Rockwell Automation 1756-DMF30 User Manual

ControlLogix Drive Module

1756-DMD30, 1756-DMF30

User Manual

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. “ Safety Guidelines for the Application,

Installation and Maintenance of Solid State Controls ” (Publication SGI-1.1

available from your local Rockwell Automation Sales Ofﬁce or online at

http://www.ab.com/manuals/gi ) describes some important differences

between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will 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 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.

IMPORTANT

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

Rockwell Automation Support

Before you contact Rockwell Automation for technical assistance, we suggest you please review the troubleshooting information contained in this publication ﬁrst.

If the problem persists, call your local Rockwell Automation representative or contact Rockwell Automation in one of the following ways:

Phone

Internet

United States/Canada

Outside United States/Canada

⇒

1.262.512.8176

You can access the phone number for your country via the Internet:

1. Go to http://www.ab.com

2. Click on Product Support (http://support.automation.rockwell.com)

3. Under Support Centers , click on Contact

Information

1. Go to http://www.ab.com

2. Click on Product Support (http://support.automation.rockwell.com)

Your Questions or Comments on this Manual

If you ﬁnd a problem with this manual, please notify us by using one of these two methods:

•

Filling out the enclosed "How Are We Doing" form

•

Filling out the "Tell Us How We Can Make Our Manuals Better" form online at

http://www.ab.com/manuals/dr/manuals_feedback.html

Important User Information . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . 1-3

Your Questions or Comments on this Manual . . . . . . . . 1-3

Summary of Changes Preface

What is the ControlLogix Drive Module?

Drive Comm (Drive Communication)

Drive Module Features

Installing the Drive Module

Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . P-1

Purpose of This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

What This Manual Contains . . . . . . . . . . . . . . . . . . . . . . . . P-2

Related Products and Documentation. . . . . . . . . . . . . . . . . P-2

What is the ControlLogix

Drive Module?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

What Are Some of the Features Available On the ControlLogix

Drive Module? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Connecting the Drive Module to SynchLink and Drive Comm . . 1-3

SynchLink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Drive Comm (Drive Communication) . . . . . . . . . . . . . . 1-3

Physical Features of the ControlLogix Drive Module . . . 1-4

Using Module Identification and Status Information . . . . . . 1-5

Preventing Electrostatic Discharge . . . . . . . . . . . . . . . . . . . 1-7

Removal and Insertion Under Power . . . . . . . . . . . . . . . . . 1-7

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 1-8

Interface to DPS Drive Equipment . . . . . . . . . . . . . . . . . . . 2-1

Drive Communication Protocol . . . . . . . . . . . . . . . . . . . . . 2-1

Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Synchronized Communication . . . . . . . . . . . . . . . . . . . . . . 2-2

Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Synchronization with CST. . . . . . . . . . . . . . . . . . . . . . . 2-3

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 2-3

General Module Features. . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Removal and Insertion Under Power (RIUP) . . . . . . . . . 3-2

Module Fault Reporting . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Fully Software Configurable . . . . . . . . . . . . . . . . . . . . . 3-3

LED Status Information . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Class I Division 2 Certification . . . . . . . . . . . . . . . . . . . 3-4

Agency Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

Configurable Module Features . . . . . . . . . . . . . . . . . . . . . . 3-4

Controller Communication Format . . . . . . . . . . . . . . . . 3-5

SynchLink Communications Format . . . . . . . . . . . . . . . 3-5

Module-Defined Data Tags. . . . . . . . . . . . . . . . . . . . . . 3-7

Electronic Keying. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

Requested Packet Interval . . . . . . . . . . . . . . . . . . . . . . 3-10

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 3-10

Noting the Power Requirements . . . . . . . . . . . . . . . . . . . . 4-1

Installing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Connecting SynchLink Cables . . . . . . . . . . . . . . . . . . . . . . 4-3

Connecting (Drive Comm Drive Communication) Cables . . 4-5

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Configuring the Drive Module

Troubleshooting the Drive Module

Specifications

1756-DMD30 Specific Information

Removing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 4-7

Overview of the Configuration Process . . . . . . . . . . . . . . . 5-1

Planning the System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

Understanding the Controller - Drive Module Interface . 5-2

Choosing the SynchLink Communication Formats . . . . . 5-2

Choosing the SynchLink Network Topology . . . . . . . . . 5-4

Checking and Updating the DriveExecutive Database. . . . . 5-6

Checking the DriveExecutive Database . . . . . . . . . . . . . 5-6

Checking the DriveExecutive Database (continued). . . . 5-7

Updating the DriveExecutive Database . . . . . . . . . . . . . 5-8

Using RSLogix 5000 to Configure the Drive Module . . . . . . 5-9

Using DriveExecutive to Configure Drive Module. . . . . . . . 5-16

Return to RSLogix 5000 to Finish Configuring the Drive Module 5-23

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 5-24

Using the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Using DriveExecutive to Troubleshoot the Module . . . . . . . 6-3

Warning Signal on Main Screen . . . . . . . . . . . . . . . . . . 6-3

Fault and Alarm Window . . . . . . . . . . . . . . . . . . . . . . . 6-4

Fault and Alarm Window (continued). . . . . . . . . . . . . . 6-5

Fault and Alarm Window (continued). . . . . . . . . . . . . . 6-6

Diagnostic Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

Diagnostic Parameters (continued) . . . . . . . . . . . . . . . . 6-7

Using RSLogix 5000 to Troubleshoot the Module . . . . . . . . 6-8

Warning Signal on Main Screen . . . . . . . . . . . . . . . . . . 6-8

Module Properties Window . . . . . . . . . . . . . . . . . . . . . 6-9

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . 6-10

Module Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Communication Specifications . . . . . . . . . . . . . . . . . . . . . . A-1

Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2

Speed Control - Reference . . . . . . . . . . . . . . . . . . . . . . B-3

Speed Control - Regulator . . . . . . . . . . . . . . . . . . . . . . B-4

Process Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5

Position Control - Interpolated/Direct . . . . . . . . . . . . . . B-6

Position Control - Point to Point . . . . . . . . . . . . . . . . . B-7

Position Control - Auxiliary . . . . . . . . . . . . . . . . . . . . . B-8

Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9

Speed / Position Feedback. . . . . . . . . . . . . . . . . . . . . B-10

Peak Detector / Control Logix . . . . . . . . . . . . . . . . . . B-11

Field Economy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-12

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-13

How Parameters are Organized . . . . . . . . . . . . . . . . . B-15

Parameter Data In Linear List Format . . . . . . . . . . . . . B-24

Parameter Cross Reference By Name . . . . . . . . . . . . B-153

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1756-DMF30 Specific Information

Index

Interpretting Drive Module Faults in DriveExecutive . . . . B-159

Parameter 169 [Drive I/O Status]. . . . . . . . . . . . . . . . B-159

Parameter 323 [Fault Status 1] . . . . . . . . . . . . . . . . . . B-160

Parameter 324 [Fault Status 2] . . . . . . . . . . . . . . . . . . B-161

Parameter 326 [Alarm Status 1] . . . . . . . . . . . . . . . . . B-162

Parameter 327 [Alarm Status 2] . . . . . . . . . . . . . . . . . B-162

Parameter 1229 [SL Error Status] . . . . . . . . . . . . . . . . B-163

Parameter 2044 [Rail Port 0 Faults] . . . . . . . . . . . . . . B-164

Parameter 2050 [Rail Port 1 Faults] . . . . . . . . . . . . . . B-165

Parameter 2122 [MC Faults]. . . . . . . . . . . . . . . . . . . . B-166

Parameter 2123 [MC Warnings] . . . . . . . . . . . . . . . . . B-167

Parameter 2124 [Pwr Device Status] . . . . . . . . . . . . . B-169

Parameter 2125 [Interlock Code] . . . . . . . . . . . . . . . . B-170

Control Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Current Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Speed Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3

Peak Detector/Control Logic. . . . . . . . . . . . . . . . . . . . . C-4

Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5

How Parameters Are Organized . . . . . . . . . . . . . . . . . . C-7

Parameter Data In Linear List Format . . . . . . . . . . . . . C-14

Interpretting Drive Module Faults in DriveExecutive . . . . C-100

Parameter 323 [Fault Status 1] . . . . . . . . . . . . . . . . . . C-100

Parameter 324 [Fault Status 2] . . . . . . . . . . . . . . . . . . C-101

Parameter 326 [Alarm Status 1] . . . . . . . . . . . . . . . . . C-102

Parameter 327 [Alarm Status 2] . . . . . . . . . . . . . . . . . C-102

Parameter 1229 [SL Error Status] . . . . . . . . . . . . . . . . C-103

Parameter 2044 [Rail Port 0 Faults] . . . . . . . . . . . . . . C-104

Parameter 2050 [Rail Port 1 Faults] . . . . . . . . . . . . . . C-105

Parameter 2122 [MC Faults]. . . . . . . . . . . . . . . . . . . . C-106

Parameter 2123 [MC Warnings] . . . . . . . . . . . . . . . . . C-107

Parameter 2124 [Pwr Device Status] . . . . . . . . . . . . . C-108

Parameter 2125 [Interlock Code] . . . . . . . . . . . . . . . . C-109

Publication 1756-UM522B-EN-P - February 2003

Summary of Changes

The table below summarizes the changes to this publication since the last update:

For this updated information: See:

Reliability speciﬁcation A-1 Documentation of 1756-DMD30 (Firmware Revision 2.01) Algorithms,

Parameters and Faults Documentation of 1756-DMF30 (Firmware Revision 1.09) Algorithms,

Parameters and Faults

B-1

C-1

1 Publication 1756-UM522B-EN-P - February 2003

Summary of Changes 2

Notes:

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Preface

About This Preface

This preface describes how to use this manual. The following table describes what this preface contains and its location.

For information about: See page:

Who Should Use This Manual Preface-1 Purpose of This Manual Preface-1 Related Products and Documentation Preface-2

Who Should Use This Manual

Purpose of This Manual

You must be able to program and operate an Allen-Bradley Control efﬁciently use your Drive module.

We assume that you know how to do this in this manual. If you do not, refer to Related Documentation, before you attempt to use this module.

IMPORTANT

This manual describes how to install, conﬁgure, and troubleshoot your ControlLogix Drive module.

Logix

™ Logix controller and ControlLogix I/O modules to

SynchLink must be used in conjunction with a standard control network, such as ControlNet or Ethernet. A standard network is used for general control interlocking and transfer of diagnostic data across the system.

SynchLink does not function as a standard control network (e.g. it broadcasts data in a unidirectional manner).

1 Publication 1756-UM522B-EN-P - February 2003

•

Preface 2

•

What This Manual Contains

What is the ControlLogix Drive Module?

This chapter describes the ControlLogix Drive module. It also describes what you must know and do before using the Drive module.

For information about: See page:

What is the ControlLogix Drive Module? 1-1 Connecting the Drive Module to SynchLink

and Drive Comm Using Module Identiﬁcation and Status

Information Preventing Electrostatic Discharge 1-7 Removal and Insertion Under Power 1-7 Chapter Summary and What’s Next 1-8

1-3

1-5

What is the ControlLogix Drive Module?

The 1756-DM Drive Module is a single slot ControlLogix based module for interface to Reliance Electric Distributed Power System (DPS) drive equipment. Each drive module interfaces with an individual Power Module Interface (PMI) chassis, performing velocity and position and outer torque control.

Figure 1.1 SD3000 System Example

ControlLogix Chassis

with Drive Module

Drive Communication

Motor with

resolver

DPS with PMI

Chassis

1 Publication 1756-UM522B-EN-P - February 2003

•

1-2 What is the ControlLogix Drive Module?

There are two types of Drive module, each works with a different type of DPS drive equipment.

Table 1.A

Drive Module DPS Equipment Description

1756-DMD30 SD3000 6 Pulse DC Drive S6 and S6R

SD3000 12 Pulse DC Drive S12 and S12R

1756-DMF30 SF3000 Three Phase Field Supply

What Are Some of the Features Available On the ControlLogix Drive Module?

