• If there is a battery, remove the battery and wait for residual power to
dissipate.
• Reset the device to the default, factory settings.

See the user documentation for your device for instructions.

In high-security environments, you might need additional steps to verify that

confidential data on the controller cannot be accessed once the controller is
removed from your premises. Consider one or more of the following actions
before disposing of a controller:
• Degaussing – Flushes the device with a magnetic field that erases stored
data
• Crush – Physically compresses the device to break component parts and
render them unreadable
• Mill – Physically shreds the device into small metal bits

To help ensure that all data is erased, physically destroy each memory device
on which data was stored.

Technical Support Options What You Need When You Call Tech Support
When you contact Technical Support, be prepared to provide the following
information:
• Order number
• Product catalog number and drives series number (if applicable)
• Product serial number
• Firmware revision level
• Fault code listed in 0:610 [Last Fault Code]
• Installed options and port assignments

Also be prepared with:

• A description of your application
• A detailed description of the problem
• A brief history of the drive installation
• First-time installation, product has not been running
• Established installation, product has been running

The data that is contained in the following parameters help in initial

troubleshooting of a faulted drive. You can use Table 9 to record the data that is
provided in each parameter listed.
Table 9 - Parameters for Initial Troubleshooting
Parameter No. Parameter Name Parameter Data
0:610 Last Fault Code
10/11:460 Condition Sts A
10/11:461 Fault Status A
10/11:462 Fault Status B

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Chapter 3 Troubleshooting

Table 9 - Parameters for Initial Troubleshooting (Continued)

Parameter No. Parameter Name Parameter Data
10/11:465 Alarm Status A
10/11:466 Alarm Status B
10/11:467 Type 2 Alarms

Technical Support Wizards

If you have connected to a drive using Connected Components Workbench

software (version 10 or later), you can run a Tech Support wizard to gather
information that helps diagnose problems with your drive and/or peripheral
device. The wizard saves the information as a text file, which can be emailed to
your remote technical support contact.
\

IMPORTANT The Tech Support wizard cannot be accessed when the Control Bar is
launched.

102 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 Appendix A

PowerFlex 6000T Control Block Diagrams

Flow diagrams on the following pages illustrate the PowerFlex 6000T drive
control algorithms.

Table 10 - 6000T Converter Block Diagrams

Diagram Page
Metering Converter 105
Line Side Converter Data 106

Table 11 - 6000T Inverter Control Block Diagrams

Diagram Page
Flux Vector Overview 107
Variable Frequency, SV Overview 108
Metering Inverter 109
Velocity Reference Overview 110
Velocity Reference Selection 111
Velocity Reference – All 112
Velocity Reference – Flux Vector 113
Velocity Regulator – Flux Vector 114
Torque Overview 115
Torque Reference Selection 116
Load Observer 117
Friction Compensation 118
Torque Reference 119
Torque Filters 120
Torque Control – Current, for Induction Motor 121
Process Control 1 122
Process Control 2 123
MOP Control 124
22-Series Inputs & Outputs – Digital 125
22-Series Inputs & Outputs – Analog 126
11-Series Inputs & Outputs – Digital 127
11-Series Inputs & Outputs – Analog 128
Control Logic 129
Drive Overload 130
Motor Overload 131
High Speed Trend Wizard 132

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Appendix A PowerFlex 6000T Control Block Diagrams

Diagram Conventions and Definitions

Definitions of the Per Unit system: PowerFlex 6000T - Flux Vector
1.0 PU Position = Distance traveled / 1 second at Base Velocity
1.0 PU Velocity = Base Velocity of the Motor
1.0 PU Torque = Base Torque of the Motor * Notes, Important:

Symbol Legend: (1) These diagrams are for reference only and may
Drive Option Module Requires port number. not accurately reflect all logical control signals;
Parameters Parameters actual functionality is implied by the approximated
diagrams. Accuracy of these diagrams is not
Read Only Parameter guaranteed.
Read / Write Parameter

Read Only Parameter with Bit Enumeration

Read / Write Parameter with Bit Enumeration

Provides additional information.

( ) = Enumeration Parameter
XX[ ] = Page and Coordinate
ex. Tst [A2] = pg Tst, Column A, Row 2
= Constant value

‘d’ = Prefix refers to Diagnostic Item Number

ex. d33 = Diagnostic Item 33
‘X:YY’ = Parameter in PORT X

TP0000 = Software Testpoint (Name and Number)

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 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Metering (Metering)
Vrs Active Current
Ir
Vq
AC Line Voltage Analog to Digital 3
2
7
Conversion, Scaling and
Vst Line Current Analog to Digital
Is 3
2

Processing 2
Conversion, Scaling
Vtr
dq Vd and Processing 2
dq 8
It
Reactive Current
Display Filter 13:23 0
OR Display Filter 13:23 0
Display Filter 13:23 OR
2 2
Display Filter 13:23 3
Line Side Converter Control Diagrams

0 AC Line Voltage
0
Peak to RMS 2
Averaging Peak to RMS 6
Conversion 1 Averaging
LPF Conversion 1
LPF
Input AC Line Current
LPF 21
0
ACLineMemory 0
3 Init
1 9
LPF 1
3 LPF
Figure 72 - Metering Converter

R-S Line Volts

0 22 R Phase Current
0
4
1 ACLineMemReset 10
LPF 1
LPF
S-T Line Volts
0 S Phase Current
0
5
1 11
LPF 1
LPF
T-R Line Volts Converter Current T Phase Current
Display Filter 13:23 0
Display Filter 13:23 0
Feedback OR
OR Display Filter 13:23 3

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 Display Filter 13:23 9
AC Line Voltage
Feedback
Appendix A

DC Voltage Analog to Digital Conversion,

Scaling 0
Port 0
5 and Processing 3 DC Bus Volts
LPF 1

Display Filter 13:23 0

OR
Display Filter 13:23 11
DC Bus Voltage
Feedback
6

105
PowerFlex 6000T Control Block Diagrams
106
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1 LineSideCnv Data (LscData)

Vrs
Metering [B1]

Ir X 16 Power Factor
Metering [F1] X
PowerFlex 6000T Control Block Diagrams

13 AC Line kW
2
Vst
Metering [B1]

Is X2
Metering [F1] X

√X 14 AC Line kVA
3
It
Metering [F2] X
X2
Figure 73 - Line Side Converter Data

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4
X 15 AC Line kVAR

1/√3

Vtr
Metering [B1] X

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog

Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

Position Control Flux Vector Overview (Vector Overview)

PReg Fb Sel Position Init
Position Fb Preset
1013
Home Psn 1745 Position Actual
Feedback 1746 Homing
6
Position
User 1648
Option
Fdbk Proportional Channel
Cards Selection
'
Load Psn [N]
Load Fdbk ' Integration Channel
Fb Sel Selection
[D]
1014 Gear Ratio

PTP Reference u PReg Kp

PsnVelTrq Actv
PTP Command 1404 1755 PReg Vel Out 1767
Profiler Pos Profiler 34 Velocity Control – Regulator
Steps 1-16 Spd Profiler 1391 Vel Limit Pos
u PReg Ki
PsnVelTrq Actv
1898

( PReg Vel Out )

Psn 1757
PTP Ref PTP PRef
PTP Ref PTP Mode 34 VReg Output
1383 Position
Motor Side Inverter Control Diagrams

Sel Selection Selection Selected VRef Final

Planner 1969
PRef EGR Out
+
Vel 1684 + 1933
Vel PI +
1686 Regulator x PI Regulator
PCAM Psn PCAM Limit
1426 Planner Pos
Select 1042
[N]
PLL Ext Vel Position 1899 Vel Fb Active
1591 [D] '
Vel Sel PLL Mode 1752 Psn Gear Ratio
Pos Gear Ratio
Droop RPM
Planner Selection 1961
PLL PRef 1595 Vel Limit Neg at FLA
System BW 906
Sel Position + Ref NF 1 &
Offset + 1731 Position Command
Ref NF 2 VReg Kp 1955 1956
PRef Direct
PRef VReg Ki 1957 1958
Direct Ref
1681 Selection
1683
Select
Figure 74 - Flux Vector Overview

( VReg Output )
Psn Gear Ratio 1752 x ( VRef Profilr ) ( Vel FF Ref )
Velocity Control – Reference Torque Control

( Vel Comp Out )

Accel FF Gain 1973 1974 TqCAM Trq Out
VRef A Sel Trq PsnVelTrq Actv
PTP VRef Fwd 1405 Ref
PsnVelTrq Actv 2524 Trq Ref Out
1800 VRef Selected Accel FF Mode 1972 CAM 34 Torque Step
34 Vel Comp Sel 1927 2072
VRef B Sel 1892 PCAM Vel Out 1503
Accel FF 2077 Trq Ref Trq Ref Limited
1752 Psn Gear Ratio

( VRef Scaled )
1807 Output Filtered 2087
PLL Vel Out 1612 Vel FF +
RefA TrimPct Sel VRef Selection x Accel FF 2070 + + X 2080
Selection Position/ FOC
&
-
1850 FrctnComp Velocity/ Perm Magn
+ Torque
Limits VRef Vel FF Gain Vel Comp 1930 Mode FrctnComp Torque + Ref
RefB TrimPct Sel +

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

1923 Load Total Filters
& Vector
Ramped 1760 2050 Out Mode +
1860 PID Output Sel PsnVelTrq Actv x Vel Comp Observer Inertia Control
Out 2057 Selection Limit
Speed 34 1761
RefA Trim Sel Ref 9:14 2020
x Friction Comp 2076 Current
1855 TrimPct
Ref Vector LdObs Mode Processing
Speed Ref NF 1
Trim + + Trq Ref Selected
Appendix A

RefB Trim Sel PID Vel Vel Profiling Jogging Ramp &
Ref + & + X
Exclusive Ref Selection Selection Move
1865 Selection Ref NF 2 + 1042 Torque
CAM Profiles Trq
Limit
1814 Vel Fb Active Ref
Preset Speed 1 Generation Motor
CAM
Jog Speed 1 1894
Preset Speed 2 1815
1932 E1
Preset Speed 3 1816 Jog Speed 2 1895 PID Speed Trq Ref A Stpt Trq Ref A Sel
Virtual Encoder Trq
Trim VRef Scale
1817 Selection 2001 2000 Commanded
Preset Speed 4 Torque Gear
1818 Trq Ref B Stpt Trq Ref B Sel Ref 2073
Preset Speed 5
9:14 Selection
1819 2008 2007 Load
Preset Speed 6
1820 PID Output Sel
Preset Speed 7 E2

PID Torque
Trim / Excl
Process Control ( PID Output Meter ) Selection

PID Output Meter 9:14

PID Ref Meter
PID 9:13
Reference
PID Output Sel
PID Ref Sel 9:25 9:26
Selection
PID Fdbk Meter PID Regulator ( PID Output Meter )
PID
PID Fdbk Sel 9:35 Feedback 9:36
Selection Limit

