Rockwell Automation 20C-700H User Manual

Programming Manual

PowerFlex 700H Adjustable Frequency AC Drive

Firmware Revisions 1.xxx ... 6.001

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 your local Rockwell Automation® sales office or online at http://www.rockwellautomation.com/literature/ 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, when necessary, we use notes to make you aware of safety considerations.

available from

) describes some

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

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

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

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

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

Allen-Bradley, DriveExplorer, DriveExecutive, DPI, SCANPort, PowerFlex, Rockwell Software, Ro ckwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Summary of Changes

This manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph.

New and Updated Information

This table contains the changes made to this revision.

Top ic Pag e

Updated the description for parameter 465 [Fan Control] to indicate that the default value has been changed to 1 “Enabled.”

Updated parameter 212 [Drive Alarm 2] to include new bit 8 “Fan Cooling.” 39

Updated parameter 238 [Fault Config 1] to include new bit 14 “Fan Cooling.” 42

Added a note to the description for the “IGBT OverTemp” fault (F9) to specify that the “IGBT Overtemp” fault is equivalent to the Drive Overload (Software), and is not adjustable.

Added a note to the “System Fault” (F10) to specify that the fault subcodes are only available in revision 4.001 or later.

Update the description for the “OverCurrent” fault (F12) to specify that the drive output current has instantaneously exceeded 360% of the HD rating.

Added a note to the description for the “IGBT Temp HW” fault (F31) to specify that the “IGBT Temp HW” fault is equivalent to the Drive Instantaneous Overload (Hardware), and is not adjustable.

Updated the description for the “Fan Cooling” fault (F32) to include information on configuring a “Fan Cooling” alarm.

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 3

Summary of Changes

Notes:

4 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Preface

Drive Start-Up

Programming and Parameters

Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

What Is Not in this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 1

Prepare For Drive Start-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Start-Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2

About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

How Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Monitor File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Motor Control File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Speed Command File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Dynamic Control File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Utility File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Communication File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Inputs/Outputs File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Parameter Cross Reference – by Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Parameter Cross Reference – by Number. . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Troubleshooting

HIM Overview

Chapter 3

Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Fault and Alarm Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Fault Subcodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Clearing Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Common Drive Symptoms and Corrective Actions . . . . . . . . . . . . . . . . . 77

Technical Support Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Appendix A

External and Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

LCD Display Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

ALT Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Menu Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

View and Edit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Remove and Install the HIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 5

Table of Contents

Appendix B

Application Notes

History of Changes

Index

External Brake Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Minimum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Motor Control Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Motor Overload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Overspeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Power Loss Ride Through. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Process PI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Reverse Speed Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Skip Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Sleep Wake Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Start At Power Up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Stop Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

Appendix C

Changes to This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

6 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Preface

The purpose of this manual is to provide you with the basic information needed to start-up, program and troubleshoot the PowerFlex 700H adjustable frequency AC drive.

For information on… See page…

Who Should Use this Manual Below

What Is Not in this Manual Below

Additional Resources 8

General Precautions 8

Who Should Use this Manual

What Is Not in this Manual

This manual is intended for qualified personnel. You must be able to program and operate Adjustable Frequency AC drives and related devices. In addition, you must have an understanding of the parameter settings and functions.

The PowerFlex 700H Programming Manual does not provide installation instructions or maintenance and repair information.