The following are some of the features available on the ControlLogix Drive module:

The 1756-DMD30 utilizes velocity and position and outer torque control similar to the PowerFlex 700S

•

Motor Control capability mimics the respective Reliance Electric Distributed Power drive

•

PC Tools, such as RSLogix 5000 DriveTools 2000

program suite, used for programming,

and DriveExecutive

in the

conﬁguring, monitoring and troubleshooting

Fiber optic connection to the Power Module Interface

SynchLink

for advanced high performance synchronization

and data transfer.

Removal and insertion under power (RIUP) - This system feature allows you to remove and insert the module while power is applied. For more information on RIUP, see page 1-7.

•

Class I Division 2, UL, CSA, and CE Agency Certiﬁcation

Publication 1756-UM522B-EN-P - February 2003

What is the ControlLogix Drive Module? 1-3

Connecting the Drive Module to SynchLink and Drive Comm

SynchLink

The ControlLogix Drive module mounts in a ControlLogix chassis and connects to other SynchLink nodes through a ﬁber optic cable system.

Table 1.B Fiber Optic Cables for SynchLink

Catalog Number: Cable Length Cables per box:

1403-CF001 1 meter 2 1403-CF003 3 meters 2 1403-CF005 5 meters 2 1403-CF010 10 meters 1 1403-CF020 20 meters 1 1403-CF050 50 meters 1 1403-CF100 100 meters 1 1403-CF250 250 meters 1

Drive Comm (Drive Communication)

The ControlLogix Drive module connects to a PMI chassis through special Drive Communication ﬁber optic cables.

Table 1.C Fiber Optic Cables for Drive Communication

Catalog Number Length

1756-DMCF001 1 meter 1756-DMCF003 3 meters 1756-DMCF010 10 meters 1756-DMCF030 30 meters

1756-DMAF

(1)

Use the 1756-DMAF to connect existing UDC/PMI ﬁber optic cables to the Drive Module

(1)

N/A

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•

1-4 What is the ControlLogix Drive Module?

Before you install and use your module you should have already:

installed and grounded a 1756 chassis and power supply. For more information, refer to the publications listed in Table 1.D.

Table 1.D Chassis and Power Supply Documentation

ControlBus Connector-

Interface to the

ControlLogix

system

backplane

Catalog

Document title: Pub. number:

number:

1756-A4, -A7,

ControlLogix Chassis Installation Instructions 1756-IN080

-A10, -A13 1756-PA72,

ControlLogix Power Supply Installation Instructions 1756-5.67

-PB72 1756-PA75,

ControlLogix Power Supply Installation Instructions 1756-5.78

-PB75 1756-PA75R/A,

-PB75R/A

ControlLogix Redundant Power Supply Installation Instructions

1756-IN573

Physical Features of the ControlLogix Drive Module

Module side view Module front view

SD3000 INTERFACE

LINK

COMM

SYNC

DRIVE

OS OK OK

DRIVE FAULT

COMM OK

Status Indicators

The 1756-DMD30, SD3000 Interface, is shown. Physical features are common to all ControlLogix Drive Modules.

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Transmit Ports

(in back)

Receive Ports (in front)

Tx (rear)

Rx (front)

SynchLink Ports

Drive Communication Ports

What is the ControlLogix Drive Module? 1-5

Backplane Connector - The backplane connector connects the

module to the ControlLogix chassis backplane.

Status Indicators - The status indicators display the module’s

communications, Drive Communication and SynchLink system status.

SynchLink Transmit Fiber Port - The transmit ﬁber port allows

connection (via ﬁber optic cables) to other SynchLink modules so the module can send data.

SynchLink Receive Fiber Port - The receive ﬁber port allows

connection (via ﬁber optic cables) to other SynchLink modules so the module can receive data.

Drive Communication Transmit Fiber Port - The transmit ﬁber

port allows connection (via ﬁber optic cables) to the PMI processor of the drive.

Using Module Identiﬁcation and Status Information

Drive Communication Receive Fiber Port - The receive ﬁber port

allows connection (via ﬁber optic cables) to the PMI processor of the drive.

Each ControlLogix Drive module maintains speciﬁc identiﬁcation information that separates it from all other modules. This information assists you in tracking all the components of your system.

For example, you can track module identiﬁcation information to be aware of exactly what modules are located in any ControlLogix rack at any time. While retrieving module identity, you can also retrieve the module’s status.

Each module maintains the following information:

Table 1.E Module Identiﬁcation and Status Information

Module Identiﬁcation: Description:

Product Type Module’s product type, such as Digital I/O or

Analog I/O module

Catalog Code Module’s catalog number

Major Revision Module’s major ﬁrmware revision number

Minor Revision Module’s minor ﬁrmware revision number

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1-6 What is the ControlLogix Drive Module?

•

–

•

Table 1.E Module Identiﬁcation and Status Information

Module Identiﬁcation: Description:

Status Module’s status. Returns the following information:

Controller ownership (if any) Whether module has been conﬁgured Device Speciﬁc Status, such as:

Self-Test Flash update in progress Communications fault Not owned (outputs in program mode) Internal fault (need ﬂash update) Run mode

Minor recoverable fault Minor unrecoverable fault Major recoverable fault Major unrecoverable fault

Vendor ID Module manufacturer vendor, for example Allen-Bradley

Serial Number Module serial number

Length of ASCII Text String Number of characters in module’s text string

ASCII Text String Module name

IMPORTANT

To retrieve this information, you can use the WHO service in the RSLinx software. For more information on how to retrieve module identiﬁcation information, see the RSLinx online help.

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What is the ControlLogix Drive Module? 1-7

Preventing Electrostatic Discharge

This module is sensitive to electrostatic discharge.

ATTENTION

Preventing Electrostatic Discharge

This equipment is sensitive to electrostatic discharge, which can cause internal damage and affect normal operation. Follow these guidelines when you handle this equipment:

•

Touch a grounded object to discharge potential static.

•

Wear an approved grounding wrist strap.

•

Do not touch connectors or pins on component boards.

•

Do not touch circuit components inside the equipment.

•

If available, use a static-safe workstation.

•

When not in use, store the equipment in appropriate static-safe packaging.

Removal and Insertion Under Power

These modules are designed to be installed or removed while chassis power is applied, while in non-hazardous locations only.

WARNING

ATTENTION

When you insert or remove the module while backplane power is on, an electrical arc can occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or the area is nonhazardous before proceeding.

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

IMPORTANT

Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance that can affect module operation.

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1-8 What is the ControlLogix Drive Module?

Chapter Summary and What’s Next

In this chapter, you learned about the ControlLogix Drive module. Move to Chapter 2, Drive Comm (Drive Communication) for details on the communications interface to DPS equipment.

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Chapter

Drive Comm (Drive Communication)

This chapter describes Drive Comm (Drive Communication), the interface between the ControlLogix Drive module communicates and Distributed Power System (DPS).

For information about: See page:

Interface to DPS Drive Equipment 2-1 Drive Communication Protocol 2-1 Initialization 2-2 Synchronized Communication 2-2 Chapter Summary and What’s Next 2-3

Interface to DPS Drive Equipment

Drive Communication Protocol

The main function of the Drive module is to interface to Distributed Power System (DPS) drive equipment, enabling a ControlLogix processor to control the drive equipment. A ControlLogix processor performs high level control algorithms and drive coordination. The

Drive module performs outer control loop processing Power Module Interface (PMI) performs real-time control of the Power Module.

Each drive module interfaces with an individual Power Module Interface (PMI) processor. It resides in a ControlLogix chassis and connects to a PMI processor via ﬁber-optic and Drive Communication protocol.

Drive Communication is a point to point serial link between the Drive module and the Power Module Interface (PMI), on ﬁber-optic cable. It is similar to the protocol used between the Universal Drive Controller (UDC) and the PMI processor in an AutoMax DPS environment. The data is Manchester-encoded and transmitted over the ﬁber-optic links at a rate of 10M bits per second. Transfers on ﬁber-optic cables are immune to electromagnetic interference (EMI).

(1)

, and the

During initialization, the Drive Module and PMI processor use an asynchronous master-slave protocol to transfer the PMI operating system to the PMI processor and to establish synchronized communication. After initialization, they use synchronized “Set

(1)

The 1756-DMF30 does not perform outer control loop processing - it only functions as a bridge between the ControlLogix controller and the PMI processor.

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2-2 Drive Comm (Drive Communication)

Point/Feedback Data Exchange” to transfer data. The Drive Module sends set point data to the PMI processor, which returns feedback data to the Drive Module.

Initialization

Synchronized Communication

At boot time, the Drive Module and PMI processor use an asynchronous master-slave protocol to transfer the PMI operating system and establish synchronized communication. The PMI processor is the master, and commences by requesting its operating system. The Drive Module responds by downloading the operating system in a special message, containing up to 256 byte packets.

When the operating system transfer is complete, the Drive Module sends a conﬁguration message and a gain message. The conﬁguration message contains information that ﬁxes the communication frequency at 4 mS. Once the Drive Module and PMI processor have synchronized communications, normal Set Point/Feedback data transfer can begin.

The synchronized protocol is called “Set Point/Feedback Data Exchange”. The drive module sends set point data to the PMI processor. The set point data contains reference data, for drive control, and a time stamp. This time stamp enables the PMI processor to calculate what the proper time is for the next feedback message. The PMI processor sends feedback messages to the Drive Module. The feedback messages contains data about drive operation.

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Timing

The velocity loop updates (reads from, and writes to Drive Communication) every 2 mS. After every other velocity loop update (at a 4 mS interval), the position loop performs its update. After every position update, the Drive Module sends set point data to the PMI processor. After the next velocity update (but before the following one), the PMI processor sends feedback data to the Drive Module. Refer to the following timing chart.

Velocity Loop Update

Position Loop Update

Set Point Data to PMI

Feedback Data to Drive Module

Drive Comm (Drive Communication) 2-3

Figure 2.1 Drive Communication Timing

4 mS

Synchronization with CST

Chapter Summary and What’s Next

Synchronization to Coordinated System Time (CST) is not necessary to synchronize Drive Communication between the Drive Module and the PMI processor. However, if the Drive Module is synchronized to the CST, Drive Communication will also synchronize to the CST.

In this chapter, you learned about Drive Communication. For more information on Drive Module features see Chapter 3, Drive Module Features.

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2-4 Drive Comm (Drive Communication)

Notes:

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•

Chapter

Drive Module Features

This chapter describes the ControlLogix Drive module features.

For information about: See page:

General Module Features 3-1 Conﬁgurable Module Features 3-4 Chapter Summary and What’s Next 3-10

General Under Power) that are supported on the module regardless of conﬁguration and application.

module features are features (e.g. Removal and Insertion

General Module Features

Conﬁgurable module features are features (e.g. Communications Format) that can be conﬁgured to work differently in various applications.

The following general module features are available with the ControlLogix Drive module:

Removal and Insertion Under Power (RIUP) Module Fault Reporting Fully Software Conﬁgurable LED Status Information Class I Division 2 Certiﬁcation Agency Certiﬁcation

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3-2 Drive Module Features

Removal and Insertion Under Power (RIUP)

All ControlLogix Drive modules may be removed and inserted from the chassis while power is applied. This feature allows greater availability of the overall control system because, while the module is being removed or inserted, there is no additional disruption to the rest of the controlled process.

WARNING

ATTENTION

IMPORTANT

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance that can affect module operation.

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Module Fault Reporting

ControlLogix Drive modules provide both hardware and software indication when a module fault has occurred. Each module’s LED fault indicator as well as DriveExecutive and RSLogix 5000 will graphically display this fault and include a fault message describing the nature of the fault.

This feature allows you to determine how your module has been affected and what action should be taken to resume normal operation.

Drive Module Features 3-3

Fully Software Conﬁgurable

RSLogix 5000 and DriveExecutive software packages use custom, easily understood interfaces to determine the module conﬁguration. All module features are enabled or disabled through the conﬁguration portions of the software.

You can also use the software to interrogate any module in the system to retrieve

•

serial number

•

revision information

•

catalog number

•

vendor identiﬁcation

•

error/fault information

By eliminating such tasks as setting hardware switches and jumpers, the software makes module conﬁguration easier.

LED Status Information

The ControlLogix Drive module has LED indicators on the front of the module that allow you to check the module health and operational status.