PID LPF
PID Prop Gain 9:4 9:10
BW

PID Int Time 9:5

PID Deriv Time 9:6

107
PowerFlex 6000T Control Block Diagrams
108
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Variable Frequency (V/Hz), SV Overview (Freq Overview)
Velocity
Jog Speed 1 1894 Convert
Vref 1923 Limited Electrical to
MOP Jog Speed 2 1895 Mechanical Units
VRef All [I4] VRef Ramped
PID Output Sel 9:14 VRef
Commanded
Vref Sel Vref All 1914 Velocity Control – Current/Bus Limiter
PowerFlex 6000T Control Block Diagrams

1892

VRef Selected
2
954 Ref NF1 Freq Act
From Anti-Sway [D2] 956 Ref NF1 Depth Act
957 Ref NF1 Gain Act
Velocity Referencing (I/O) - Frequency 943 Ref NF1 Width

Variable Torque
Max Speed
Auto Tune Start/ Stop Convert Limits
Boost Proving
Override Override Mechanical to Bus/Current
Override Override
Electrical Units Limiter
Σ Ref NF1 Ref NF2
and
VelRamp Rate Rate Integrator
3 Limit
2
Control Ref NF2 Freq 948
Ref NF2 Width 949
Mtr Cfg 420 15 Vel Limit Pos 1898
VRef Ramp In V/F Ramp and Rate Select Options Ref NF2 Depth 950
(Jerk Select) 1899
1 Ref NF2 Gain 951 Vel Limit Neg
Overspeed Limit 1904
Vel Ctrl Options 1950
Figure 75 - Variable Frequency, SV Overview

Accel Time 1 1915 Velocity Ramp Rate

Scale and Display
Accel Time 2 1916 Filter
1044 Motor Vel Fb
Status

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Ramp 1942 Output Frequency
4 Decel Time 1 1917 Vel Fb Active
S Curve Convert
Decel Time 2 1918 Electrical to 1933 VRef Final
Mechanical Units
1
V/Hz
Jog Acc Dec Time 1896
VRef Accel, Decel Jerk 1919 1920 Fdbk [D5], Current
Limit
Proc 1 [E4], Processing
Proc 1 [H3]

Vel Limit Pos 1898

Vel Limit Pos

Vel Limit Neg 1899
1898
Motor
Vel Limit Neg Overspeed Limit 1904
5 1899 Limit
At Limit Status 365 3
Frequency Adder (OverSpd Lmt)
Process Control
Vel Droop 3 444
PID VCL CReg C/U Sel
Droop RPM at FLA
Limit 1 1
1961 c Slip RPM atFLA 489
[NP Spd] [NP Spd]
X
9:13 X u Slip RPM atFLA 490
Filtered (100 R/S) Iq Feedback (pu) LPF
6 PID Output Meter Vel Limit Pos 1898 Iq Feedback (pu)
Vel Limit Neg 1899 Slip Comp LPF BW 491
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1 PF6000T Metering Signals

VRef Commanded 1914

VRef Final 1933
Command Signals
Output Signals
2
AC Line Freq 13:1 1 Output Frequency
AC Line Voltage 13:2
PF6000T 2 Output Voltage
Phase-
AC Line Current 13:6 shifting Cascaded H-Bridge 3 Output Current
Transformer Inverter 4 Output Power
R-S Line Volts 13:3 N
5 Output Pwr Factr
S-T Line Volts 13:4
Output Feedback
U0
T-R Line Volts 13:5 8 Torque Cur Fb Signals
V0
9 Flux Cur Fb
Figure 76 - Metering Inverter

W0
3 Input Feedback R Phase Current 13:9 11 Motor Voltage Fb
Signals U1
S Phase Current 13:10 13 DC Bus Memory
V1
T Phase Current 13:11 . 1044 Motor Vel Fb – for Freq control modes, this is filtered VRef Final
. . W1
. 3035 Neutral Vlt Fb
. . .
.
.
Active Current 13:7 .
Un . 3000 DC Bus Phase U
Reactive Current 13:8
Vn . 3001 DC Bus Phase V
Wn 3002 DC Bus Phase W
Ground Current 13:12

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

3003 DC Bus Phase Avg
4
3004 DC Bus PhaseUAvg Power Cell
Feedback Signals
3005 DC Bus PhaseVAvg
Appendix A

U0 DCBus Voltage
3006 DC Bus PhaseWAvg
AC Motor V0 DCBus Voltage
M : 3007 DC Bus Cell Min
: DC Bus Cell Max
12:31,51.. 12:3 3008
Act Power Cells 3009 DC Bus Cell Avg

109
PowerFlex 6000T Control Block Diagrams
110
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Velocity Reference Selection

1
Velocity Reference Overview (VRef Overview)
VRef Selected

VRef A
RefA Auto Velocity Reference Control
RefA Trim
+
RefA TrimPct
PowerFlex 6000T Control Block Diagrams

VelRefCAM/ VRef
VRef B Profiling/ Limited
VRef Commanded Direction Limit VRef
2 Jogging/ Skip
+ Switch Stop / Torque
RefB Auto Lift App/ Mode Bands
RefB Trim Control Proving
Autotune/
+ Homing/ Limit
RefB TrimPct Overrides
From
PI Regulator
Presets 3-7 Auto (Exclusive Mode)
DPI Ports 1-6 Manual
ENet VRef

3
Accel Accel FF
Vector Velocity Control FF to Trq Ref
Virtual
Encoder
Vel
Figure 77 - Velocity Reference Overview

Comp Friction Friction Comp

Vector Ramp and
Move Profiles Comp Torque Ref

Flux Velocity VRef Ramped

Vector Ref NF 1 Motor VRef
Ramp &
& x
Move
Ref NF 2

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 Profiles 1933 VReg
Limit
From From Vel Limit
VRef Final Ref
PTP Profile PI Regulator VRef Scale
Generator (Trim Mode)
Rate
Select From Position
Regulator

VRef Ramped V/F Velocity Control

VF or SV Linear Ref NF 1
5 Ramp & & 1 Frequency
S Curve Ref NF 2 Ref
Output
Limit Limit Frequency
V/F Ramp S-Curve
Vel Limit Vel Limit &
Droop Overspeed Limit

From
From Velocity
Slip Comp Status
PI Regulator Velocity Feedback Status
(Trim Mode) Vector Ramp Status
6 FF Ramp Status
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

VRef A Sel Velocity Reference Selection (VRef Sel)

1 1800
* Note: Analog Hi, Lo
scaling only used when 350 VRef Source
Analog Input is selected ‘d’ Prefix Refers to Diagnostic Item Number (ex. d33) – Reference Symbol Legend Velocity Units 0:46
1870 VelTrimPctRefSrc
Disabled (0)
1871 Vel Trim Source
VRef A Stpt 1801 1890 VRef Sel Sts
RefA TrmPct Sel RefA Trim Sel
1850 1855 0:47 Vel Units Act
Preset Speed 1 1814
Preset Speed 2 1815
Motor Side Sts 1 354 9 14 13 12 11 10
Preset Speed 3 1816 Man Ref Ref Ref Ref Ref
2 Disabled (0) Disabled (0) Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Preset Speed 4 1817 0
0
Preset Speed 5 1818 RefA TrimPct Stpt 1851 Default RefA Trim Stpt 1856 Default
1
( Ref A Auto ) VRef Sel
Preset Speed 6 1819
Port 1 Reference 0:214 Port 1 Reference 0:214 VRef All [A1]
Preset Speed 7 1820 2
( Ref B Auto )
Port 2 Reference 0:215 Port 2 Reference 0:215
MOP Reference 1823 Port 3 Reference 0:216 Port 3 Reference 0:216 3
1816 ( Preset Speed 3 )
MOP [G3]
Parameter Port 4 Reference 0:217 Port 4 Reference 0:217 4
Enc VRef 1834 Selection 1817 ( Preset Speed 4 )
Fdbk [H5] Port 5 Reference 0:218 Port 5 Reference 0:218
3 Parameter Parameter
Port 6 Reference 0:219 Selection Port 6 Reference 0:219 Selection 5
Default 1818 ( Preset Speed 5 )
Port 1 Reference 0:214
Port 2 Reference 0:215 6
Anlg In1 PortVal Anlg In1 PortVal 1819 ( Preset Speed 6)
Port 3 Reference 0:216 (option port) (option port)
7
1820 ( Preset Speed 7)
Port 4 Reference 0:217
Figure 78 - Velocity Reference Selection

Anlg In2 PortVal Anlg In2 PortVal

(option port) (option port) 17
Port 5 Reference 0:218 0:214 ( DPI Prt1 Man )
Port 6 Reference 0:219
RefA TrmPct AnHi 1852 * RefA Trim AnHi 1857 * ( DPI Prt2 Man )
18
0:215
Option Ports: 1853 RefA Trim AnLo 1858

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

RefA TrmPct AnLo 19
4 Analog, EtherNet 0:216 ( DPI Prt3 Man )

VRefA AnlgHi
* x x + ( DPI Prt4 Man )
20
1802 0:217
Appendix A

VRefA AnlgLo 1803 VRef A Mult 21

0:218 ( DPI Prt5 Man )
1804
22
0:219 ( DPI Prt6 Man )

Disabled (0) Disabled (0) Disabled (0)

VRef B Stpt 1808 RefB TrmPct Stpt 1861 RefB Trim Stpt 1866
DI ManRef AnlgHi
5 VRefB AnlgHi 1809 RefB TrmPct AnHi 1862 RefB Trim AnHi 1867 1840 16
( DI Man Sel )
VRefB AnlgLo 1810 RefB TrmPct AnLo 1863 RefB Trim AnLo 1868 1841
* Parameter * Parameter Parameter
* Parameter
Other Ref Sources Selection Other Ref Sources Selection Other Ref Sources
* Selection DI ManRef AnlgLo Selection

0:147 DI Man Ref Sel

VRef B Sel 1807 RefB TrmPct Sel 1860 RefB Trim Sel 1865 Alt Man Ref AnHi
1836 31
x ( Alt Man Sel )
+ 1837 * Parameter
6 x Alt Man Ref AnLo Selection
VRef B Mult 1811
1835 Alt Man Ref Sel

111
PowerFlex 6000T Control Block Diagrams
112
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Position Control – Add Speed Reference Option

Trq Ref [E5] Psn Ctrl Options Velocity Reference – All (VRef All)
1 PsnVelTrq Actv (Add VRef)
34 1730 10
Position VRef Selected
VRef Sel (>= 6) 1
1892 Velocity Reference CAM V e l o c i ty P r o f i l i n g J o g g in g Lift App (Micro Positioning) Pump Application Homing
VRef Sel [I2]
0
Non-position 0 Trq Ref [E5] Motor Side Sts 1 Trq Prove Status
(< 6) Homing Status
VCAM Status PsnVelTrq Actv (Jogging) (Micro Psn) Oil Well 1 [H3] Oil Well 2 [H4]
2203 34 354 17 9:52 2 PumpJackSpdRefEnbl POfVelRefSts 1641 1
PowerFlex 6000T Control Block Diagrams

PI Speed Exclusive
0 ≠6 0 0 0
0 0 0
2
1 Vel Ref Profiler 1,0 PumpJack 1 1 1
9:13 6 Jog 1 1 POf Vel Ref
PID Output Meter CAM [H2] 1894 x SpdRef
Proc 1 [H2] Speed 1 Oil Well 2 [H4]
VCAM Vel Out Profile Status Oil Well 1 [H3]
Jog 0,1
PID Enable 2354 Position 1895
PID Status 9:3 0 1200 10 Speed 2
Mode 9:71
Motor Side Vel 1 1 Position MicroPsn
354 16 Running & Ref 0 Logic [H3] VRef Homing
Sts 1 ScalePct
CAM
Speed Excl Drive Logic Jog1 31
9:14 0 Speed 879 2 19
30 VRef Profilr Rslt Jog2
VRef PID Sel 67
PID Output Sel = 1 VRef Homing x 1752
3 Homing [H2] Psn Gear Ratio
VRef Prof Ind 1752 Psn Gear Ratio
x
Prof Ind 1 [H2]
Figure 79 - Velocity Reference – All

Direction Mode Control Autotune Tests Limit Switch Control Velocity Ref Command Limits VRef Commanded
1914
Direction Mode VRef Sel Sts VRef Sel Sts
Direction Skip Bands
(Decel Lmt Sw) (End Lmt Sw)
930 Test Min Velocity Max Velocity

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 Limits Limits VRef SkipOut
1890 13 1890 14 VRef CLmt In 34
Bipolar 33 VRef Vect [A1]
1 0 0 0 1906 Skip
Rev Disable VRef Limited Bands
2 1 1
Max 1 Limit Limit
5 Hz 0 Proc 2 [B2]
0 Unipolar 0
X Skip Speed 1 1908 VRef OverRide
912
1814 Testpoint 39:
Foward Autotune Preset Speed 1
Skip Speed 2 1909 0- No Override
Command Vel Lim Id or 1- Psn Cntrl – Add Spd Ref Option
Logic Inertia Vel Low Lim Pos 1900 Skip Speed 3 1910 2- PI Speed Exclusive
5 VRef Dir Sel 32 Test 3- Speed Profiling
Vel Low Lim Neg 1901 Skip Speed 4- Jogging
Unipol 1 1911
(+1) Band 5- Homing
Fwd
Vel Limit Pos 1898 6- Autotune
Unipol 0 7- Direction Test
(-1) Rev Vel Limit Neg 1899
8- Limit Switch Decel Limit
Internal Load Dependent 9- Limit Switch End Limit
Max Limit 10- Torque Proving
(Lift Application) 11-Oil Well Pump
12-Variable Boost
6 Trq Prove Status
9:52 5 13-Velocity Ref CAM
(LoadTestActv)
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog

Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Start/Stop
Velocity Reference - Flux Vector (VRef Vect)
1 Motor Side Sts 1 (Running) Velocity Ramp and Move Profiles (VRef Move)
VRef OverRide
354 16 (Testpoint 39) = Vel Ctrl Options
Motor Side Sts 1 OR Velocity Ref (Delayed Ref)
(Stopping)
355 9 CAM (13)?
VRef Ramp In 1950 8
VRef Commanded 354 18 Motor Side Sts 2 1923 VRef Ramped
1
0 (Autotuning) 1 0 Proc 2 [C2] 0
VRef All [I4] 1914
Not Stopping
and Active
Virtual Encoder
0
0
1 VRef Delayed
0 One 1
Stopping LinScurve 1924
or Not Active Scan
2 SineSquared Delay PRef 1 [C5]
Virtual Enc EPR Virtual Enc Psn
Poly5 (Edges Per Rev)

Cubic 1018 1046

931 One
1017
Ref NF2 Freq 948 Ref Move Type Scan
Ref NF2 Width 949 Delay Virtual EncDelay
Virtual Encoder
Int Ramp Ref PRef 1 [C5]
Ref NF2 Depth 950 1
Trq Ref [G1] Ref NF2 Gain 951
Velocity Control
3
VRef Filtered
VRef NF In
Accel Feed Forward 1925
36
Figure 80 - Velocity Reference – Flux Vector

Ref NF2 Ref NF1

Accel FF Mode
Accel FF Output
1972 Velocity Comp
2070

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Disabled Vel Comp Sel
0 Accel 0
0 1927
FF
Int Ramp Ref 1 d Accel FF Output Not Used
1 0
Trq Ref [A2] Vel Comp Out
Appendix A

dt 0
4 Ext Ramped Ref 905 System C/U Sel Ramped Ref 1 d 1930 From Anti-Sway [D2]
2 d
1978 1973 c Accel FF Gain 140 Cur Lmt Stop dt VRef Psn FF
dt OR Rate Ref 2 35 1760 c Vel FF Gain
3 1974 u Accel FF Gain 1931 Speed 954 Ref NF1 Freq Act
1931 130 LineLoss Act 0
Comp x 1761 u Vel FF Gain
FF Vel Rate Ref 956 Ref NF1 Depth Act
FF Vel Rate Ref 1975 Accel FF NegGain
c Vel Comp Gain 1928 1 Vel FF
957 Ref NF1 Gain Act 0
u Vel Comp Gain 1929 943 Ref NF1 Width PRef 1 [I5]
354 17 1752
VRef Scaled
37 Motor Side Sts 1 Psn Gear Ratio
X Velocity Ref Final Limits (Jogging)
1932
5 VRef Scale 140 Cur Lmt Stop

Position Reg Output At Limit Status OR

PI Velocity Trim
VRef FLmt In (MaxSpeed Lmt) 130 LineLoss Act
Max Speed Limit
2 0 38
Proc 1 [H2] 9:13 0 365 2
PReg Vel Out 1767 0
PID Output Meter ≠2 VReg Vect [A3]
0 1 PReg [H3] PReg Vel Out 1
0 1
0
Limit 0 1933
9:14 354 17 354 17 Vel Limit Pos 1898 VRef Final
PID Output Sel Motor Side Sts 1
6 (Speed Trim) (Jogging) Motor Side Sts 1 Vel Limit Neg 1899
(Jogging)

113
PowerFlex 6000T Control Block Diagrams
114
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Velocity Regulator - Flux Vector (VReg Vect)
906 System BW
System C/U Sel (905):
PowerFlex 6000T Control Block Diagrams

* Set (905) System C/U Sel = 1010 AltFb Gn Scale

905 0- Calculated* User to manually adjust Kp
and Ki gains. Otherwise the 907 System Damping
1- User Entered
following params determine
2- Load Calculated then revert Calc gains. 901 Load Ratio
to User Entered
902 Load Coupling
2

nff

1953 FeedFwd

VReg Anti Backup

At Limit Status VReg Enable
Velocity Error (Spd Reg Lmt) 45
aVRegKp 365 4
1951 VReg Lmt In 0
41
43 0
3 VReg Output
VRef Vect [H6]
- 1
1933 + + + kp + 1969
- + +
Figure 81 - Velocity Regulator – Flux Vector

VRef Final Trq Ref [B2]

c VReg Kp 1955 P Gain Limit
+10%
ks
u VReg Kp 1956
s -10% 1965
VelFb Active aVRegKi

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

ServoLck Limit 42
1042 Accel Limit Pos
Fdbk [G2] 40
ki 1966
VReg SrvLock
+ kp
- s Accel Limit Neg
Servo Lock Gain 1952
4 P Gain I Gain
Hold / Reset
At Limit Status 365 1962 VReg Int Out
c VReg Ki 1957
PTP PsnRefStatus u VReg Ki 1958
1380 2
(PTP Int Hold)
c Alt Kvi OL Fb 1959
Vel Ctrl Options 1950 3 u Alt Kvi OL Fb 1960
(SpdRegIntRes) Vel Droop
4
(SpdRegIntHld) 3
(Jog No Integ) 6
Droop
Kj
Preset
5 VReg Trq Preset 1980 1961 44

Droop RPM at FLA

Trq Ref Selected 2076
Trq Ref [G3]

PsnVelTrq Actv 34 Bumpless

Trq Ref [E5]

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog

Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1 Torque Overview (Trq Overview)

Trq
VReg PI Out
Ref
Accel FF VReg CAM
Output +
Trim -
Select
2
Torque Step

VelFb
Load
Observer Position /
Trq Ref
Velocity / Te
+ Filtered Torque
Torque + + Trq Iq Current
Figure 82 - Torque Overview

Mode + Filters Torque Current Rate Ref

Limit Calc Limit Limit
Select
Friction
Trq Ref 1 Torque Comp
3
Reference
Trq Ref 2 Scale
and
Trq Trim
Trim

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Pos Torque Limit
Regen Power Limit
Appendix A

4
Drive Voltage and Current
Current Ratings Pwr
Bus Torque Limit
+ Te
DC Bus Voltage Voltage + Limit Processing
Regulator Select and
Calc Selection
Brake/Bus Config

Neg Torque Limit

Power, Torque, and Current Limit Reference Generation

5

115
PowerFlex 6000T Control Block Diagrams
116
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

* Note: Analog Hi, Lo Torque Reference Selection (Trq Ref Sel)

1 scaling only used when
Analog Input is selected
PowerFlex 6000T Control Block Diagrams

Trq Ref B Sel 2007

2
0.0 ( Disabled ) Default

Trq Ref B Stpt 2008 ( Setpoint )

From DIO Option Card ( Analog In 1 )

Parameter
( Analog In 2 ) Selection
From DIO Option Card

Trq Ref B AnlgHi 2009

Trq Ref A Sel 2000 Trq Ref B AnlgLo 2010
*
3
Figure 83 - Torque Reference Selection

0.0 ( Disabled )
Trq Ref A Stpt
2001 ( Setpoint ) Default

From DIO Option Card ( Analog In 1 )

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

From DIO Option Card ( Analog In 2 ) Default 0
Parameter
Selection PID Output Sel
Trq Ref A AnlgHi 2002 1

Trq Ref A AnlgLo 2003

* 9:14
4 PID Output Meter 3 = Torque Excl
(PID Torque Trim) 4 = Torque Trim

Proc 1 [H2 ]
3,4
9:13
Trq Commanded
Bit Other
0 2073
Source
Parameter Other Trq Ref [B4],
DI M TorqueStptA 0:167 Selection x +
Trq Ref B Mult 2011 Proc 1 [A4]
3
0
5
Other
Trq Ref A Mult 2004 x
3
0