The following status can be checked with the LED indicators:

•

SynchLink and ControlLogix backplane status

•

Drive Comm status

•

Drive status

•

Module health status

For examples of LED indicators, see page 6-1.

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3-4 Drive Module Features

•

Class I Division 2 Certiﬁcation

The ControlLogix Drive module is certiﬁed for use in nonhazardous locations as well as Class I, Division 2 hazardous Locations containing gas groups A, B, C, and D. This equipment may be used as a component of a control system which is certiﬁed to operate in hazardous locations.

WARNING

ATTENTION

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

Agency Certiﬁcation

When the Drive module is marked appropriately, the following agency certiﬁcations apply:

Conﬁgurable Module Features

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•

UL Listed Industrial Control Equipment

•

CSA Certiﬁed Process Control Equipment

•

CSA Certiﬁed for Class I, Division 2 Hazardous Locations

The following Drive module features are conﬁgurable via RSLogix 5000 and DriveExecutive:

Controller Communication Format SynchLink Controller Communication Format Electronic Keying Requested Packet Interval Transmitted Direct Words SynchLink Mastership

Drive Module Features 3-5

Each of these features is described in this section, including information on which RSLogix 5000 and DriveExecutive conﬁguration screens should be used to conﬁgure the feature. For an overview of the entire conﬁguration process, see Chapter 5, Conﬁguring the Drive Module.

Controller Communication Format

The controller communications format deﬁnes the connection between the owner-controller and the module (i.e. determines what type of data is transferred between them). The 1756-DMD30 module supports Velocity Control, Position Control, User-Deﬁned and Custom User-Deﬁned communication formats. The 1756-DMF30 supports the User-Deﬁned communication format.

SynchLink Communications Format

The SynchLink communications format deﬁnes the connection at the SynchLink Receive Port and the SynchLink Transmit Port. It determines the type and number of data type in each connection.

SynchLink messages are structured as six 32-bit words; the words are divided into three types:

•

Direct - Data delivered in a single message. A SynchLink message can contain a maximum of four direct data words; each word is 32 bits in length. Direct data can be automatically forwarded to the next node in the daisy chain and ring conﬁgurations.

•

Buffered - Data that exceeds the four word limit of a direct data transfer. A maximum of 18 buffered are transfered every 500µS. Buffered data is appropriately segmented at the transmitting module and reassembled at the receiving module. Buffered data cannot be automatically forwarded to the next node in the daisy chain and ring conﬁgurations.

•

Axis - the Drive module does not support this data type.

Multiple Port Communications Formats in Single Module

You must set a communications format for receiving data (Receive Port Communications Format) and transmitting data (Transmit Port Communications Format) in each SynchLink node.

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3-6 Drive Module Features

•

The following requirements apply to communication format choices:

If a Drive module does not receive data (e.g. the ﬁrst node in a daisy chain topology), you must choose the

No Receive Data

Receive Port communication format.

•

If a Drive module does not transmit data (e.g. an end node), you must choose the

No Transmit Data

Transmit Port

communications format.

•

The receive communication format for any Drive module that receives data must match the transmit communications format of the upstream node in the system.

IMPORTANT

The receive and transmit on the same module do not have to match.

Also, once the module is created, the communications format cannot be changed. The module must be deleted and recreated.

Internal Scan on Drive Module

Every 500 µ S, the Drive module scans its internal hardware and captures a “snapshot” of the data there. This data is then sent to the local owner-controller at the Change of State (COS) instance, independent of the requested packet interval (RPI) rate. But, depending on the communications formats chosen during module conﬁguration, data types are transmitted between SynchLink nodes (via the ﬁber optic cable) at various rates and may be transmitted multiple times between the 500µS snapshots.

IMPORTANT

The transfer rate times listed in Table 3.A and Table 3.B only represent the rate at which data is passed between SynchLink modules over the ﬁber optic cable.

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Although the data is passed over the ﬁber optic cable at various rates, depending on the communications format choices, the chassis only

receive the data

SynchLink module’s internal scan

owner-controllers

after the local

every 500µS

in each local

The Drive module updates its receive and transmit buffers once every 500µS. Because direct data can be passed through from node to node once every 50µS, up to 10 nodes can be updated with direct data in a single 500µS SynchLink scan. Pass-through functionality only applies

Drive Module Features 3-7

to direct data in a daisy chain conﬁguration, In order to pass-through buffered data, the local controller must intervene to move data along.

Table 3.A Drive Module Receive Communications Formats

Receive Port Communications Format Transfer Rate (across the ﬁber optic

cable) for Each Data Type:

2 Direct Words, 18 Buffered Direct Data - Updated every 50 µ S

Buffered Data - Updated every 250 µ S

4 Direct Words, 18 Buffered Direct Data - Updated every 50 µ S

Buffered Data - Updated every 500 µ S

4 Direct Words, 8 Buffered Direct Data - Updated every 50 µ S

Buffered Data - Updated every 250 µ S

No Receive Data No data updated in this format

Table 3.B Drive Module Transmit Communications Formats

Transmit Port Communications Format

2 Direct Words, 18 Buffered Direct Data - Updated every 50 µ S

4 Direct Words, 18 Buffered Direct Data - Updated every 50 µ S

4 Direct Words, 8 Buffered Direct Data - Updated every 50 µ S

Listen Only, No Transmit Data No data updated in this format No Transmit Data No data updated in this format

Transfer Rate (across the ﬁber optic cable) for Each Data Type:

Buffered Data - Updated every 250 µ S

Buffered Data - Updated every 500 µ S

Buffered Data - Updated every 250 µ S

Module-Deﬁned Data Tags

When you create a module, module-deﬁned data types and tags are created in the RSLogix 5000 programming software. These tags allow you to access the Input and Output Data of the module via the controller’s ladder logic, if necessary

The types of tags created vary, depending on which communications format you choose when creating a module. There are two types of tags:

•

Input Data Tags

•

Output Data Tags

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3-8 Drive Module Features

Electronic Keying

Instead of plastic mechanical backplane keys, electronic keying allows the ControlLogix system to control what modules belong in the various slots of a conﬁgured system.

During module conﬁguration, you must choose one of the following keying options for your SynchLink module:

• Exact Match

• Compatible Match

• Disable Keying

When the controller attempts to connect to and conﬁgure a Drive module (e.g. after program download), the module compares the following parameters before allowing the connection and conﬁguration to be accepted:

• Vendor

• Product Type

• Catalog Number

• Major Revision

• Minor Revision

The comparison is made between the keying information present in the Drive module and the keying information in the controller’s program. This feature can guard against the inadvertent operation of a control system with the wrong module in the wrong slot.

Exact Match

All of the parameters listed above must match or the inserted module will reject a connection to the controller.

Compatible Match

The Compatible Match mode allows a Drive module to determine whether it can emulate the module deﬁned in the conﬁguration sent from the controller.

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With ControlLogix Drive modules, the module can emulate older revisions. The module will accept the conﬁguration if the controller’s major.minor revision is less than or equal to the physical module’s revision.

Drive Module Features 3-9

For example, if the conﬁguration contains a major.minor revision of

2.7, the module inserted into the slot must have minor revision of 2.7 or higher for a connection to be made.

TIP

We recommend using Compatible Match whenever possible. Remember, though, the module will only work to the level of the conﬁguration.

For example, if a slot is conﬁgured for a module with major.minor revision of 2.7 and you insert a module with a major.minor revision of 3.1, the module works at the 2.7 level despite having been previously upgraded.

If possible, we suggest you make sure conﬁguration is updated to match the revision levels of all Drive modules. Failure to do so may not prevent the application from working but may defeat the purpose of upgrading your modules’ revision levels.

Disable Keying

The inserted module attempts to accept a connection to the controller regardless of its type.

ATTENTION

Be extremely cautious when using the disable keying option; if used incorrectly, this option can lead to personal injury or death, property damage or economic loss.

If keying is disabled, a controller makes a connection with most modules of the same type as that used in the slot conﬁguration.

A controller will not establish a connection if any of the following conditions exist, even if keying is disabled:

• The slot is conﬁgured for one module type (e.g. digital input module) and a module of another type (e.g. Drive module) is inserted in the slot.

• The module inserted into the slot cannot accept some portion of the conﬁguration. This case should not arise if the slot is conﬁgured for a Drive module and one is inserted.

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3-10 Drive Module Features

Requested Packet Interval

The Requested Packet Interval (RPI) is a conﬁgurable parameter that deﬁnes when the module multicasts its data onto the local chassis backplane.

In addition to the RPI, Change of State (COS) functionality also causes the module to produce its data to the consuming controller whenever the values of the data changes. The RPI timer is asynchronous to the COS functionality. Both cause the module to produce data when triggered.

Buffered, Direct and Diagnostic Data - RPI Effect on Output Data (from the controller)

As a producing controller writes data to the Drive module, the output data is placed in a local buffer until the next RPI reset occurs. When the RPI timer expires, the output data is moved from the controller’s local buffer to the Drive module.

Chapter Summary and What’s Next

The RPI timer is asynchronous to the program execution. Therefore, a worst case update to the Drive module can be calculated by adding the program execution time to the RPI timer setting, as conﬁgured by the user.

In this chapter, you learned about the ControlLogix Drive module features. Move to Chapter 4, Installing the Drive Module, to learn how to install the module.

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Installing the Drive Module

This chapter describes how to install the ControlLogix Drive module.

For information about: See page:

Noting the Power Requirements 4-1 Installing the Module 4-2 Connecting SynchLink Cables 4-3 Connecting (Drive Comm Drive

Communication) Cables Removing the Module 4-6 Chapter Summary and What’s Next 4-7

4-5

Chapter

Noting the Power Requirements

This module receives power from the 1756 chassis power supply and requires 2 sources of power from the backplane:

•

1.35A at 5.1V dc

•

3.0mA at 24V dc

Account for this power consumption (6.96W) in addition to the requirements of all other modules in the chassis to prevent overloading the power supply.

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4-2 Installing the Drive Module

Installing the Module

You can install or remove the module while chassis power is applied.

WARNING

ATTENTION

The removal of a Drive Module while under power may cause personal injury or property damage. Make sure that removal of the module does not adversely impact other parts of the system.

IMPORTANT

Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance that can affect module operation.

Align the circuit board with the top and bottom chassis guides.

Printed Circuit Board

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Installing the Drive Module 4-3

Slide the module into the chassis until the module locking tabs ‘click’.

Locking tab

Connecting SynchLink Cables

The two ﬁber optic ports on the bottom-left of the module are for SynchLink. The front-left port is receives SynchLink data, and the rear-left port is transmits SynchLink data.

ATTENTION

The Drive module is a Class I LED product. Light levels may cause damage to eyesight. Do not look directly into the ﬁber ports or ﬁber cables.

TIP

Keep the plugs that were removed to connect the ﬁber optic cables. When the cables are disconnected, you can reinsert the plugs into the ports to protect them.

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4-4 Installing the Drive Module

Figure 4.1 SynchLink Connections

Tx (rear)

Rx (front)

Tx Rx

Refer to See Table 1.B on page 1-3 for information on available pre-conﬁgured ﬁber optic SynchLink cables.

Table 4.A lists the possible connections that might be made to your 1756-DM module and where to connect the ﬁber optic cable.

Table 4.A Making Fiber Optic Cable Connections to the 1756-DM Module

If your 1756-DM module is conﬁgured to:

transmit data only Connect the ﬁber optic cable to the rear port. The other end

receive data only Connect the ﬁber optic cable to the front port. The other end

transmit and receive data 1. Connect the ﬁber optic cable going to (i.e. transmitting

Make this ﬁber optic cable connection:

of the cable should be connected to a device receiving data over the SynchLink from your 1756-DM module.

of the cable should be connected to a device transmitting data to your 1756-DM module over the SynchLink.

the data to) a module receiving the data to the front port.

2. Connect the ﬁber optic cable coming from (i.e. receiving the data from) a module transmitting data to the rear port.

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Installing the Drive Module 4-5

Connecting (Drive Comm Drive Communication) Cables

The two ﬁber optic ports on the bottom-right of the module are for Drive Comm. The front-right port receives data from the PMI processor on the drive. The rear-right port transmits data to the PMI processor.