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog

Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Trq Scale
Motor NP RPM 403 44 Kj Load Observer (Ld Obs)
1 50
Mtr NP Pwr Units 405

Motor NP Power 406 Acc

Motor Inertia 900 Trq
Load Ratio 901 LdObs Acc Ref Out Trq Ref Out
Calc
2037 2072

LdObs Acc Ref In 2027 + X Trq Ref [D2]

TrqRefPosLimActv
-
Trq Ref [B2]
51 Limit
2
Active Pos 1
LdObs Mode (2020): Torque Limit Trq Scale
Cur IM, SPM [E3] TrqRefNegLimActv
0- Disabled 52
Cur IPM [E3] Active Neg
1- LdObs Only 1 Trq Ref [D3]
Torque Limit
Figure 84 - Load Observer

2- LdObs VelEst Trq Scale

LdObs Torque Est
3- Vel Est Only
4- Accel Fdbk X 2036

Note:Load Observer is X Trq Ref [C3]

internally disabled in 0 LdObs Accel Est
3 TrqReg mode or
0,3 4 1,2 0,4 1,2,3 2035
VelMode with open loop
LdObs Mode 2020
feedback
0 0.5

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

K j * aVRegK p
1961 ----------------- -
Np RPM +
Appendix A

Droop RPM at FLA

4

1.0
LdObs Vel Error
2031
Fdbk [E3]
1,2,3,4 LdObs Vel Est
LdObs VelFb In
2028 + X 2034
Fdbk [G3] -

5
c LdObs Kp 2021 2023 c LdObs Ki
u LdObs Kp 2022 2024 u LdObs Ki

X X
6

117
PowerFlex 6000T Control Block Diagrams
118
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Friction Compensation (Friction Comp)
Friction Compensation Adjustments
PowerFlex 6000T Control Block Diagrams

Torque

2 2056
+
+ FrctnComp Rated
2054
+ FrctnComp Stick

2055
+ FrctnComp Slip
Figure 85 - Friction Compensation

3
2052
2051 FrctnComp Hyst 403
403
- -Motor NP RPM - FrctnComp Trig + Motor NP RPM +
Speed

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

+ FrctnComp Trig
2051
FrctnComp Hyst
2052

4
- FrctnComp Slip
2055

- FrctnComp Stick
2054

- FrctnComp Rated
2056

-
5

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog

Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

403 44 Kj
Motor NP RPM
Ld Obs[2020] modes: Mtr NP Pwr Units 405
Torque Reference (Trq Ref)
1 50 Trq Scale
406 Acc FrctnComp Mode FrctnComp Out
0- Disabled Motor NP Power
1- LdObs Only 900 2050 2057
Motor Inertia Trq
2- LdObs VelEst Disabled
3- Vel Est Only Load Ratio 901 0 Friction
0
4- Accel Fdbk Calc Comp
***INTERNAL CONDITION ONLY***
1
Logic Ctrl State VRef Filtered 1925
Ld Obs [A2] Ld Obs [H2] 2051 FrctnComp Trig
(Forced Spd) VRef Vect [D3]
LdObs LdObs Ext Ramped Ref
OR 2 2052 FrctnComp Hyst
Acc Ref In Acc Ref Out Trq Ref Out 1978
Min/Max Cntrl
2027 2037 Zero Torque (Forced Spd) 2053 FrctnComp Time
2 2072 0 Vel Fb Active
VReg Output 0 2054 FrctnComp Stick
1042 3
1969 Speed Reg 1 0
VReg Vect [H3] + + X 2055 FrctnComp Slip
+ -
2056 FrctnComp Rated
Accel FF Output Torque Reg 2 1
VRef Vect [C4] 2070 SLAT TrqRefAtZero
Min 3
Figure 86 - Torque Reference

Min Trq Ref Selected 150

Trq Ref Filt In
Ld Obs [H3]
+ 0
LdObs SLAT 2076 +++ 2150 Trq Filt [A2]
Torque Est Max 4 +
VReg Vect [D5] 1
2036 Max 0
3 c LdObs Kp 2021 LdObs
LdObs Mode Accel Est
u LdObs Kp 2022 Sum 5
2020 2035
Torque
2077 TqCAM
0,3 X + Step
Load Disabled 0 + Trq Out
c LdObs Ki 2023
Observer 2524
1,2,4
u LdObs Ki 2024 6

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Psn PTP Trq Ref CAM [H2]
LdObs Vel Est
2,3 7
LdObs VelFb In 2028 2034 Vel Feedback
Psn Direct Trq
Fdbk [G3] Fdbk [E3]
Ref
Appendix A

2031 8
4 Psn Camming CAM
LdObs Vel Error
9
Psn PLL

Trq Commanded 10
Psn SpdlOrnt
Trq Ref Sel [H5] 2073
Profiler 11

Prof Ind 1 [H2],

VReg Vect [D6],
PsnVelTrq Mode A 30 PRef 1 [D2, H1],
5 ABCD VRef All [A1], 34 PsnVelTrq Actv
Select Motor Side Sts 1
PsnVelTrq Mode B 31 VRef All [D2]
0 0
354 21 22 23
PsnVelTrq Mode C 0 1 Select
32
1 0 Logic Torque Mode
PsnVelTrq Mode D 33 1 1 PositionMode
SLAT Err Stpt 39 Speed Mode
DI SpTqPs Sel 1 0:161 SLAT Dwell Time 40
DI SpTqPs Sel 0 0:160 Mtr Cfg Options
6 (Zero TrqStop)
(Trq ModeStop) 420 0 1 2
(Trq ModeJog)

119
PowerFlex 6000T Control Block Diagrams
120
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Torque Filters (Trq Filt)

1

Trq Ref Filtered

PowerFlex 6000T Control Block Diagrams

2080
Torque Torque Torque Torque Torque Torque
2150 Lead Low Notch Notch Notch Notch
Trq Ref Filt In
Trq Ref [H3] Lag Pass Filter Filter Filter Filter
Filters Filter 1 2 3 4 Cur IM [B2]
2
Cur IM SPM [B2],
Cur IPM [B2]

Trq LLF BW
2152
Figure 87 - Torque Filters

Trq LLF Gain

2153

*2156 Trq LPF BW Act

3 *2160 Trq NF1 Freq Act *2170 Trq NF2 Freq Act *2180 Trq NF3 Freq Act *2190 Trq NF4 Freq Act
Key
*2162 Trq NF1 Width Act *2172 Trq NF2 Width Act *2182 Trq NF3 Width Act *2192 Trq NF4 Width Act
* Save in non-volatile
AdptTune Config 2110 memory *2164 Trq NF1 Depth Act *2174 Trq NF2 Depth Act *2184 Trq NF3 Depth Act *2194 Trq NF4 Depth Act
Trq NF Threshold 2111 *2166 Trq NF1 Gain Act *2176 Trq NF2 Gain Act *2186 Trq NF3 Gain Act *2196 Trq NF4 Gain Act
Trq NF Freq LLim 2112

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Trq NF Freq HLim 2113
Trq NF WidthMin 2114
TP 265 GnOptTimeLeft
Trq NF WidthMax 2115
4
Trq LPF BW LLim 2116
AdptTune NF Num 2118
Adaptive Tuning
AdptTuneMinScale 2119
Note: User Trq NF and Selected LPF gains pass through as Active gains when Adaptive Tuning is disabled.
GnStab TorqueLim 2134
GnOpt TorqueLim 2135
2136 2120 AdptTune Status
GnOpt Scale Inc
System C/U Sel 905
GnOpt Error Type 2137 *2121 AdptTune GnScale
c Trq LPF BW 2154 Trq NF1 Freq 2159 Trq NF2 Freq 2169 Trq NF3 Freq 2179 Trq NF4 Freq 2189
GnOptPosErrThrsh 2139 2123 Trq NF Freq Est
5 u Trq LPF BW 2155 Trq NF1 Width 2161 Trq NF2 Width 2171 Trq NF3 Width 2181 Trq NF4 Width 2191
GnOptVelErrThrsh 2140
Trq NF1 Depth 2163 Trq NF2 Depth 2173 Trq NF3 Depth 2183 Trq NF4 Depth 2193 2124 Trq NF Mag Est
GnOptSclHiLim 2141
Trq NF1 Gain 2165 Trq NF2 Gain 2175 Trq NF3 Gain 2185 Trq NF4 Gain 2195 2125 Trq NF Wdth Est
GnOpt Time 2142
2129 AdptTuneStabFreq

2130 AdptTuneStabMag

2138 GnOpt Error Max

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog

Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Torque Control - Current, for Induction Motor (Cur IM)
Flux Vector

At Limit Status 365 21 Trq Pos Lmt 25 Cur Lmt FV

22 Trq Neg Lmt 26 Therm RegLmt At Limit Status
23 Mtrng PwrLmt 27 BusVltgFVLmt
365 17 TrqCurPosLmt
24 Regen PwrLmt 28 Mtr Vltg Lkg TrqCurNegLmt 420 16 Mtr Cfg Options
(IqDelay)

IqsRefLmtd
Trq Ref Filtered 101
2 Te 0
Trq Filt [H2] 2080 2087 Torque Current Ref
Iq
Trq Ref Limited Calc -2 1
Limit Limit Rate Lim
Fdbk [C6] Z
Torque Limit Neg 2084 Cur IPM [E2]
TrqRefNegLimActv TrqRefPosLimActv
VelFb Active 52 51 Neg Pos
Active Neg Limit Limit 227
Active Pos
Fdbk [G2] 1042 Torque Limit Torque Limit
Current Rate Lim
Ld Obs [C2]
Regen Power Lim 229
{Regen PwrLmt} Max
-1
3
Bus + Pwr
{BusVltgFVLmt} +
Regulator Te -1
Calc
Min
Motor Power Lim 230
{Mtrng PwrLmt}

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Torque Limit Pos 2083
Flux
Figure 88 - Torque Control – Current, for Induction Motor
Appendix A

4
Voltage Ref/ Pk Torque Iq Current Limit
{Mtr Vltg Lkg} Limit
Generation Min
Is,Id Active Iq Current Limit

Iq Flux Vector
Flux Cur Fb Calc Iq,Id (3,6)

9 Is
Calc

Current Lmt Sel 221

ActvCurLim
Power VF or SV
255
Current Limit 1 222 Thermal Mgr Current Limit (0-2,4,5,7,8)
Unit Scale
224 Active Cur Lim
Thermal RMS
Current Limit 2 223 Invert IT [D2]
Parameter Protection
Selection Port 0
{Therm RegLmt} 65
{Cur Lmt FV} Pri MtrCtrl Mode
6

121
PowerFlex 6000T Control Block Diagrams
122
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

From Anti-Sway [D2] Process Control 1 (Proc 1)

DI PID Invert
1
954 Ref NF1 Freq Act 9:23
PID Ref Sel PID Deriv
9:6
948 Ref NF2 Freq Time
9:25 956 Ref NF1 Depth Act -1
Ref NF2 Width Option E
949
Port:
PID Ref PID Ref 957 Ref NF1 Gain Act 950 Ref NF2 Depth Digital In
AnlgHi AnlgLo - PID Status
943 Ref NF1 Width 951 Ref NF2 Gain Parameter + kd-S (PID In Limit)
9:29 9:30 PID Selection
Deadband PID Prop Gain PID Output 9:3 3
PID Error D Gain Mult
9:9 Invert Error Meter 9:4
Option Parameter 9:15
Port: Selection 9:1 1 PID Cfg 9:12
0 0
PowerFlex 6000T Control Block Diagrams

Analog In (Ramp Ref)

Analog Types PID Output Limited
0 Ref Ref 1 +
x NF1 NF2 +- -1 kp + x Proc 2 [A2]
2 MOP [G3] Scale 1 +
Error Deadband
MOP Reference 1 200% Limit
Limit P Gain
1823 9:27 0 Proc 1 [C5] PID Upper Limit
Float Types Ramp 9:2 3
Hold Request 9:7
PID Ref
PID Setpoint PID Control
Mult
(PID InvError) 9:8
9:28 Default 9:26 9:3 0
9:10 PID Status PID Lower Limit
PID Ref PID Status Filter 9:3 1
PID LPF Hold (PID Hold)
Meter (PID Enabled) VRef Freq [I4]
LPass BW
PID Fdbk Sel Output Frequency
PID Fdbk Per
9:35 9:36 1 Hz

Meter Unit
PID Fdbk Mult PID Cfg (Anti Conv
Figure 89 - Process Control 1

3 PID Output Sel Windup)

Option 9:38
9:14 9:1 5 PID Cfg
Port: 0
Proc 1 [E5] (Preload Int)
Analog In Float Types
1 PID Status 9:1 3
x 1
MOP [G3]
(PID Enabled)
PID Fdbk PID Fdbk AntiWind PID Output Sel
MOP Reference -1 9:3 0
AnlgHi AnlgLo Up Z 9:14
1823 PID Cfg VRef Freq [I4]
9:39 9:40 9:1 3 PID Preload
(Fdbk Sqrt) Output Frequency 0 0
PID Fdbk Stpt 9:11
Parameter Per
1 Hz
1
9:37 Default Unit 1
Selection
Conv
Trq Ref Sel [H5] Analog Types DI PID Enable
Trq Commanded 0,2,3,4
9:20 Drive

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

2073 PID FBLoss SpSel 0.0
4 Scale InLimit Accel Conditional
9:42
ki + 1
Torque Cur Fb +
Analog Loss Option s 1
1,2 ≠0 Motor Side Sts 2 1
8 355 10 Port:
(PID FB Loss) Digital In Motor Side Sts 1 I Gain 0
Output Current 3,4 ≠0 (Stopping) 0.0
Proc 2 [D3, D6] Parameter 0
3 Selection 354 18 PID Control
9:14 9:43 9:5 (PID Reset)
Output Power PID Enable
PID Output Sel PID FBLoss TqSel PID Int Time 2 9:2
PID Status
4 1 9:3 0
(PID Enabled)
0 PID Status
Proc 1 [H3] 1 9:3 2
PID Control (PID Reset)
Option 0 9:2
(PID Enable) 354 16
Port: ≠0
Digital In 9:20 Motor Side Sts 1
5 (Running)
Parameter DI PID Enable
DI PID Hold 9:21 PID Reset
Selection
PID Output Sel PID
PID Hold Stop Option
9:14
≠0 Mode Port:
1 Hold Request 2 0 Digital In
Proc 1 [F2] 1 Parameter
9:22
Selection
9:2 PID Control DI PID Reset
1
(PID Hold) 4 9:1 18 354 9:13 PID Output Meter
PID Cfg Motor Side Sts 1
6 Drive (Stop Mode) (Stopping)
365 1 2 17-31
InLimit
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

PID FBLoss SpSel

PID Output Sel 9:42 Process Control 2 (Proc 2)

1 9:14

Parameter
Selection
Not MOP Reference
PID Output Limited
1823 Float Types
Used 0 MOP [G3]

Proc 1 [H2] VRef A Sel

1800 Default

VRef Ramped
Speed
1923 A
2 Excl 1 To VRef |A| > |B|
[6B2] VRef Vect [G1], B
>0
VRef Freq [D2] -1
Neg Limit
PID Cfg + 1 0
1906 Vref Limited 1
(Percent Ref) +
VRef All [G4]
6 9:1 1 1 PID Output Meter
Speed
Trim 2 0 9:13
1 1 0
X
Pos Limit 354 18
Motor Side Sts 1 VRef Vect [B5]
Stopping VRef Freq [A5]
0 0 0
Figure 90 - Process Control 2

2 9:1
3 355 10 Motor Side Sts 2
PID Cfg
(Zero Clamp) Proc 1 [C4]

PID FBLoss TqSel

9:43

Parameter
Selection
MOP Reference

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 Float Types
MOP [G3] 1823

Trq Ref A Stpt

676 Default
Appendix A

PID Output Sel

9:14
Torq Ref A
+
Torq Ref B 3
>0
-1
Torque Neg Limit
Excl 3 + 4 1
1 +
PID Output Meter
Torque
5 Trim 4 1 0 9:13
Pos Limit Trq Ref Sel [G4]

0 0

2 9:1
355 10
PID Cfg
(Zero Clamp) Motor Side Sts 2
(PID FB Loss)
6 Proc 1 [C4]

123
PowerFlex 6000T Control Block Diagrams
124
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
DI M MOP Inc 0:151 MOP Control (MOP)
MOP Rate Parameter
Indirect Option Port:
1825
Digital In
MOP Limit High
MOP Inc
1826
PowerFlex 6000T Control Block Diagrams

2
Calc 0
+
Step MOP Reference
0
1823
MOP Init Select 0 Limit
- VRef Sel [A3]
1828
Figure 91 - MOP Control

Reset / Save

1827
3 Zero Speed (0) Parameter
Option Port: Indirect MOP Limit Low
MOP Init Stpt 1829 Default Digital In
MOP Inc
Preset Speed 1 1814

Preset Speed 2 1815

DI M MOP Dec 0:152
Preset Speed 3 1816

Preset Speed 4 1817

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4
Parameter
Preset Speed 5 1818 Selection
0 0 1

Preset Speed 6 1819

Preset Speed 7 1820 1824 1 351 4

MOP Ref Save M Start Inhibits
MOP Limit High 1826 (At Stop) (Stop)

MOP Limit Low 1827 1

0 0
5
Vel Low Lim Pos 1900

Vel Low Lim Neg 1901 1824 0 351 3

MOP Ref Save M Start Inhibits
(At Pwr Down) (Precharge)

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

22-Series Inputs & Outputs – Digital (22-Series IO Digital)

1
Outputs
Inputs
RO0 Off Time
15 Dig Out Sts
Dig In Sts
Dig Out Invert
1 5 4 3 2 1 0 5 0 NC
6 0
Dig In Fltr
Relay Out0 0
3 Timer Common
Source
Parameter 1
In5 Inv
Selection
Filter
NO
Dig In Fltr Mask 10 14
2
Dig In Fltr RO0 Sel RO0 On Time
2 5
3

In4 RO1/TO0 Off Time

Filter
25 Dig Out Sts
Dig In Fltr Mask
Dig Out Invert
Dig In Fltr 5 1
2 4
3 6 1
NC
Relay Out1
In3 0
Filter Transistor Out0 Timer
Source
Dig In Fltr Mask Parameter 1 Common
3 Selection Inv OR
2 3 Dig In Fltr
3 20 24
NO
In2 RO1/TO0 Sel RO1/TO0 On Time
Filter

Dig In Fltr Mask

*-1R2T (1-Relay / 2-Transistor) I/O Modules Only
Dig In Fltr
2 2 TO1 Off Time
3
35 Dig Out Sts
In1
Filter Dig Out Invert
5 2
Figure 92 - 22-Series Inputs & Outputs – Digital

Dig In Fltr Mask 6 2

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 Dig In Fltr
2 1 Transistor Out1 0
3 Timer
Source NO
In0 Parameter 1
Filter Selection Inv
Appendix A

Dig In Fltr Mask 30 34

Com 2 0 TO1 Sel TO1 On Time

Output Compare

RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only

11 21 RO1/TO0 Level CmpSts TO1 Level Sel 31 TO1 Level CmpSts

5 RO0 Level CmpSts
23 1 0 33 1 0
13 1 0
RO0 Level RO1/TO0 Level TO1 Level
Source Source Source
A A≥B A A≥B
Parameter A A≥B Parameter Parameter
Option Module Parameters – Reference Symbol Legend Selection Selection Selection
A<B A<B
A<B
RO1/TO0 Level 22 B TO1 Level 32 B
RO0 Level 12 B

125
PowerFlex 6000T Control Block Diagrams
126
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Inputs 22-Series Inputs & Outputs – Analog (22-Series IO Analog)

1
Anlg In Loss Sts Anlg In0 Value
Anlg In0 LssActn 53
49 1 50
Voltage V/mA

Loss Loss Anlg In0 Hi

Anlg In Type
Detection Pre Scaled Scaled
+ 45 0 Value 51 Value
Option Module Parameters – Reference Symbol Legend
V/mA
- Ignore 0 (kn * s) + wn In-Lo
ADC s + wn
PowerFlex 6000T Control Block Diagrams

Hi-Lo
+ Square
1 Root Lead Lag Scale
Alarm
V/mA
2 Current -
2 46 0 52
Flt Continue
Anlg In Sqrt Anlg In0 Lo
3
FltCoastStop
Anlg In0 Filt Gn 55
4
Flt RampStop 56
Anlg In0 Filt BW
5
Flt CL Stop

Hold 6 Outputs
Input
3 Anlg Out0 Val
7
Set Input Lo 82

8 Anlg Out0 DataHi V/mA

Set Input Hi
Anlg Out0 Data 78 Anlg Out0 Hi Analog Out Type Voltage
77 80 70 0 +
V/mA

Anlg Out0 Stpt 76 -

Anlg In Loss Sts Anlg In1 Value In-Lo
Anlg In1 LssActn 63
Abs Hi-Lo
DAC
Other Ref Sources +
49 2 60 Parameter Scale
Figure 93 - 22-Series Inputs & Outputs – Analog