•

Connect the 1756-DM transmit port (Tx) to the PMI receive port (RCV).

•

Connect the 1756-DM receive port (Rx) to the PMI transmit port (XMT). .

ATTENTION

The Drive module is a Class I LED product. Light levels may cause damage to eyesight. Do not look directly into the ﬁber ports or ﬁber cables.

TIP

Keep the plugs that were removed to connect the ﬁber optic cables. When the cables are disconnected, you can reinsert the plugs into the ports to protect them.

Figure 4.2 Drive Comm - Drive Module End Connections

Tx (rear)

Rx (front)

Tx Rx

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4-6 Installing the Drive Module

Figure 4.3 Drive Comm - PMI Processor Connections

XMT

C O

RCV

M M

Removing the Module

Refer to See Table 1.C on page 1-3 for information on available pre-conﬁgured ﬁber optic Drive Comm cables.

ATTENTION

Before you remove the module, you must disconnect the ﬁber optic cables.

Push in the top and bottom locking tabs.

TIP

If you kept the plugs that were removed to connect the ﬁber optic cables, reinsert them to protect the ports.

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Pull the module out of the chassis as shown.

Figure 4.4

Installing the Drive Module 4-7

Locking tabs

Chapter Summary and What’s Next

In this chapter, you learned how to install the ControlLogix Drive module. Move to Chapter 5, Conﬁguring the Drive Module, to learn how to conﬁgure the module.

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4-8 Installing the Drive Module

Notes:

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•

Chapter

Conﬁguring the Drive Module

This chapter describes how to conﬁgure the ControlLogix Drive Module using RSLogix 5000 and DriveExecutive in the DriveTools 2000 programming suite.

For information about: See page:

Overview of the Conﬁguration Process 5-1 Planning the System 5-2 Checking and Updating the DriveExecutive

Database Using RSLogix 5000 to Conﬁgure the Drive

Module Using DriveExecutive to Conﬁgure Drive

Module Return to RSLogix 5000 to Finish

Conﬁguring the Drive Module Chapter Summary and What’s Next 5-24

5-6

5-9

5-16

5-23

Overview of the Conﬁguration Process

To conﬁgure your ControlLogix Drive Module, you must perform the following steps:

Plan the system.

Choose Controller Communication format Choose SynchLink communications format (if you are using

SynchLink) Choose SynchLink topology (if you are using SynchLink)

Make sure DriveExecutive has database for the ﬁrmware revision and conﬁguration of the module.

Conﬁgure each Drive Module with RSLogix 5000.

Conﬁgure each Drive Module with DriveExecutive, and download parameters and links to Drive module.

Return to RSLogix 5000, and download program to ControlLogix processor.

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5-2 Conﬁguring the Drive Module

Planning the System

Before programming, you must choose a Controller - Drive Module interface (Controller Communication Format) for each Drive Module in the system.

If you are going to use SynchLink, you must choose the SynchLink data format, and a SynchLink network topology. This chapter covers these topics.

Understanding the Controller - Drive Module Interface

You must conﬁgure communications between the ControlLogix controller and the Drive Module by selecting a “Controller Communication Format”. A controller communication format is a set of links that connects controller output tags to Drive Module sinking parameters, and connects controller input tags to Drive Module sourcing parameters. There are four controller communication formats to choose from, depending on which module you are conﬁguring:

•

Velocity Control

•

Position Control

•

User-Deﬁned Control

•

Custom User-Deﬁned Control

Each controller communication format contains both required connections and user deﬁnable connections. You must use both RSLogix 5000 and DriveExecutive to conﬁgure these connections. The programming software will not allow you to choose Velocity Control or Position control for the 1756-DMF30.

IMPORTANT

Once the module is created, the communications format cannot be changed. The module must be deleted and recreated.

Choosing the SynchLink Communication Formats

You must set a communications format for receiving data (Receive Port Communications Formats) and transmitting data (Transmit Port Communications Formats) in each module.

The following requirements apply to communication format choices:

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•

Conﬁguring the Drive Module 5-3

If a Drive module does not receive data (e.g. the ﬁrst module in a non-loop topology), you must choose the No Receive Data Receive Port communication format.

If a Drive module does not transmit data (e.g. an end node in the daisy chain conﬁguration or star), you must choose the No

Transmit Data Transmit Port communications format.

The receive communication format for any SynchLink node that receives data must match the transmit communications format of the previous node in the system.

Receive Port Communications Formats

The following communications formats are available for the receive port of your Drive module:

2 Direct Words, 18 Buffered - Data updated every 500 µ S 4 Direct Words, 18 Buffered - Data updated every 500 µ S 4 Direct Words, 8 Buffered - Data updated every 500 µ S No Receive Data - Data updated every 500 µ S

Transmit Port Communications Formats

The following communications formats are available for the transmit port of your Drive module:

2 Direct Words, 18 Buffered - Data updated every 500 µ S 4 Direct Words, 18 Buffered - Data updated every 500 µ S 4 Direct Words, 8 Buffered - Data updated every 500 µ S No Transmit Data - Data updated every 500 µ S

IMPORTANT

The update times referenced above are for data updates across the SynchLink ﬁber optic cable only and do not represent full processing time. Refer to 3-5 for more information regarding data updates and processing times.

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5-4 Conﬁguring the Drive Module

First Drive Module

(Master Node)

SynchLink Module (Center Node)

•

Choosing the SynchLink Network Topology

You can use one of the following SynchLink topologies:

Daisy Chain

Drive Module

(Center Node)

SynchLink Module (Center Node)

-DMD30

-SYNCH

-DMD30

-SYNCH

Drive Module

(Center Node)

Drive Module (Center Node)

SynchLink Module (Center Node)

-DMD30 -DMD30

-SYNCH -SYNCH

SynchLink Module (End Node)

SynchLink

Drive Module

(End Node)

Note: the order of the modules is not important.

Star (asynchronous)

First Drive Module

(Master Node)

SynchLink

-DMD30

Hub

-DMD30

-DMD30 -DMD30

Hub

-DMD30 -DMD30

ControlNet)

Hub

-DMD30

Drive Module (End Node)

Drive Module

(End Node)

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Drive Module

(End Node)

Drive Module (End Node)

•

Hybrid (synchronous)

Conﬁguring the Drive Module 5-5

Note: the ﬁrst module must

be the SynchLink Master

Daisy Chain Connection between ﬁrst SynchLink

Module and ﬁrst Drive

Module

SynchLink Module (End Node)

Drive Module (End Node)

-DMD30 -SYNCH

SynchLink Module (End Node)

First SynchLink Module

(CST Time Master and

SynchLink Master)

-DMD30 -SYNCH -DMD30 -SYNCH

Drive Module (End Node)

First Drive Module

-DMD30 -SYNCH

Hub

SynchLink Module (End Node)

Drive Module (End Node)

ControlNet)

-DMD30 -SYNCH

SynchLink Module (End Node)

Star Connections for all other modules

Drive Module (End Node)

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5-6 Conﬁguring the Drive Module

Checking and Updating the DriveExecutive Database

Select New from File

Checking the DriveExecutive Database

DriveExecutive must have a database for the Drive module ﬁrmware revision and power module conﬁguration, in order to conﬁgure the module’s parameters and links. In addition, the database is required for RSLogix and DriveExecutive to synchronize. Check the availability of the database by attempting to create a new module with the desired ﬁrmware revision level and power module conﬁguration.

Select desired

Device Type

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Click Next to move to

next page.

Conﬁguring the Drive Module 5-7

Checking the DriveExecutive Database (continued)

Check to see if desired Firmware Revision is available

Check to see if desired power module

conﬁguration is available

(The conﬁguration number is the same as

the power module’s part number)

Click Cancel to end

test

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5-8 Conﬁguring the Drive Module

•

Updating the DriveExecutive Database

There are two ways to obtain the desired database if your computer does not contain it.

Connecting to the module and creating the database in DriveExecutive

Downloading the database from the DriveTools 2000 software website ( http://www.ab.com/drives/drivetools_2000 )

If you have access to a Drive module with the desired ﬁrmware revision, DriveExecutive can read the database from the module.

Select Create Database from Drive Menu

From here, DriveExecutive and RSLinx will guide you to connect the Drive module and create the database.

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Conﬁguring the Drive Module 5-9

Using RSLogix 5000 to

Create a new RSLogix 5000 Project

Conﬁgure the Drive Module

Select New from File

Select the controller type

Enter the project name

Enter the project

description if desired

Select the chassis type

Click OK when all the information is correct

Enter project location

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5-10 Conﬁguring the Drive Module

Add a Drive Module to the Project

Select the correct catalog

number for the Drive Module

Place the cursor over the I/O

Conﬁguration folder

Click the right mouse button and select New Module

Select the correct major revision level.

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Click OK to open

Module Properties

window

Add a Drive Module to the Project (continued)

Conﬁguring the Drive Module 5-11

Enter the module name

Enter a description

Enter the correct minor

revision level

ATTENTION

Verify Slot Number

Select the Comm Format

Be extremely cautious when using the disable keying option; if used incorrectly, this option can lead to personal injury or death, property damage or economic loss.

Click Next to advance the wizard

Select Electronic Keying mode

Enter the desired RPI

Click Next to advance the wizard

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5-12 Conﬁguring the Drive Module

Add a Drive Module to the Project (continued)

Click Next to advance the wizard

Select the Power Unit Type

Select the Voltage

Select the Power Structure Rating (conﬁguration)

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Add a Drive Module to the Project (continued)

Conﬁguring the Drive Module 5-13

Enter a ﬁlename or click browse to search for an existing DriveExecutive ﬁle

Click Finish

Monitor and Conﬁgure the Module

Place the cursor over

the Drive Module

Click the right mouse button and select Properties

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5-14 Conﬁguring the Drive Module

Monitor and Conﬁgure the Module (continued)

Use the General tab to view or modify the module name, slot number, controller communication format, revision or keying conﬁgurations

Use the Connection tab to view or modify the conﬁguration of the connection to the controller and to view module faults.

Use the Module Info tab to view module identiﬁcation information, module status and CST status.

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Monitor and Conﬁgure the Module (contintued)

Use the Power tab to view or modify conﬁguration for the power unit connected to the Drive Module

Conﬁguring the Drive Module 5-15

Click this button to

launch DriveExecutive

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5-16 Conﬁguring the Drive Module

Using DriveExecutive to Conﬁgure Drive Module

On the SynchLink Setup Tab

The settings you make on this tab determine what the module does during every SynchLink Update cycle

Conﬁgure the Drive Module’s Peer Communication

Select Peer

Communication from

Drive Menu

Select sources

for Direct Data

transmissions

Select the Receive

and Transmit Formats

Conﬁgure the

Multiplier Block

Select source

parameters for

Buffered Data

transmissions

Select source parameters for Direct Data, if the sources are drive parameters

Publication 1756-UM522B-EN-P - February 2003

Click SynchLink Node Conﬁguration to open

SynchLink Node Conﬁguration Window

Check this box if the

module is to be the

Time Keeper

Conﬁgure the Drive Module’s Peer Communication (continued)

The value tab is useful for conﬁguring the module as a Time Keeper

Conﬁguring the Drive Module 5-17

Click OK when the conﬁguration is as

desired

Publication 1756-UM522B-EN-P - February 2003

5-18 Conﬁguring the Drive Module

Conﬁgure the Drive Module’s Peer Communication (continued)

Click the From

Controller tab

These links are part of the selected Controller Communication Format. They are not changeable.

Select parameters in the Drive Module that will consume data produced by tags in the controller.

This displays the Controller Communication Format, chosen in RSLogix 5000.

If you need to change the Controller Communication Format, choose another from the pull-down menu.

Publication 1756-UM522B-EN-P - February 2003

IMPORTANT

Conﬂicts between the DriveExecutive and RSLogix 5000 conﬁgurations cause communication faults. Make sure the Controller Communication Format is the same in DriveExecutive and RSLogix 5000 before downloading.

Conﬁguring the Drive Module 5-19

Conﬁgure the Drive Module’s Peer Communication (continued)

Click the To Controller

tab

Select parameters in the Drive Module that will produce data consumed by tags in the controller.