Voltage V/mA Selection

71 0 V/mA -

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Anlg In Type Loss Loss Anlg In1 Hi
4 Anlg Out0 Sel 75 Anlg Out Abs 81
Detection Scaled Current
Pre Scaled
+ 45 1 Value 61 Value
Anlg Out0 Lo
V/mA 79
- Ignore 0 In-Lo Anlg Out0 DataLo
(kn * s) + wn
ADC s + wn Hi-Lo
+ Square
1 Root Lead Lag Scale Anlg Out1 Val
Alarm
V/mA
- 92
2 46 1 62
Current Flt Continue Anlg Out1 DataHi V/mA
Anlg In Sqrt Anlg In1 Lo
Anlg Out1 Data 88
3 Anlg Out1 Hi Analog Out Type Voltage
FltCoastStop 87
Anlg In1 Filt Gn 65 90 70 1 +
5
4 V/mA
Flt RampStop 66
Anlg In1 Filt BW Anlg Out1 Stpt 86 -
In-Lo
5 Abs Hi-Lo
DAC
Flt CL Stop Other Ref Sources +
Parameter Scale
Selection
Hold 6 71 1 V/mA
Input
-
Anlg Out1 Sel 85 Anlg Out Abs 91 Current
7
Set Input Lo Anlg Out1 Lo
89

6 8 Anlg Out1 DataLo

Set Input Hi
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

11-Series Inputs & Outputs – Digital (11-Series IO Digital) Outputs

1
Inputs RO0 Off Time
15 Dig Out Sts
Dig Out Invert
5 0 NC
Dig In Sts 6 0
1 2 1 0
Relay Out0 0
Timer Common
Source
Parameter 1
Selection Inv
Dig In Fltr NO
10 14
3
2 RO0 Sel RO0 On Time
In2
Filter

Dig In Fltr Mask RO1/TO0 Off Time

Dig In Fltr 25 Dig Out Sts
2 2 Dig Out Invert
3 5 1
In1 6 1
Filter NC
Relay Out1
Dig In Fltr Mask 0
Transistor Out0 Timer
Dig In Fltr Source
2 1 Parameter 1 Common
3 Selection Inv OR

3 In0 20 24
Filter NO
RO1/TO0 Sel RO1/TO0 On Time
Dig In Fltr Mask

Com 2 0
*-1R2T (1-Relay / 2-Transistor) I/O Modules Only

TO1 Off Time

35 Dig Out Sts
Dig Out Invert
5 2
6 2
Figure 94 - 11-Series Inputs & Outputs – Digital

Transistor Out1 0

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

Timer
4 Source NO
Parameter 1
Selection Inv
34
Appendix A

30

TO1 Sel TO1 On Time

Output Compare

RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only

11 21 RO1/TO0 Level CmpSts TO1 Level Sel 31 TO1 Level CmpSts

5 RO0 Level CmpSts
23 1 0 33 1 0
13 1 0
RO0 Level RO1/TO0 Level TO1 Level
Source Source Source
A A≥B A A≥B
Parameter A A≥B Parameter Parameter
Option Module Parameters – Reference Symbol Legend Selection Selection Selection
A<B A<B
A<B
RO1/TO0 Level 22 B TO1 Level 32 B
RO0 Level 12 B

127
PowerFlex 6000T Control Block Diagrams
128
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

11-Series Inputs & Outputs – Analog (11-Series IO Analog)

1
PowerFlex 6000T Control Block Diagrams

Option Module Parameters – Reference Symbol Legend

Input
2
Anlg In Loss Sts Anlg In0 Value
Anlg In0 LssActn 53
49 1 50
V/mA
Voltage Loss Loss Anlg In0 Hi
Anlg In Type
Detection Pre Scaled Scaled
+ 45 0 Value 51 Value
V/mA
- Ignore 0 (kn * s) + wn In-Lo
ADC s + wn Output
Hi-Lo
+ Square
1 Root Lead Lag Scale Anlg Out0 Val
Alarm
V/mA
3 - 82
2 46 0 52
Current Flt Continue Anlg Out0 DataHi V/mA
Anlg In Sqrt Anlg In0 Lo Anlg Out0 Data 78 Anlg Out0 Hi Analog Out Type Voltage
3
FltCoastStop 77
Anlg In0 Filt Gn 55 80 70 0 +
4 V/mA
Flt RampStop 56
Anlg In0 Filt BW Anlg Out0 Stpt 76 -
In-Lo
5
Abs Hi-Lo
DAC
Flt CL Stop Other Ref Sources +
Parameter Scale
Selection
Hold 6 71 0
Figure 95 - 11-Series Inputs & Outputs – Analog

V/mA -
Input Anlg Out Abs
Anlg Out0 Sel 75 81 Current

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 7
Set Input Lo Anlg Out0 Lo
79
8 Anlg Out0 DataLo
Set Input Hi

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Control Logic (Logic)
Note:
The following parameters are typically referenced
0 when configuring or monitoring Control Logic;
P10:351 [M Start Inhibits]
Digital Inputs

15
0

DPI Port 1
2
15
0
0:230 Write Mask Cfg
DPI Port 2
(Drv Mounted HIM) Logic Parser
15
0
Figure 96 - Control Logic

DPI Port 3
3 0:200 MS Logic Rslt
15 VRef Sel [G2],
0 0 VRef All [E3],
Mask Evaluation VRef Vect [E2, E3]
DPI Port 4 Owner Logic Logic Evaluation
Logic
15 31
0

DPI Port 5

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 15
0
Appendix A

DPI Port 6

15 Bit Bit
0 Masks Owners
Masks Act Status 00 Stop 16 Coast Stop
01 Start 17 Climit Stop
Embedded Ethernet 02 Jog1 18 Run
03 Clear Faults 19 Jog 2
04 Forward 20 Reserved
15 05 Reverse 21 Reserved
5 0:260 Stop Owner 06 Manual 22 Reserved
0:41 Logic Mask 0:231 Write Mask Act 07 Reserved 23 Reserved
0:42 Auto Mask 0:261 Start Owner 08 Accel Time 1 24 Reserved
0:43 Manual Cmd Mask 0:233 Port Mask Act 0:262 Jog Owner 09 Accel Time 2 25 Reserved
0:44 Manual Ref Mask 0:263 Dir Owner 10 Decel Time 1 26 Reserved
0:264 Clear Flt Owner 11 Decel Time 2 27 Reserved
12 SpdRef Sel 0 28 Reserved
0:265 Manual Owner 13 SpdRef Sel 1 29 Reserved
0:266 Ref Select Owner 14 SpdRef Sel 2 30 Reserved
15 Reserved 31 Reserved

129
PowerFlex 6000T Control Block Diagrams
130
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Drive Overload

DHCF Power Cell Data Drive Overload

357 Drive OL Count
DHCF Transformer Data
PowerFlex 6000T Control Block Diagrams

Rated Amps 21
2
AC Line Current 13:6
224 Active Cur Lim
Drv OL Alm Level 3030

Drv OL Capacity 3031

Drv Duty Rating 3032

426 PWM Freq Act

PWM Frequency 425
Figure 97 - Drive Overload

Drive OL Mode 220

3 Output Current 3
Alarm Status B
NumPwrCellsPhs 3024 Drive OL
466 4
NumPwrCellsOnByp 3025 5 CurLmt Reduc

Current Limit 1 222

Current Limit 2 223 Fault Status B

Parameter 462 2 Drive OL
Other Ref Sources Selection
6 Excess Load

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4

Current Lmt Sel 221

6
 Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Velocity Reference Velocity Regulator – Flux 22-Series Inputs &
Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

1
Motor Overload (Motor I 2 T)

Mtr Over Load (I 2 T)

Motor
Current
206 MtrOL Rst Time
Mtr OL Action 200
Mtr OL at Pwr Up 201 207 Mtr OL Counts
Figure 98 - Motor Overload

Mtr OL Alm Level 202 150% right of curve

208 Mtr OL Trip Time
3 Mtr OL Rst Level 205

Mtr Protn Class 209 102%

210 T Hot time (sec)

Mtr HotStrtCoeff
Motor T Cold
Mtr Cooling Time 211 Current T Hot<=T Cold

Alarm Status A
Mtr OL Factor 203 1.0 - 2.0 959 2 Motor OL
X (1.025 Typ)
Motor NP Amps 401

50% Fault Status A

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4
952 2 Motor OL
Motor
Speed (Hz)
Appendix A

Mtr OL Hertz 204

131
PowerFlex 6000T Control Block Diagrams
132
Velocity Reference – Flux Torque Control – Current, 22-Series Inputs &
Metering Converter Metering Inverter Vector Load Observer for Induction Motor Outputs – Digital Control Logic
Appendix A

Velocity Reference Velocity Regulator – Flux 22-Series Inputs &

Line Side Converter Data Friction Compensation Process Control 1 Drive Overload
Overview Vector Outputs – Analog
Flux Vector Overview Velocity Reference Torque Overview Torque Reference Process Control 2 11-Series Inputs & Motor Overload
Selection Outputs – Digital
Variable Frequency, SV Torque Reference 11-Series Inputs &
Overview Velocity Reference – All Selection Torque Filters MOP Control Outputs – Analog High Speed Trend Wizard

A B C D E F G H I

Start Trend Stop Trend

High Speed Trend Wizard
1

Trend Sample Configuration Not

Configured Trend Status
8 buffers of 4096 samples; minimum interval of 1 ms
or Download
16 buffers of 1024 samples; minimum interval of 1 ms Running
Trend Mode or Ready or Start
4 buffers of 1024 samples; minimum interval of 125 us (select one)
Complete Stop Gather pre-trigger
samples
PowerFlex 6000T Control Block Diagrams

Pre-Trigger 0 to maximum (4096 or 1024) samples

2 Buffers Full Finishing
Trigger Condition
Sample Interval Mimimum (1 ms or 125 us) Met
Gather post-
Stop trigger samples

Download Trend Configuration

Compare Two Parameters Trend Trigger Setup

OR
Compare Parameter to a Trigger Value Test bit in a Parameter Compare Two bits in Two Parameters Buffers Full
3 Trigger Condition Met
Test Options: bit is
Param A Compare Trigger Param A Trigger Param A bit True or False Trigger
OR Test Options: bit OR
Options: Condition Condition Condition
is True or False
Figure 99 - High Speed Trend Wizard

Param B >, <, =, ≠, ≥, or ≤ Bit ‘nn’ Param B bit Compare Options: Met
Met Met
AND, OR, XOR
OR
Trigger Value

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

4 Specify Trend Buffer Data Sources Trend Buffers 8 buffers of 4096 samples; minimum interval of 1 ms
or
Parameter or Bit Trend Buffer 1 Trend Buffer 2 Trend Buffer 16 16 buffers of 1024 samples; minimum interval of 1 ms
Trend Data (circular, 1024 or (circular, 1024 or (circular, 1024 or
Source 4096 samples) 4096 samples) samples) 4 buffers of 1024 samples; minimum interval of 125 us
...