Click OK when all the data on these tabs is correct

Publication 1756-UM522B-EN-P - February 2003

5-20 Conﬁguring the Drive Module

Double - click on the parameter you

want to consume SynchLink data

Conﬁgure the Drive Module’s Links to SynchLink Data

On the Link List

Click on the Link Data tab

Publication 1756-UM522B-EN-P - February 2003

Select Parameter

Enter parameter

number or

select

parameter from

list

Conﬁguring the Drive Module 5-21

Conﬁgure the Drive Module’s Links to SynchLink Data (continued)

On the Link Data Tab

IMPORTANT

Click OK

The data format (e.g. Real or Integer) of the sink parameter must match the data format of the source parameter.

Publication 1756-UM522B-EN-P - February 2003

5-22 Conﬁguring the Drive Module

Select Save from the File menu

Save the Project

Download the Project

Select Download from the Drive menu

Publication 1756-UM522B-EN-P - February 2003

Conﬁguring the Drive Module 5-23

Return to RSLogix 5000 to Finish Conﬁguring the Drive Module

Click on this button to cause additional user

deﬁned links (links created in DriveExecutive

in addition to the default links associated

with the Controller Communication Format) to

be transferred from the Drive File into

RSLogix 5000.

Complete Setup Properties

Click Apply to make

the changes to the

conﬁguration

IMPORTANT

Click OK when

satisﬁed with

conﬁguration

Refreshed links will not take affect unless both the RSLogix and Drive Executive projects have been downloaded.

Publication 1756-UM522B-EN-P - February 2003

5-24 Conﬁguring the Drive Module

Select Save from the File menu

Save and Download

Chapter Summary and What’s Next

Select Download from the Communications menu

In this chapter, you learned how to conﬁgure the ControlLogix Drive Module. Move to Chapter 6, Troubleshooting the Drive Module, to learn how to troubleshoot the module.

Publication 1756-UM522B-EN-P - February 2003

Chapter

Troubleshooting the Drive Module

This chapter describes how to troubleshoot the ControlLogix Drive module.

For information about: See page:

Using the Status Indicators 6-1 Using DriveExecutive to Troubleshoot the

Module Using RSLogix 5000 to Troubleshoot the

Module Chapter Summary and What’s Next 6-10

6-3

6-8

Using the Status Indicators

Bi-colored (red/green) LEDs indicate the status of several module functions.

SD3000 INTERFACE

LINK

COMM

SYNC

DRIVE

COMM OK

FAULT

OS OK OK

SD3000 INTERFACE

Tx (rear)

Rx (front)

LINK

COMM

DRIVE

COMM OK

OS OK OK

Indicators shown are typical for all Drive Modules.

LINK SYNC

DRIVE FAULT

During power up, the OK indicator turns red for 5 seconds and then turns to flashing green if it has passed the self-test.

1 Publication 1756-UM522B-EN-P - February 2003

6-2 Troubleshooting the Drive Module

Use the table on the next page to troubleshoot your module.

LED Indicator Display Means Take this Action

OK Green Connection is running. None

Flashing Green

Red Non-Recoverable Fault Remove module from

Flashing Red Flash download in progress. None

Off Module is powered down. None

DRIVE FAU LT

LINK SYNC

OS OK Green System and parameter constants

DRIVE COMM OK

LINK COMM

Red Module is faulted. See Fault Status

Off No fault is present or module is

Green The module is the time master or a

Flashing Green

Flashing Red The module is conﬁgured as a CST

Off The module is not conﬁgured as a

Off Checksum failure. Reﬂash the module.

Green DPS communication is active and

Off DPS communication is not active, is

Green The module is conﬁgured and

Off The module is conﬁgured but not

Inhibited I/O connection. None

service

parameters.

powered down.

time relay and synchronization is complete.

The module is conﬁgured as a time relay from CST to SynchLink but is not synchronized with a CST master on the backplane.

The module is conﬁgured as a time relay from SynchLink to CST but has not synchronized with the upstream device.

master and has detected another CST master.

The module is conﬁgured as a time master on SynchLink and has received time information from another time master on SynchLink.

time master or time relay or module is powered down.

loaded.

synchronized.

not synchronized, or the module is powered down.

receiving valid data from SynchLink.

The module is conﬁgured and enabled to only transmit on SynchLink.

receiving valid data from SynchLink.

The module is conﬁgured but not enabled to transmit on SynchLink.

Module is powered down. Power the module.

None

N/A

Ensure that only 1 time master is present and transmitting time information on SynchLink.

None

Ver ify that cables are securely connected.

None

Ver ify that cables are securely connected.

Enable module transmitter.

Publication 1756-UM522B-EN-P - February 2003

•

Troubleshooting the Drive Module 6-3

Using DriveExecutive to Troubleshoot the Module

Faulted Indication

DriveExecutive (a program in the DriveTools 2000 suite) alerts you to fault conditions. If your are online with the Drive Module, the software will alert you in the following ways:

Warning signal on the main screen

Notiﬁcation in the Fault and Alarm Information Window

Diagnostic parameters

Warning Signal on Main Screen

Click the warning icon to open the Fault and Alarm Information window

Publication 1756-UM522B-EN-P - February 2003

6-4 Troubleshooting the Drive Module

Fault and Alarm Window

Fault Queue Tab

The Fault Queue -

a list of fault codes,

descriptions and the

times they occurred

The Alarm Queue a list of alarm codes,

descriptions and the

times they occurred

Click here to clear faults

Click here to empty fault queue

Click here to get new fault information from the Drive Module

Alarm Queue Tab

Click here to clear alarms

Click here to empty alarm queue

Click here to get new alarm information from the Drive Module

Publication 1756-UM522B-EN-P - February 2003

Troubleshooting the Drive Module 6-5

Fault and Alarm Window (continued)

Fault Words Tab

Select a fault word

parameter

This tab shows bit-wise views of the primary fault parameters

Click here to clear faults

Click here to get online help about the parameter

Click here to clear faults

Red indication of

set fault bit

Click here to get online help about the parameter

Refer to the appropriate appendix to interpret fault information that is speciﬁc to a certain Drive Module

Publication 1756-UM522B-EN-P - February 2003

6-6 Troubleshooting the Drive Module

Code, description,

date and time of

fault that tripped

the Drive Module

Fault and Alarm Window (continued)

Trip Fault Tab

Click here to clear faults

Click here to get online help about Trip Fault

Double-click on the Utility

folder to expand it

Diagnostic Parameters

Publication 1756-UM522B-EN-P - February 2003

Double-click on the

Diagnostics group to

Troubleshooting the Drive Module 6-7

Diagnostic Parameters (continued)

expand it

An check mark

indicates the

presence of a fault

Double-click on the parameter you want to examine

Refer to the appropriate appendix to interpret fault information that is speciﬁc to a certain Drive Module

Publication 1756-UM522B-EN-P - February 2003

•

6-8 Troubleshooting the Drive Module

Using RSLogix 5000 to Troubleshoot the Module

RSLogix 5000 alerts you to fault conditions. If your are online with the Drive Module the software will alert you in the following ways:

Warning signal on the main screen next to the module-This occurs when the connection to the module is broken

Status on the Module Info Page

Warning Signal on Main Screen

Warning Icon indicates presence of a communication fault

Publication 1756-UM522B-EN-P - February 2003

Place the right mouse button over the Drive Module icon

Click the right mouse button and select Properties to open the Module Properties window

Troubleshooting the Drive Module 6-9

Module Properties Window

General Tab

Status line provides

information on the

connection to the module

ATTENTION

Be extremely cautious when using the disable keying option; if used incorrectly, this option can lead to personal injury or death, property damage or economic loss.

Connection Tab

Code number and

description of fault

Status line provides

information on the

connection to the module

Publication 1756-UM522B-EN-P - February 2003

6-10 Troubleshooting the Drive Module

Module Properties Window (continued)

Module Info Tab

Status line provides

information on the

connection to the module

Chapter Summary and What’s Next

Click Reset Module to clear fault

Click Refresh to update Module Info

In this chapter, you learned how to troubleshoot the ControlLogix Drive module. Move to Appendix A to see the module’s speciﬁcations.

Publication 1756-UM522B-EN-P - February 2003

Module Speciﬁcations

Appendix

Speciﬁcations

Consideration Description

Module Location 1756 ControlLogix Chassis Backplane Current 1.35A at 5.1V DC and 3.0mA at 24V DC Maximum Power Dissipation 6.96 W Thermal Dissipation 23.7 BTU/hr Indicators Green and red indicators for operation, status, and

diagnostics.

Environmental Conditions

Operating Temperature Storage Temperature Relative Humidity

Shock

Operating

Non-operating Vibration Tested 2g at 10-500Hz per IEC 68-2-6 Reliability Mean Time Between Failure (MTBF) 1.7 million hours Agency Certiﬁcation

(When product is marked.)

0° to 60°C (32° to 140°F)

-40° to 85°C (-40° to 185°F) 5 to 95% non condensing

30g peak acceleration, 11 (±1 ms) pulse width 50g peak acceleration, 11 (±1 ms) pulse width

Listed Industrial Control Equipment

Certiﬁed Process Control Equipment Certiﬁed Class I, Division 2, Group A, B, C, D

Approved Class I, Division 2, Group A, B, C, D

Marked for all applicable directives

Marked for all applicable acts

Communication Speciﬁcations

1 Publication 1756-UM522B-EN-P - February 2003

Consideration SynchLink Drive Communication

Connecting Cables

Maximum Cable Length

Minimum Cable Length

(1)

200/230 micron HCS (Hard Clad Silica) Versalink V-System Lucent Technologies, Specialty Fibers Technology Division

300 meters with no more than one splice or one adapter

1 meter 1 meter

(2)

62.5/125 micron glass One pair SC Style, one pair ST Style Breakout Cables: Belden 225362 or Mohawk M92021

300 meters with no more than one splice or one adapter

A-2 Speciﬁcations

Consideration SynchLink Drive Communication

Operating

650 nm (Red) 820 nm (InfraRed)

Wavelength Data Rate 5 Mbps 10 Mbps Maximum

Node Count

(1)

See page 1-3 for Allen-Bradley catalog numbers.

(2)

See page 1-3 for Allen-Bradley catalog numbers.

10 - Daisy Chain, 256 - Star Conﬁguration

1 - PMI Chassis

Publication 1756-UM522B-EN-P - February 2003

Appendix

1756-DMD30 Speciﬁc Information

This appendix contains information that applies speciﬁcally to the 1756-DMD30.

For information about: See page:

Control Block Diagrams B-2 Parameters B-13 Interpretting Drive Module Faults in DriveExecutive B-159

1 Publication 1756-UM522B-EN-P - February 2003

B-2 1756-DMD30 Speciﬁc Information

Control Block Diagrams

1756-DMD30

Overview

302

Spd Reg PI Out

Lead Lag

Block Diagrams

PI Regulator

Lead Lag

301

Speed Control - Regulator (2ms)

300

Motor Speed Ref

Motor Spd

Spd Reg P Gain

Fdbk

Spd Reg BW

Spd Reg I Gain

Rack

Current

SD3000 PMI

Fiber

305

Mtr TorqCurr Ref

Processing

Limit

Flux

Notch

Control

Torque

Selection

Motor

*, /, +

Motor

R/T

Protection

Gear

Load

Read Only Parameter

Read / Write Parameter

Read Only Parameter with Bit Enumeration

Read / Write Parameter with Bit Enumeration

Provides additional information

222321

Link

318

Posit Spd Output

Point

Point to

PI Regulator

770

768

Posit Reg Integ

PositReg P Gain

[ N ]

[ D ]

Gear Rat

(Mode)

Selection

Reference

Position

Interpolator

748

743

Aux Posit Ref

Position Control (4ms)

CoarsePosit Trgt

Pt-Pt Posit Ref

Posit Ref Sel

758

Offset

Position

742

Mtr Posit FB

Speed Trim 3

Proportional Channel

762

R/T

Integration Channel

[ N ]

[ D ]

764

Link

Gear Rat

Posit Load Fdbk

Speed Control - Reference (2ms)

302

Spd Reg PI Out

To rque Control (0.5ms)

Link

4643

Lead Lag

Linear

S Curve

Ramp &

Selected Spd Ref S Curve Spd Ref Scaled Spd Ref

10111213141520

FricComp TorqAdd

Link

Selection

Speed Ref

145

Inertia Torq Add

145

Inertia Comp

Friction Comp

Speed Ref Sel

xxx

Torque Ref Inputs

Link

PI Output

Process Control (2ms)

Definations of the Per Unit system:

1.0 PU Speed = Base Speed of the Motor

1.0 PU Torque = Base Torque of the Motor

180

PI Regulator

181

182

PI Feedback

PI Reference

( ) = Enumerated Parameter

1.0 PU Current = Base Current of the Motor

Limit

186

PI Prop Gain

PI Integ Time

ex. 3A2 = pg 3, Column A, Row 2

[ ] = Page and Coordinate

187

Publication 1756-UM522B-EN-P - February 2003

1756-DMD30 Speciﬁc Information B-3

Speed Control - Reference

FE HG I

(2 ms)

Speed Control - Reference

153 00

Control Options

157 00

Logic Ctrl State

152

Limited Spd Ref

Limit

Selected Spd Ref

Max

Rev Speed Limit

Fwd Speed Limit

152

Applied LogicCmd

(Unipol Rev) -1

(Unipol Fwd) +1

145

to Torque

Control [8B2]

FricComp TorqAdd

Friction Comp

151 11

(Frict Comp)

Logic Command

140

FricComp Spd Ref

Link

Inertia SpeedRef

141

142

143

FricComp Slip

FricComp Stick

FricComp Setup

Inertia Comp

151 10

Link

(Inertia Comp)

Logic Command

Inertia Torq Add

144

FricComp Rated

Total Iner tia

InertiaAccelGain

InertiaDecelGain

to Torque

Control [8B1]

Spd Trim1 SpdRef

Scaled Spd Ref

Filtered Spd Ref

s + wn

(kn * s) + wn

Spd Ref Bypass

Link

S Curve Spd Ref

to Speed Control

- Regulator [3A2]

Speed Ref Scale

Lead Lag

153 01

SpdRef Filt Gain

(SRef Filt En)

Control Options

Speed Trim 1

Link

180

Control [4F2]

from Process

PI Output

Delayed Spd Ref

SpdRef Filt BW

One

Scan

Delay

Virt Encdr Dlyed

Virt Encdr Posit

One

4x internal

Virtual Encoder

Virt Encoder PPR

Scan

Delay

Jog Speed 1

Applied LogicCmd

Jog Speed 2

Ramped Spd Ref

Speed Ref Sel

Speed Ref 1

Spd Ref1 Divide

Speed Ref 2

Spd Ref2 Multi

Speed Ref 5

Speed Ref 4

Speed Ref DPI

S Curve Time

Ramp S Curve

1 0

Inv

Accel Time

Decel Time

151 00

Logic Command

(SpdRamp Dsbl)

0 1

157 01

Logic

Logic Ctrl State

(SRef SCrv En)

157 02

Logic Ctrl State

(SRef Ramp En)

1 0

0 1

151 01

(Spd S Crv En)

Logic Command

Logic

Publication 1756-UM522B-EN-P - February 2003

B-4 1756-DMD30 Speciﬁc Information

Speed Control - Regulator

(2 ms)

Spd Reg BW

Spd Reg Damping

SpdReg P Gain Mx

Motor Inertia

Total Iner tia

909291

Speed Control - Regulator

set param 90 = 0

to manually adjust

param 81 & 82

2189

2190

157 08

(Spd Reg En)

Logic Ctrl State

302

Spd Reg PI Out

s + wn

(kn * s) + wn

[8B1]

to Torque Control

Lead Lag

SRegOut FiltGain

SReg Out Filt BW

Limit

102

P Gain

103

Spd Reg Pos Lim

Spd Reg Neg Lim

Spd Reg P Gain

SpdReg Integ Out

101

FE HG I

157 06

(CurrLim Stop)

Logic Ctrl State

Limit

157 04

Logic Ctrl State

Speed Trim 3

SpdTrim 3 Scale

(Inrta Tst En)

Spd Trim1 SpdRef

- Reference [2H4]

from Speed Control

Bypass

Autotune

Ovr Smpl

Posit Spd Output

(kn * s) + wn

Speed Trim 2

318

s + wn

(J Tst FulSpd)

(Spd Reg En)

157 5

Atune Spd Ref

Logic Ctrl State

Lead Lag

STrim2 Filt Gain

from Position

Control [5H3]

SpdTrim2 Filt BW

ServoLck

LPass

s + wn

(kn * s) + wn

300

from Feedback [9H2]

Servo Lock Gain

Filtered SpdFdbk

Lead Lag

SReg FB Filt BW

SReg FB Filt Gain

nff

FeedFwd

Order

Filter

100

Speed Error

SpdReg AntiBckup

Spd Err Filt BW

301

Motor Speed Ref

Motor Spd Fdbk

Droop

I Gain

Spd Reg I Gain

80 02

153 12

(Integ Hold)

(Jog -NoInteg)

Speed Reg Ctrl

Control Options

Spd Reg Droop

80 01

(Preset Sel)

Speed Reg Ctrl

80 03

(Integ Reset)

SReg Torq Preset

303

Motor Torque Ref

Publication 1756-UM522B-EN-P - February 2003

1756-DMD30 Speciﬁc Information B-5

Process Control

(2 ms)

Process Control

207

208

Limit Gen Lo Out

Limit Gen Hi Out

-1

-1 +1

FE HG I

180

PI Output

to Speed Control

- Reference [2G5]

(ProcsTrim En)

Logic Ctrl State

183 00

157 31

(Enable)

PI Command

155 1

151 12

(Running)

Logic Status

(ProcsTrim En)

Logic Command

Limit

191

192

Process Control Complimentary Functions

PI High Limit

190

PI Lower Limit

PI Integ Output

P Gain

186

PI Prop Gain

Filter

LPass

184

Limit

188

189

I Gain

187

PI Integ LLim

PI Integ HLim

185

PI Integ Time

PI Preload

Limit Generator

206

LimGen X axis In

201

Time Axis Output

Time Func Generator

200

Time Axis Rate

183 1

205

LimGen Y axis Mn

204

LimGen Y axis Mx

151 3

PI Lpass Filt BW

181

182

PI Reference

PI Feedback

PI Command

(Time Lim En)

(Time Axis En)

Logic Command

Publication 1756-UM522B-EN-P - February 2003

B-6 1756-DMD30 Speciﬁc Information

Position Control (4 ms)

FE HG I

Position Control - Interpolated/Direct

Position Cmmd

747

Interpolated/Direct

Accum

PositRef EGR Out

744

Accum

[ N ]

[ D ]

Gear Rat

745

746

PositRef EGR Div

PositRef EGR Mul

Deriv

∆

Posit Ref Sel

742

Interp Speed

750

Interp Position

748

749

743

Aux Posit Ref

Interpolator

740 13

Position Control

Diagram page 6

See Point-to-Point

Synchronize

786 00

753

Posit Offset 1

751

Position Control

756

X Offst SpdFilt

Filter

LPass

Rate Lim

754

755

Posit Offset 2

Posit Offset Spd

Position Control

740 01

157 03

(Position En)

Logic Ctrl State

(Speed Out En)

740 04

740 05

(X Offset Pol)

(X Offset Ref)

Position Control

157 03

Posit Spd Output

Calib

769

Position Error

Mtr Posit Fdbk

318

to Speed Control

Limit

P Gain

Const

Accum

Deriv

∆

762

- Regulator [3A2]

(X Spd HLim)

(X Spd LLim)

741 02

741 03

Position Status

775

776

XReg Spd LoLim

XReg Integ Out

768

PositReg P Gain

Calib

[ N ]

Link

XReg Spd HiLim

774

741 00

Position Status

Limit

I Gain

770

PositReg Integ

Const

Accum

Act Motor Posit

763

[ D ]

Gear Rat

Deriv

∆

764

Position Control

(ActPosit Rst)

740 06

If p740 b6 = 1 and the position

741 01

Droop

772

773

XReg Integ HiLim

XReg Integ LoLim

Posit Actl Load

765

AccumΣAccum

766

767

Posit FB EGR Div

Posit FB EGR Mul

regulator is NOT enabled,

accumulated values are set to

the value of p762. If p740 b6 =

0 and the position regulator is

NOT enabled, accumulated

values are set to the reference

value.

771

PositReg Droop

Inv &

740 02

740 03

(Integ En)

(Integ Hold)

Position Control

152 17

(Start)

Applied LogicCmd

Logic Ctrl State

(Position En)

152 26 157 03

(Position En)

Applied LogicCmd

Publication 1756-UM522B-EN-P - February 2003

CoarsePosit Trgt

(Interp Rev)

(Sync Pulse)

Xsync Status

Position Control

Interp Spd Scale

(Position En)

Logic Ctrl State

Fdbk [9H2]

from Speed/Posit

Posit Load Fdbk

1756-DMD30 Speciﬁc Information B-7

Position Control - Point to Point

318

Posit Spd Output

to Speed Control

- Regulator [3A2]

Position Control

Point-To-Point

Position Control (4 ms)

Position Cmmd

747

(ActPosit Rst)

If p740 b6 = 1 and the position

regulator is NOT enabled,

accumulated values are set to

the value of p762. If p740 b6 =

740 06

0 and the position regulator is

NOT enabled, accumulated

values are set to the reference

value.

740 01

157 03

(X Spd LLim)

(X Spd HLim)

741 02

741 03

Position Status

769

Position Error

∆

Limit

Accum

Deriv

Point to Point Position

768

PositReg P Gain

761

759

760

Pt-Pt Filt BW

Pt-Pt Accel Time

Pt-Pt Decel Time

775

XReg Spd LoLim

Act Motor Posit

763

Accum

776

XReg Spd HiLim

Accum

FE HG I

PositRef EGR Out

Accum

[ N ]

[ D ]

∆

Gear Rat

745

PositRef EGR Mul

Deriv

746

753

PositRef EGR Div

Posit Offset 1

756

X Offst SpdFilt

Filter

LPass

Rate Lim

754

755

Posit Offset 2

Posit Offset Spd

Position Control

740 04

(X Offset Pol)

Position Control

740 05

(X Offset Ref)

744

[Position En]

Logic Ctrl State

742

Logic Ctrl State

(Speed Out En)

Position Control

(Position En)

Posit Ref Sel

See Interpolated/Direct

Position Control Diagram

Reref

Page 5

758

740 10

(Pt-Pt ReRef)

Position Control

Pt-Pt Posit Ref

157 03

(Position En)

Logic Ctrl State

762

Mtr Posit Fdbk

Fdbk [9H2]

from Speed/Posit

Publication 1756-UM522B-EN-P - February 2003

B-8 1756-DMD30 Speciﬁc Information

Position Control - Auxiliary

Auxiliary

Position Status

(Posit Watch1)

Position Status

(Posit Watch2)

Position Status

(In Position)

Position Control (4 ms)

FE HG I

741 08

763

Act Motor Posit

Position Control

789

Position Watch 1

740 16

740 17

(X Watch 1 En)

(X Watch 1 Dir)

780

PositDtct1 Stpt

Xsync Out 2

791

One

741 09763

740 18

Act Motor Posit

Position Control

Xsync Out 2 Dly

Xsync Out 3

794

792

Delay

Scan

Position Watch 2

781

740 19

PositDtct2 Stpt

(X Watch 2 En)

(X Watch 2 Dir)

Xsync Out 3 Dly

795

One

Delay

Scan

741 10

In Position Detect

769

Position Error

Xsync Status

(Sync Pulse)

786 00

782

In Posit BW

783

InPosit Dwell

Publication 1756-UM522B-EN-P - February 2003

(p787)

Sync Generator

Latch788

Xsync In 1 Xsync Out 1

Latch

790

Xsync In 2

Latch

793

Xsync In 3

0.5ms

317

SL System Time

0.5ms * 2

0.5ms

Sync Pulse Generator

787

Xsync Gen Period

1756-DMD30 Speciﬁc Information B-9

Torque Control

to Motor Control

(2 ms)