5
Trend Upload/Download
OR Upload Trend Save Trend
Computer Download Computer Results.
Load Trend Configuration Save/Load OR Configuration
Trend OR Configuration Save buffers to .xml file
Configuration from .xml file to .csv file
to Drive

6
Trend Buffer Contents
 Appendix B

Develop Secure Applications

PowerFlex 6000T drives with firmware revision 10.001 or later support

IEC-62443-4-2 SL 1 security requirements.

To help meet these requirements, you must use this publication and the
Configure System Security Features User Manual, publication
SECURE-UM001. The Configure System Security Features User Manual
describes how to configure and use Rockwell Automation products to improve
the security of your industrial automation system.

If a ControlLogix 5580 or GuardLogix 5580 controller is used in your control

system, the ControlLogix 5580 and GuardLogix 5580 Controllers User Manual,
1756-UM543 must be used to complement the requirements in this publication.

You can apply these same measures to other PowerFlex drives, but without the
certification.

Resource Description
System Security Design Guidelines Reference Manual, Provides guidance on how to conduct security assessments, implement Rockwell Automation products in a secure
publication SECURE-RM001 system, harden the control system, manage user access, and dispose of equipment.
Logix 5000 Controllers Security Programming Manual, Describes how to configure security for the Studio 5000 Logix Designer application, and explains how to configure
publication 1756-PM016 source protection for your logic and projects.
CIP Security with Rockwell Automation Products Describes how to plan and implement a Rockwell Automation system that supports the CIP Security protocol.
Application Technique, publication SECURE-AT001
Describes how to use FactoryTalk® Security to implement authentication and authorization in your industrial
FactoryTalk Security Application Technique, automation system, how to enforce product-specific security for Studio 5000 Logix Designer application,
publication SECURE-AT002 FactoryTalk® View, and FactoryTalk® AssetCentre software.
Converged Plantwide Ethernet (CPwE) Design and Defines manufacturing-focused reference architectures to help accelerate the successful deployment of
Implementation Guide, publication ENET-TD001 standard networking technologies and convergence of manufacturing and enterprise/business networks.

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 133

Appendix B Develop Secure Applications

Drive Security Features For PowerFlex 6000T drives to comply with the certification requirements,
implement the control system with these other security-focused products.

Domain controller FactoryTalk FactoryTalk FactoryTalk® Syslog collector

Directory server AssetCentre server View SE server

Stratix® 5400 switch

DC INPUT EtherNet/IP

LNK1 LNK2 NET OK

PowerFlex 6000T drive ControlLogix 5580 controller Studio 5000 Logix Designer FactoryTalk
1756-EN4T EtherNet/IP application View SE client
communication module ControlFLASH Plus or
ControlFLASH™ software

Security Checklists

Follow the security checklists in this chapter to secure the system and the
drive. It is your responsibility to monitor the system periodically to make sure
that the security settings function as you configured them.
Table 12 - Requirements for Identification and Authorization
Required to Meet
Product Details
IEC-62443-4-2 SL 1
Configure FactoryTalk Security to define policies, user groups, and other permission sets.
• The Logix Designer application enforces the policy based on the access policies that are
provided to it by FactoryTalk Security for the software authenticated user. Once
authenticated, the Logix Designer application acts as your interface to the drives via the
controller. This applies to all protected CIP communications to the drive, whether from
FactoryTalk Security software Ethernet, backplane, or USB.
Yes
Studio 5000 Logix Designer application • The FactoryTalk® Services Platform offers feature access control to manage user access to
product features such as controller download, project import, project create, and firmware
update.
For more information, see the following:
• Configure System Security Features User Manual, publication SECURE-UM001
• FactoryTalk Security System Configuration Guide, publication FTSEC-QS001
Active Directory is used to create and configure the policies for each user and user group.
• Create at least two user types and assign a minimum level of user permission for each type.
• Enforces the password policy according to industry password standard.
Microsoft Active Directory service Yes • Define the user account access settings.
• Define the System use notifications settings.
• Define the System inactivity lockout setting.
For more information, see Configure System Security Features User Manual, publication
SECURE-UM001.

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 Appendix B Develop Secure Applications

Table 13 - Requirements for Use Control

Required to Meet
Product Details
IEC-62443-4-2 SL 1
Configure FactoryTalk Security to define policies, user groups, and other permission sets.
• The Logix Designer application enforces the policy based on the access policies that are
provided to it by FactoryTalk Security for the software authenticated user. Once
authenticated, the Logix Designer application acts as your interface to the drives via the
controller. This applies to all protected CIP communications to the drive, whether from
Ethernet, backplane, or USB.
• The FactoryTalk Services Platform offers feature access control to manage user access to
product features, such as project import, project create, enable DeviceLogix (applicable for
FactoryTalk Security software I/O mode only), change logic, project download to drive and firmware update.
Yes
Studio 5000 Logix Designer application • In FactoryTalk Security, define which users can change and download projects to the drive.
• Security authority binding restricts the controller to a specific FactoryTalk Security instance.
This binding reduces the attack surface for security server spoofing because the client
software and the security software determine the identity of the security authority
responsible for controlling access.
For more information, see the following:
• Configure System Security Features User Manual, publication SECURE-UM001
• FactoryTalk Security System Configuration Guide, publication FTSEC-QS001
Active Directory is used to create and configure the policies for each user and user group.
• Create at least two user types and assign a minimum level of user permission for each type.
• Enforces the password policy according to industry password standard.
Microsoft Active Directory service Yes • Define the user account access settings.
• Define the System use notifications settings.
• Define the System inactivity lockout setting.
For more information, see Configure System Security Features User Manual, publication
SECURE-UM001.
Actively managed remote access to the eHIM.
Restrict remote access to the eHIM by disabling remote desktop setting on it and raising
awareness of threats through training and communication to personnel.
Disable remote access to eHIM Yes For more information, see the following:
• System Security Design Guidelines Reference Manual, publication SECURE-RM001
• Enhanced HIM Integrated Touch Screen Display Quick Start, publication EHIM-QS001
HIM and Communication option cards are connected to the drive through DPI ports and should
be secured by configuring the mask parameters in the drive.
After product commissioning, HIM should be either removed or set to read-only mode.
To remove HIM, see instructions in the PowerFlex 20-HIM-A6 and 20-HIM-C6S HIM User Manual,
publication 20HIM-UM001.
Communication option cards should also be disallowed from controlling the logic command
Secure DPI Ports Yes (start, stop, and so forth) of the drive.
The following mask parameters can be used to configure the control to logic command and to
set read-only mode:
• 0:41 [Logic Mask]
• 0:230 [Write Mask Cfg]
For more information, see CIP Security with Rockwell Automation Products, publication
SECURE-AT001.
FactoryTalk Policy Manager is a secure configuration tool that is one of a set of products that
Rockwell Automation uses to implement CIP Security.
CIP Security helps to provide a secure data transport across an EtherNet/IP network.
Use FactoryTalk Policy Manager software to create zones and turn on CIP Security to check for
FactoryTalk® Policy Manager Yes data integrity.
• Enable integrity + Confidentiality in both I/O Data Security and Messaging Security.
For more information, see CIP Security with Rockwell Automation Products, publication
SECURE-AT001.

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Appendix B Develop Secure Applications

Table 13 - Requirements for Use Control (Continued)

Required to Meet
Product Details
IEC-62443-4-2 SL 1
Configure and use the following:
• Audit log accessibility
• Continuous monitoring
FactoryTalk AssetCentre software Yes For more information, see the following:
• Configure System Security Features User Manual, publication SECURE-UM001
• System Security Design Guidelines Reference Manual, publication SECURE-RM001
The Drive supports syslog event logging. Choose a syslog collector that supports the following:
• RFC-5424 syslog protocol
• Ability to receive messages from the drives
Yes, if not using IMPORTANT: The drive sends events to a syslog collector through its Ethernet port. The
FactoryTalk Ethernet port must be connected to the same network as the syslog collector.
Syslog collector AssetCentre for To set the IP address of the syslog collector, use FactoryTalk Policy Manager software. For
logging more information, see CIP Security with Rockwell Automation Products Application Technique,
publication SECURE-AT001.
To view a list of syslog messages and their descriptions, see the PowerFlex 6000T Drives
Conditions Reference Data, publication 6000-RD101.
Hardware input devices such as pushbuttons can be programmed to control critical functions
Yes, if the hardware such as start, stop, and reset via discrete I/O port available on drive.
input device is To apply security measures, for example, limiting physical access on such hardware input
Secure Hardware Input Device programmed to
control critical devices to prevent accidental or intentional alteration of drive critical function state.
For more information, see System Security Design Guidelines Reference Manual, publication
function SECURE-RM001.

Table 14 - Requirements for System Integrity

Required to Meet
Product Details
IEC-62443-4-2 SL 1
FactoryTalk AssetCentre software The FactoryTalk AssetCentre server centrally tracks and manages configuration changes and
restricts who can make changes based on FactoryTalk Security settings. This server
functionality assists with diagnostics and troubleshooting and reduces maintenance time for
production assets.
Configure the feature security for users to limit access to action such as triggering download
FactoryTalk Services Platform (includes Yes of DeviceLogix (applicable for I/O mode only) program, downloading firmware to the drive and
FactoryTalk Security, FactoryTalk configure the Device Monitor - Change Detect operation. For more information, see Configure
Diagnostics) System Security Features User Manual, publication SECURE-UM001.
Configure the routing and logging option of the FactoryTalk Diagnostics. Monitor security-
related events by setting up audit policies. For more information, see FactoryTalk Security
System Configuration Guide, publication FTSEC-QS001.
FactoryTalk Policy Manager is a secure configuration tool that is one of a set of products that
Rockwell Automation uses to implement CIP Security.
CIP Security helps to provide a secure data transport across an EtherNet/IP network.
FactoryTalk Policy Manager Yes Use FactoryTalk Policy Manager software to create zones and turn on CIP Security to
differentiate trusted and untrusted devices.
For more information, see CIP Security with Rockwell Automation Products, publication
SECURE-AT001.
HIM and Communication option cards are connected to the drive through DPI ports and should
be secured by configuring the mask parameters in the drive.
After product commissioning, HIM should be either removed or set to read-only mode.
To remove HIM, see instruction on PowerFlex 20-HIM-A6 and 20-HIM-C6S HIM User Manual,
publication 20HIM-UM001.
Communication option cards should also be disallowed from controlling the logic command
Secure DPI Ports Yes (start, stop, and so forth) of the drive.
The following mask parameters can be used to configure the control to logic command and to
set read-only mode:
• 0:41 [Logic Mask]
• 0:230 [Write Mask Cfg]
For more information, see CIP Security with Rockwell Automation Products, publication
SECURE-AT001.
Actively managed physical access to the drive, its HIM and eHIM.
Secure physical access to the drive, its HIM, and eHIM by limiting physical access through
Limit physical access to drive, its HIM locked cabinets and raising awareness of threats through training and communication to
Yes
and eHIM personnel.
For more information, see System Security Design Guidelines Reference Manual, publication
SECURE-RM001.
Use ControlFLASH Plus or ControlFLASH software to update drive firmware.
ControlFLASH Plus or ControlFLASH Digitally signed firmware files have a DMK (Device Management Kit) extension. ControlFLASH
Yes
software software authenticates the origin of a DMK file and validates the file before download in the
device.