305

Mtr TorqCurr Ref

Torque Control

FE HG I

117

Notch Filt Mode

157 09

(Torq Ref En)

Logic Ctrl State

157 10

Logic Ctrl State

(Forced Spd)

Delay

355

Curr Rate Limited

Limit Status

157 11

(CurrRef En)

Logic Ctrl State

Option

304

Limit Rate Lim

351

(Curr Delay)

153 11

Control Options

354

Curr Rate Limit

122

Curr PosLim Actl

303

304

Motor Torque Ref

Limit Status

Limit

121

122

IIR

FIR

Notch

118

Notch Filt Freq

Curr PosLim Actl

Curr NegLim Actl

116

Torque Step

Calculated at Autotune

(may be overwritten)

121

Curr NegLim Actl

110

Spd/Torq ModeSel

302

from Speed Control

[3H4]

[2H4]

Spd Reg PI Out

Inertia Torq Add

Min

145

[2H3]

FricComp TorqAdd

350

Max

111

112

Torque Ref 1

Torq Ref1 Div

X +

113

114

Torque Ref 2

Torq Ref2 Multi

Abs

Min

115

Torque Trim

Torque

Current Actl Ref

153 15

Control Options

[ Inv Mtr TroqCurr ]

Current

-1

flux

360

Min Flux

Current Ref Trim

Filter

LPass

362

Motor Flux

Min

120

Current Ref Trim

361

Flx LpassFilt BW

-1

2184

PMI Curr Lim

Max

119

Current NegLimit

Publication 1756-UM522B-EN-P - February 2003

B-10 1756-DMD30 Speciﬁc Information

Speed / Position Feedback

FE HG I

(2 ms)

Mtr Posit FB

Speed/Posit Fdbk

-1

762

[5B3] & [6B5]

to Position Control

Logic Command

(TachLoss Rst)

151 02

Feedback

Loss

Detect

300

to Speed

Control [3A4]

Motor Spd Fdbk

-1

Observer

Speed Fdbk

Scaled Spd Fdbk

Filter

if 0.1

Speed Calc

NOT USED

LPass

221

Load Estimate

Spd Fdbk Scale

Control Options

[ Invert Spd Fbk ]

220

Spd Observer BW

153 14

222

Motor Fdbk Sel

230

Reslover SpdFdbk

Resolver

2135

Resolver Scan

Processing

2201 8-11

(Res Type)

PMI IO Confg

240

Anlg Tach SpdFB

Ta ch

Analog

2201 12-15

2134

Analog Input

PMI IO Config

(Spd Fbk type)

241

Anlg Tach Posit

Processing

2201 8-11

PMI IO Confg

2201 12-15

(Res Type)

PMI IO Config

NOT USED

(Spd Fbk type)

NOT USED

MtrSpd Simulated

Motor

Simulator

Spd Calc

MtrSpd Sim Posit

Accum

Arm Volts SpdFB

242

Motor

2137

243

Voltage

Arm Volt Cnts

Arm Volts Posit

Processing

2151

Arm Resistance

2127

CML Feedback

Publication 1756-UM522B-EN-P - February 2003

1756-DMD30 Speciﬁc Information B-11

Peak Detector / Control Logix

Peak Detector/

FE HG I

Control Logic

(Peak 2 Chng)

211

Peak Ctrl Status

(Peak 2 Sel)

210 6

PeakDtct Ctrl In

(Peak 1 Chng)

0211

Peak Ctrl Status

(Peak 1 Sel)

210 2

PeakDtct1 Ctrl In

(Peak 2 Hold)

PeakDtct2 Ctrl In

Inv

PeakDtct1 Ctrl In

Inv

PeakDtct2 Ctrl In

210

217

PkDtct2 In Real

(Peak 1 Hold)

1210

PeakDtct1 Ctrl In

(Peak 2 Set)

4210

216

PeakDtct2 In Int

(Peak 1 Set)

0210

227

Peak Detect2 Out

215

Peak Detect1 Out

218

PeakDtct2 Preset

214

PeakDtct1 Preset

152

Applied LogicCmd

600 151

Integer In00 Logic Command

from

RSLogix

NOTE:

FALSE. Change is also set to FALSE if the detector is in HOLD or SET.

The change bit is set TRUE if the peak detect value changes, otherwise the change bit is set

212

213

PkDtct1 In Real

PeakDtct1 In Int

Publication 1756-UM522B-EN-P - February 2003

B-12 1756-DMD30 Speciﬁc Information

Field Economy

4095

FE HG I

2107

Field Curr Out

2108

Limit

2105

Field Curr Ref

Fld Economy Lmt

Delay

2188

Field Economy Delay

Field Off Delay

Publication 1756-UM522B-EN-P - February 2003

Inv

157 28

Logix Ctrl State

Inv

157 29

Logix Ctrl State

(Lgx Run Mode)

(Lgx I/O Cnx)

166 18

(Fld Econ En)

Motor Ctrl Cmmd

Inv

167 0

(Arm Enable)

Motor Ctrl Ackn

•

1756-DMD30 Speciﬁc Information B-13

Parameters

To conﬁgure a Drive module to operate in a speciﬁc way, drive parameters may have to be set. Three types of parameters exist:

ENUM Parameters

These parameters allow a selection from 2 or more items

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.

•

Numeric Parameters

These parameters have a single numeric value (i.e. 0.1 Volts).

The example on the following page shows how each parameter type is presented in this manual.

Publication 1756-UM522B-EN-P - February 2003

B-14 1756-DMD30 Speciﬁc Information

➊➋ ➌

No. Name

Description

Speed Ref Sel

Enter or write a value to select the source of the speed reference to the drive.

Speed Reg Ctrl

Enter or write a value to conﬁgure the speed regulator integrator.

Spd Ref1 Divide

Speed Ref 1 is divided by this number. Use this parameter to scale the value of Speed Ref 1.

Values

Default: Val 1 Spd Ref 1 Options: Val 0

File: Group:

Default: 0000 0000 Options: Bit 0

File: Group:

Default: Min: Max: Type: File: Group:

Val 1 Val 2

Speed Control Reference

Bit 1 Bit 2 Bit 3 Bit 4

Speed Control Regulator

-2200000000 2200000000 Non-Linkable Read-Write Floating Point Speed Control Reference

Zero Speed Spd Ref 1 Spd Ref 2

Reserved Preset Sel Integ Hold Integ Reset

No. Description

No. - Parameter Number.

➊

= Stop drive before changing this parameter.

Name - Parameter name as is appears in DriveExecutive software.

➋

Description - Brief description of parameter function. Values - Deﬁnes the various operating characteristics of the parameter. Three types exist

➌

ENUM Default:

Options: File: Group:

Bit Default:

Options: File: Group:

Numeric Default:

Min: Max: Type:

File: Group

Lists the value assigned at the factory. Displays the selections available. Lists the major parameter ﬁle category. Lists the parameter group within the ﬁle.

Lists the bit pattern assigned at the factory. Displays the selections available. Lists the major parameter ﬁle category. Lists the parameter group within the ﬁle.

Lists the value assigned at the factory. Displays lowest possible setting. Displays highest possible setting. Indicates if parameter is linkable, read-write, read-only, and data type (i.e. integer, ﬂoating point, boolean). Lists the major parameter ﬁle category. Lists the parameter group within the ﬁle.

Publication 1756-UM522B-EN-P - February 2003

1756-DMD30 Speciﬁc Information B-15

How Parameters are Organized

DriveExecutive programming software displays parameters in “Linear List” or “File Group Parameter” format. Viewing the parameters in “File Group Parameter” format simpliﬁes programming by grouping parameters that are used for similar functions. There are eleven ﬁles. Each ﬁle is divided into multiple groups of parameters.

Metering

72 300 307 308 762

Scaled Spd Fdbk Motor Spd Fdbk Output Voltage Output Current Mtr Posit Fdbk

Monitor

Dynamic Control

Speed Control

Torque Control

Process Control

Position Control

Conﬁguration

151 152 153 160 168 335

Speed/Posit Fdbk

Logic Command Applied LogicCmd Control Options Zero Speed Lim Drive I/O Ctrl Abs OverSpd Lim

Utility

DPS/PMI

Communications

SynchLink

Control Status

150

Logic State Mach

155

Logic Status

156

Run Inhibit Stat

157

Logic Ctrl State

165

Test Status

166

Motor Ctrl Cmmd

167

Motor Ctrl Ackn

317

SL System Time

Drive Data

314

VPL Firmware Rev

1001

SynchLink Rev

1002

SL System Rev

2214

PMI OS Version

Overload Protect

336

Service Factor

337

Mtr I2T Curr Min

338

Mtr I2T Spd Min

339

Mtr I2T Calibrat

340

Mtr I2T Trp ThrH

Stop/Brake Modes

154 Stop Dwell Time

Publication 1756-UM522B-EN-P - February 2003

B-16 1756-DMD30 Speciﬁc Information

Reference

Speed Ref 1

Spd Ref1 Divide

Speed Ref 2

Spd Ref2 Multi

Speed Ref 4

Speed Ref 5

Speed Ref Sel

Jog Speed 1

Jog Speed 2

Speed Trim 1

Rev Speed Limit

Fwd Speed Limit

Accel Time

Decel Time

S Curve Time

SpdRef Filt Gain

SpdRef Filt BW

Spd Ref Bypass

Speed Ref Scale

Selected Spd Ref

Limited Spd Ref

Ramped Spd Ref

S Curve Spd Ref

Filtered Spd Ref

Delayed Spd Ref

Scaled Spd Ref

Spd Trim1 SpdRef

Inertia SpeedRef

InertiaAccelGain

InertiaDecelGain

Inertia Torq Add

Virt Encoder PPR

Virt Encdr Posit

Virt Encdr Dlyed

Monitor

140 141 142 143 144 145

Dynamic Control

Speed Control

FricComp Spd Ref FricComp Setup FricComp Stick FricComp Slip FricComp Rated FricComp TorqAdd

Process Control

To rq ue Control

Regulator

19 22 23 24 25 26 30 31 47 71 80 81 82 84 85 86 87 89 90 91 92 93 94 95 96 100 101 102 103 301 2185 2187 300 302 2189 2190

Position Control

Speed/Posit Fdbk

Atune Spd Ref Speed Trim 2 Speed Trim 3 SpdTrim 3 Scale STrim2 Filt Gain SpdTrim2 Filt BW Rev Speed Limit Fwd Speed Limit Spd Trim1 SpdRef Filtered SpdFdbk Speed Reg Ctrl Spd Reg P Gain Spd Reg I Gain SpdReg AntiBckup Servo Lock Gain Spd Reg Droop SReg Torq Preset Spd Err Filt BW Spd Reg BW Spd Reg Damping SpdReg P Gain Mx SRegFB Filt Gain SReg FB Filt BW SRegOut FiltGain SReg Out Filt BW Speed Error SpdReg Integ Out Spd Reg Pos Lim Spd Reg Neg Lim Motor Speed Ref Hot Field Curr Field Loss Amps Motor Spd Fdbk Spd Reg PI Out Motor Inertia Total Inertia

Utility

Communications

DPS/PMI

Setpoint Monitor

171

Set Speed Lim

172

Setpt 1 Data

173

Setpt1 TripPoint

174

Setpt 1 Limit

175

Setpt 2 Data

176

Setpt2 TripPoint

177

Setpt 2 Limit

SynchLink

Publication 1756-UM522B-EN-P - February 2003

1756-DMD30 Speciﬁc Information B-17

Current

119 120 121 122 305 350 351 354 355 360 361 362 2180

Torque

59 110 111 112 113 114 115 116 117 118 121 122 145 302 303

Dynamic Control

Monitor

Current NegLimit Current PosLimit Curr NegLim Actl Curr PosLim Actl Mtr TorqCurr Ref Current Actl Ref Current Ref Trim Curr Rate Limit Curr RateLimited Min Flux Flux LpassFlt BW Motor Flux Motor NP RPM