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 Appendix B Develop Secure Applications

Table 14 - Requirements for System Integrity (Continued)

Required to Meet
Product Details
IEC-62443-4-2 SL 1
This application is required to interface with CIP Security-enabled Logix controllers.
Studio 5000 Logix Designer application Yes There is a feature to generate a signature on an Add-On Instruction. This signature seals
(encrypts) the Add-On Instruction to help prevent modification.
To meet IEC-62443-4-2 SL 1 security requirements, you must use a certified version of the drive
Certified Firmware Yes firmware revision 10.001 or later. We recommend that you use the latest revision from Rockwell
Automation official download portal Product Compatibility & Download Center at rok.auto/pcdc.
There are 5 fault action options (fault, stop, zero data, hold last, and send Flt Cfg) available that
can be set when certain fault occurs.
User-configurable fault handling Yes Configure based on use case if the default action (fault) is not suitable.
For more information, see PowerFlex Drives with TotalFORCE Control Built-in EtherNet/IP
Adapter User Manual, publication 750COM-UM009.
Mark HIM as read-only or remove HIM. To remove HIM, see instruction on PowerFlex 20-HIM-A6
Mark HIM as read-only Yes and 20-HIM-C6S HIM User Manual, publication 20HIM-UM001.

Table 15 - Requirements for Data Confidentiality

Required to Meet
Product Details
IEC-62443-4-2 SL 1
Use the FactoryTalk Policy Manager software to define a secure data transport over an
EtherNet/IP network by enabling CIP Security.
CIP Security protects EtherNet/IP data while in transit with TLS and DTLS.
FactoryTalk Policy Manager software Yes Configure the CIP Security to include data confidentiality so that messages will be encrypted
during exchanged across the EtherNet/IP network.
For more information, see CIP Security with Rockwell Automation Products Application
Technique, publication SECURE-AT001.
May be required Configure licenses to manage access to DeviceLogix program and Logix program with Studio
License-based source and execution based on system 5000 Logix Designer application.
protection design, threat model, For more information, see ControlLogix 5580 and GuardLogix 5580 Controllers User Manual,
and risk assessment. publication 1756-UM543.
Actively managed physical access to the drive, its HIM and eHIM.
Secure physical access to the drive and HIM by limiting physical access through locked
Limit physical access to drive, its HIM Yes cabinets and raising awareness of threats through training and communication to personnel.
and eHIM For more information, see System Security Design Guidelines Reference Manual, publication
SECURE-RM001.
Limit physical access to the device and SD card as described in the System Security Design
Guidelines, publication SECURE-RM001 (see Workstation Hardening).
Limit physical access to the device and Yes Additionally, other options given to secure physical access include providing training and
SD card communication to personnel to raise awareness of threats and to implement physical barriers
such as locked cabinets.

Table 16 - Requirements for Restricted Data Flow

Required to Meet
Product Details
IEC-62443-4-2 SL 1
Configure FactoryTalk Policy Manager software to define the zones, devices, and conduits for
secure data transport through CIP Security.
CIP Security shall be enabled for the devices within a security zone and each device identity
shall be authenticated with a pre-shared key or certificate.
CIP Security Yes For more information, see the following:
• CIP Security with Rockwell Automation Products Application Technique,
publication SECURE-AT001
• FactoryTalk Policy Manager Getting Results Guide, publication FTALK-GR001

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Appendix B Develop Secure Applications

Table 17 - Requirements for Timely Response to Events

Required to Meet
Product Details
IEC-62443-4-2 SL 1
Configure and use the following:
• Audit log accessibility
• Continuous monitoring
FactoryTalk AssetCentre software Yes For more information, see the following:
• Configure System Security Features User Manual, publication SECURE-UM001
• System Security Design Guidelines Reference Manual, publication SECURE-RM001
The Drive supports syslog event logging. Choose a syslog collector that supports the following:
• RFC-5424 syslog protocol
• Ability to receive messages from the drives
Yes, if not using IMPORTANT: The drive sends events to a syslog collector through its Ethernet port. The
FactoryTalk Ethernet port must be connected to the same network as the syslog collector.
Syslog collector AssetCentre for To set the IP address of the syslog collector, use FactoryTalk Policy Manager software. For
logging more information, see CIP Security with Rockwell Automation Products Application Technique,
publication SECURE-AT001.
To view a list of syslog messages and their descriptions, see the PowerFlex 6000T Drives
Conditions Reference Data, publication 6000-RD101.

Table 18 - Requirements for Resource Availability

Required to Meet
Product Details
IEC-62443-4-2 SL 1
Configure and use the following:
• Asset inventory
• Control system backup
FactoryTalk AssetCentre software Yes • Disaster recovery
For more information, see the following:
• Configure System Security Features User Manual, publication SECURE-UM001
• System Security Design Guidelines Reference Manual, publication SECURE-RM001
Configure FactoryTalk Policy Manager software to define the zones, devices, and conduits for
secure data transport through CIP Security.
CIP Security shall be enabled for the devices within a security zone and each device identity
shall be authenticated with a pre-shared key or certificate.
CIP Security Yes For more information, see the following:
• CIP Security with Rockwell Automation Products Application Technique,
publication SECURE-AT001
• FactoryTalk Policy Manager Getting Results Guide, publication FTALK-GR001
Enable the ADC feature to allow the controller to automatically load the saved drive parameter
settings into a drive on Ethernet/IP connection establishment if the controller detects a
Automatic Device Configuration (ADC) Yes difference with the saved configuration.
For more information, see PowerFlex Drives with TotalFORCE Control Built-in EtherNet/IP
Adapter, publication 750COM-UM009.
The drives support CopyCat function that allows user to upload individual or multiple
Yes, if ADC is not parameters set for the host drive or any of its connected peripherals into the HIM.
CopyCat enabled For more information, see the PowerFlex 20-HIM-A6 and 20-HIM-C6S HIM (Human Interface
Module) User Manual, publication 20HIM-UM001.
Drive configuration settings, including drive parameters, can be kept in the controller project
Yes, if ADC is not file (.ACD).
Studio 5000 Logix Designer application enabled For more information, see PowerFlex Drives with TotalFORCE Control Built-in EtherNet/IP
Adapter, publication 750COM-UM009.
To restrict the unused open ports, user is required to identify the open ports and send CIP
command with TCP/IP Interface object (0xF5) and services code as below:
0x4C: To configure the state (open / closed) of a specific port number.
Restrict Unused Open Ports Yes 0x4D: To configure the state (enabled / disabled) of a specific protocol number.
For more information, see PowerFlex Drives with TotalFORCE Control Built-in EtherNet/IP
Adapter, publication 750COM-UM009.
Mark HIM as read-only or remove HIM. To remove HIM, see instruction on PowerFlex 20-HIM-A6
Mark HIM as read-only Yes and 20-HIM-C6S HIM User Manual, publication 20HIM-UM001.
Limit physical access to the device and SD card as described in the System Security Design
Guidelines, publication SECURE-RM001 (see Workstation Hardening).
Limit physical access to the device and Yes Additionally, other options given to secure physical access include providing training and
SD card communication to personnel to raise awareness of threats and to implement physical barriers
such as locked cabinets.

138 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 Index

Numerics F
11-Series Inputs & Outputs - Analog File Group Parameter Organization 70
Block Diagram 128 Flux Vector Overview
11-Series Inputs & Outputs - Digital Block Diagram 107
Block Diagram 127 Friction Compensation
22-Series Inputs & Outputs - Analog Block Diagram 118
Block Diagram 126
22-Series Inputs & Outputs - Digital
Block Diagram 125 L
LEDs 83
Line Side Converter Data
B Block Diagram 106
Basic Parameter View 71, 72 Load Observer
Block Diagrams 103 Block Diagram 117
11-Series Inputs & Outputs - Analog 128
11-Series Inputs & Outputs - Digital 127
22-Series Inputs & Outputs - Analog 126 M
22-Series Inputs & Outputs - Digital 125 Metering
Control Logic 129
Drive Overload 130 Block Diagram 105
Flux Vector Overview 107 Metering Signals
Friction Compensation 118 Block Diagram 109
Line Side Converter Data 106 MOP Control
Load Observer 117 Block Diagram 124
Metering 105 Motor
Metering Signals 109 operation is unstable 90
MOP Control 124 Motor direction
Motor Overload 131, 132 problems with 90
Process Control 1 122 Motor Overload
Process Control 2 123
Torque Filters 120 Block Diagram 131, 132
Torque Overview 115
Torque Reference 119
Torque Reference - Current IM, SPM 121 P
Torque Reference Selection 116 Parameter Access Level
Variable Frequency, SV Overview 108 Explanation 70
Velocity Reference - Flux Vector 113 Parameters
Velocity Reference All 112 Basic View 71, 72
Velocity Reference Overview 110 Descriptions and Programming 69
Velocity Reference Selection 111 How Organized 70
Velocity Regulator - Flux Vector 114 Process Control 1
Block Diagram 122
C Process Control 2
Block Diagram 123
Common Symptoms, Troubleshooting 89
Control Logic
Block Diagram 129 R
Replace MCB 96
D
Datalink S
problems adding 90 Speed command
Drive faults when stopped 90
problems with 89, 90
Drive Overload Start
Block Diagram 130 problems with 89
Drive State 83 Status Indicators 83
Drive will not Stop
accelerate 90 problems with 90
change motor direction 90 Support, Product 101
change speed 89
start 89

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 139

Index

T V
Technical Support Variable Frequency, SV Overview
Contacting 101 Block Diagram 108
Torque Control - Current IM, SPM Velocity Reference - Flux Vector
Block Diagram 121 Block Diagram 113
Torque Filters Velocity Reference All
Block Diagram 120 Block Diagram 112
Torque Overview Velocity Reference Overview
Block Diagram 115 Block Diagram 110
Torque Reference Velocity Reference Selection
Block Diagram 119 Block Diagram 111
Torque Reference Selection Velocity Regulator - Flux Vector
Block Diagram 116 Block Diagram 114
Transfer DHCF 96
Troubleshooting 77
Common Symptoms 89

140 Rockwell Automation Publication 6000-PM100D-EN-P - May 2024

 PowerFlex 6000T Drives Programming Manual

Rockwell Automation Publication 6000-PM100D-EN-P - May 2024 141

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