Inertia Torq Add Spd/Torq ModeSel Torque Ref 1 Torq Ref1 Div Torque Ref 2 Torq Ref2 Mult Torque Trim Torque Step Notch Filt Mode Notch Filt Freq Curr NegLim Actl Curr PosLim Actl FricComp TorqAdd Spd Reg PI Out Motor Torque Ref

Speed Control

Tor que Control

Process Control

Position Control

Speed/Posit Fdbk

Utility

Limit Generator

200

Time Axis Rate

201

Time Axis Output

204

LimGen Y axis Mx

205

LimGen Y axis Mn

206

LimGen X axis In

207

Limit Gen Hi Out

208

Limit Gen Lo Out

Process Conﬁg

181

PI Reference

182

PI Feedback

183

PI Command

Regulator

180

PI Output

184

PI Lpass Filt BW

185

PI Preload

186

PI Prop Gain

187

PI Integ Time

188

PI Integ HLim

189

PI Integ LLim

190

PI Integ Output

191

PI High Limit

192

PI Lower Limit

DPS/PMI

Communications

SynchLink

Publication 1756-UM522B-EN-P - February 2003

B-18 1756-DMD30 Speciﬁc Information

Interp/Direct

318

Posit Spd Output

743

Aux Posit Ref

744

PositRef EGR Out

745

PositRef EGR Mul

746

PositRef EGR Div

747

Position Cmmd

748

CoarsePosit Trgt

749

Interp Position

750

Interp Speed

751

Interp Spd Scale

753

Posit Offset 1

754

Posit Offset 2

755

Posit Offset Spd

756

X Offst SpdFilt

762

Mtr Posit Fdbk

763

Act Motor Posit

764

Posit Load Fdbk

765

Posit Actl Load

766

Posit FB EGR Mul

767

Posit FB EGR Div

768

PositReg P Gain

769

Position Error

770

PositReg Integ

771

PositReg Droop

772

XReg Integ LoLim

773

XReg Integ HiLim

774

XReg Integ Out

775

XReg Spd LoLim

776

XReg Spd HiLim

Monitor

Dynamic Control

Speed Control

Process Control

To rque Control

Point to Point

318 744 745 746 747 753 754 755 756 758 759 760 761 762 763 768 769 775 776

Posit Detection

763 769 780 781 782 783

Position Control

Speed/Posit Fdbk

Posit Spd Output PositRef EGR Out PositRef EGR Mul PositRef EGR Div Position Cmmd Posit Offset 1 Posit Offset 2 Posit Offset Spd X Offst SpdFilt Pt-Pt Posit Ref Pt-Pt Accel Time Pt-Pt Decel Time Pt-Pt Filt BW Mtr Posit Fdbk Act Motor Posit PositReg P Gain Position Error XReg Spd LoLim XReg Spd HiLim

Act Motor Posit Position Error PositDetct1 Stpt PositDetct2 Stpt In Posit BW In Posit Dwell

Utility

DPS/PMI

Communications

SynchLink

Position Conﬁg

740

Position Control

741

Position Status

742

Posit Ref Sel

Sync Generator

317

SL System Time

786

Xsync Status

787

Xsync Gen Period

788

Xsync In 1

789

Xsync Out 1

790

Xsync In 2

791

Xsync Out 2

792

Xsync Out 2 Dly

793

Xsync In 3

794

Xsync Out 3

795

Xsync Out 3 Dly

Publication 1756-UM522B-EN-P - February 2003

1756-DMD30 Speciﬁc Information B-19

Dynamic Control

Monitor

Armature Volts

242

Arm Volts Spd FB

243

Arm Volts Posit

Calculated Fdbk

7076MtrSpd Sim Posit

MtrSpd Simulated

Resolver

230

Resolver SpdFdbk

231

Resolver PositFB

2135

Res Scan Posit

Feedback Conﬁg

Scaled Spd Fdbk

Spd Fdbk Scale

219

Spd Obs Trq Gain

220

Spd Observer BW

221

Load Estimate

222

Motor Fdbk Sel

300

Motor Spd Fdbk

Speed Control

Torque Control

Process Control

Diagnostics

167

Motor Ctrl Ackn

169

Drive I/O Status

304

Limit Status

316

SynchLink Status

320

Exception Event1

321

Exception Event2

323

Fault Status 1

324

Fault Status 2

326

Alarm Status 1

327

Alarm Status 2

1229

SL Error Status

1230

SL CRC Err Accum

1231

SL CRC Error

1232

SL BOF Err Accum

1233

SL BOF Error

1234

SL CRC Err Limit

1235

SL BOF Err Limit

2122

MC Faults

2123

MC Warnings

2124

Pwr DeviceStatus

2125

Interlock Code

Fault/Alm Conﬁg

369

SL CommLoss Cnfg

370

SL CommLoss Data

371

Mtr OL Trip Cnfg

372

Mtr OL Pend Cnfg

373

Motor Stall Time

374

Motor Stall Cnfg

381

PMI Warning Cnfg

382

Lgx OutOfRunCnfg

383

Lgx Timeout Cnfg

384

Lgx Closed Cnfg

385

Lgx LinkChngCnfg

386

Lgx CommLossData

387

SL MultErr Cnfg

Speed/Posit Fdbk

Position Control

Utility

DPS/PMI

Peak Detection

210

PeakDtct Ctrl In

211

Peak Ctrl Status

212

PeakDtct1 In Int

213

PkDtct1 In Real

214

PeakDtct1 Preset

215

PeakDetect1 Out

216

PeakDtct2 In Int

217

PkDtct2 In Real

218

PeakDtct2 Preset

227

PeakDetect2 Out

Test Points

Spd Ref TP Sel

Spd Ref TP RPM

Spd Ref TP Data

Spd Fdbk TP Sel

Spd Fdbk TP RPM

Spd Fdbk TP Data

Spd Gain TP Sel

Spd Gain TP Data

108

Spd Reg TP Sel

109

Spd Reg TP Data

130

Torq Ref TP Sel

131

Torq Ref TP Data

161

Logic TP Sel

162

Logic TP Data

163

Stop Oper TP Sel

164

StopOper TP Data

193

PI TP Sel

194

PI TP Data

329

Fault TP Sel

330

Fault TP Data

363

Curr Ref TP Sel

364

Curr Ref TP Data

777

Posit TP Select

778

PositTP Data Int

779

PositTP DataReal

1226

SL Comm TP Sel

1227

SL Comm TP Data

Communicatio

SynchLink

User Selections

396 397 398 399

User Data 1 User Data 2 User Data 3 User Data 4

Publication 1756-UM522B-EN-P - February 2003

B-20 1756-DMD30 Speciﬁc Information

Comm Status

2000

DM Comm PortStat

2001

DM Good Msg Cnt

2002

DM CRC Error Cnt

2003

DM Frmt ErrorCnt

2004

PMIComm PortStat

2005

PMI Good Msg Cnt

2006

PMI CRC ErrorCnt

2007

PMIFrmt ErrorCnt

2008

DM Link Status

2009

DM Tx Msg Count

2010

DM Sync WarngCnt

2011

DM Bad Msg Cnt

2012

DM Sync Count

2013

PMI Gain Count

2014

DM Tx Time

2015

DM Tx Time Avail

Inputs & Outputs

2040

Rail Port 0 Ch 0

2041

Rail Port 0 Ch 1

2042

Rail Port 0 Ch 2

2043

Rail Port 0 Ch 3

2044

Rail Port 0 Flt

2045

RailPrt 0FltCnt

2046

Rail Port 1 Ch 0

2047

Rail Port 1 Ch 1

2048

Rail Port 1 Ch 2

2049

Rail Port 1 Ch 3

2050

Rail Port 1 Flt

2051

RailPrt 1FltCnt

2080

Meter Port1 Sel

2081

MeterP1 +10v Val

2082

MeterP1 -10v Val

2083

Meter Port2 Sel

2084

MeterP2 +10v Val

2085

MeterP2 -10v Val

2086

Meter Port3 Sel

2087

MeterP3 +10v Val

2088

MeterP3 -10v Val

2089

Meter Port4 Sel

2090

MeterP4 +10v Val

2091

MeterP4 -10v Val

Monitor

Dynamic Control

Speed Control

Commands

2100 2102 2103 2104 2105 2106

Feedback

307 308 2122 2123 2124 2125 2126 2127 2130 2131 2132 2133 2134 2135 2136 2137 2149

To rque Control

Process Control

Drive Ctrl Word Arm Test Angle Arm Curr Ref Field Test Angle Field Curr Ref PMI D/A Output

Output Voltage Output Current MC Faults MC Warnings Pwr DeviceStatus Interlock Code AC Line Volt FB CML Feedback Counter EMF FML Feedback Field Amps Fdbk Field Volt Fdbk User Anlg Input Res Scan Posit Res Strobe Posit Arm Volt FB Cnts NV Faults

Position Control

Speed/Posit Fdbk

Utility

Regulator Conﬁg

2150

CML Crossovr Frq

2151

Arm Resistance

2152

Arm TimeConstant

2153

Arm ContCurr Lvl

2154

FML Crossovr Frq

2155

Field Resistance

2156

Fld TimeConstant

2157

SCR Diag Gain

2158

SCR Decay Rate

2159

SCR Deadband

Motor Data

2160

SCR Trip Point

2161

Resolver Gain

2162

Resolver Balance

2163

CML Ref Rate

2180

Motor NP RPM

2181

Overspd Trip Pt

2182

Motor NP FLA

2183

Motor NP Volts

2184

PMI Curr Lim

2186

Min Field Curr

2187

Field Loss Amps

2188

Field Off Delay

2189

Motor Inertia

2190

Total Inertia

DPS/PMI

Communications

SynchLink

Drive Conﬁg

2200

PMI Drive Conﬁg

2201

PMI I/O Conﬁg

2202

AC LineVolt(RMS)

2203

Out Volt Rating

2204

Out Curr Rating

2205

Curr Xfmr Ratio

2206

Field AC In Volt

2208

Anlg Tach Volts

2209

Ph Xfmr In Volt

2213

Pwr Conﬁg Code

2214

PMI OS Version

Publication 1756-UM522B-EN-P - February 2003

Rockwell Automation 1756-DMF30 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

Rockwell Automation Support

Your Questions or Comments on this Manual

Summary of Changes

Preface

Who Should Use This Manual

Purpose of This Manual

What This Manual Contains

What is the ControlLogix Drive Module?

What Are Some of the Features Available On the ControlLogix Drive Module?

Connecting the Drive Module to SynchLink and Drive Comm

SynchLink

Drive Comm (Drive Communication)

Physical Features of the ControlLogix Drive Module

Preventing Electrostatic Discharge

Removal and Insertion Under Power

Chapter Summary and What’s Next

Interface to DPS Drive Equipment

Drive Communication Protocol

Initialization

Synchronized Communication

Timing

Synchronization with CST

Chapter Summary and What’s Next

General Module Features

Removal and Insertion Under Power (RIUP)

Module Fault Reporting

LED Status Information

Controller Communication Format

SynchLink Communications Format

Electronic Keying

Requested Packet Interval

Chapter Summary and What’s Next

Noting the Power Requirements

Installing the Module

Connecting SynchLink Cables

Connecting (Drive Comm Drive Communication) Cables

Removing the Module

Chapter Summary and What’s Next

Planning the System

Understanding the Controller - Drive Module Interface

Choosing the SynchLink Communication Formats

Choosing the SynchLink Network Topology

Checking and Updating the DriveExecutive Database

Checking the DriveExecutive Database

Checking the DriveExecutive Database (continued)

Updating the DriveExecutive Database

Chapter Summary and What’s Next

Using the Status Indicators

Warning Signal on Main Screen

Fault and Alarm Window (continued)

Fault and Alarm Window (continued)

Diagnostic Parameters

Diagnostic Parameters (continued)

Using RSLogix 5000 to Troubleshoot the Module

Warning Signal on Main Screen

Module Properties Window

Chapter Summary and What’s Next

Control Block Diagrams

Overview

Speed Control - Reference

Speed Control - Regulator

Process Control

Position Control - Interpolated/Direct

Position Control - Point to Point

Position Control - Auxiliary

Torque Control

Speed / Position Feedback

Peak Detector / Control Logix

Field Economy

Parameters

How Parameters are Organized