For installation information, refer to:

• PowerFlex 700S/700H Adjustable Frequency AC Drives, Frames 9…14 Installation Instructions, publication PFLEX-IN006

• PowerFlex 700S/700H IP00 Open Power Structure, Frames 10…14 Installation Instructions, publication PFLEX-IN020

For maintenance and repair information, refer to:

• PowerFlex 700H and 700S Hardware Service Manual, Frame 9, PFLEX-

TG001

• PowerFlex 700H and 700S Hardware Service Manual, Frame 10, PFLEX-

TG002

• PowerFlex 700H and 700S Hardware Service Manual, Frame 11, PFLEX-

TG003

• PowerFlex 700H and 700S Hardware Service Manual, Frame 12, PFLEX-

TG004

• PowerFlex 700H and 700S Hardware Service Manual, Frame 13, PFLEX-

TG005

• PowerFlex 700H and 700S Hardware Service Manual, Frame 14, PFLEX-

TG006

For detailed drive application information refer to:

• PowerFlex Reference Manual, publication PFLEX-RM001

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 7

Preface

Additional Resources

General Precautions

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

Resource Description

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Preventive Maintenance of Industrial Control and Drive System Equipment, publication DRIVES-TD001

Safety Guidelines for the Application, Installation and Maintenance of Solid State Control, publication SGI-1.1

A Global Reference Guide for Reading Schematic Diagrams, publication 100-2.10

Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and

Provides general guidelines for installing a Rockwell Automation industrial system.

Provides a checklist that can be used as a guide in performing preventive maintenance of industrial control and drive system equipment.

Provides general guidelines for the application, installation, and maintenance of solid-state control.

wiring diagram symbols used throughout various parts of the world.

other certification details.

You can view or download publications at

http:/www.rockwellautomation.com/literature/

. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative.

ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing or repairing this assembly. Component damage may result if ESD control procedures are not followed. If you are not familiar with static control procedures, reference A-B publication 8000-4.5.2, “Guarding Against Electrostatic Damage” or any other applicable ESD protection handbook.

ATTENTION: An incorrectly applied or installed drive can result in component damage or a reduction in product life. Wiring or application errors, such as, undersizing the motor, incorrect or inadequate AC supply, or excessive ambient temperatures may result in malfunction of the system.

ATTENTION: Only qualified personnel familiar with adjustable frequency AC drives and associated machinery should plan or implement the installation, start-up and subsequent maintenance of the system. Failure to comply may result in personal injury and/or equipment damage.

ATTENTION: To avoid an electric shock hazard, verify that the voltage on the bus capacitors has discharged completely before servicing. Check the DC bus voltage at the Power Terminal Block by measuring between the +DC and -DC terminals, between the +DC terminal and the chassis, and between the -DC terminal and the chassis. The voltage must be zero for all three measurements.

ATTENTION: Risk of injury or equipment damage exists. DPI host products must not be directly connected together via 1202 cables. Unpredictable behavior can result if two or more devices are connected in this manner.

8 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Preface

ATTENTION: The sheet metal cover and mounting screws on the ASIC Board

located on the power structure are energized at (-) DC bus potential high voltage. Risk of electrical shock, injury, or death exists if someone comes in contact with the assembly.

ATTENTION: The “adjust freq” portion of the bus regulator function is extremely useful for preventing nuisance overvoltage faults resulting from aggressive decelerations, overhauling loads, and eccentric loads. It forces the output frequency to be greater than commanded frequency while the drive's bus voltage is increasing towards levels that would otherwise cause a fault. However, it can also cause either of the following two conditions to occur.

• Fast positive changes in input voltage (more than a 10% increase within 6 minutes) can cause uncommanded positive speed changes. However an “OverSpeed Limit” fault will occur if the speed reaches [Max Speed] + [Overspeed Limit]. If this condition is unacceptable, action should be taken to 1) limit supply voltages within the specification of the drive and, 2) limit fast positive input voltage changes to less than 10%. Without taking such actions, if this operation is unacceptable, the “adjust freq” portion of the bus regulator function must be disabled (see parameters 161 and 162).

• Actual deceleration times can be longer than commanded deceleration times. However, a “Decel Inhibit” fault is generated if the drive stops decelerating altogether. If this condition is unacceptable, the “adjust freq” portion of the bus regulator must be disabled (see parameters 161 and 162). In addition, installing a properly sized dynamic brake resistor will provide equal or better performance in most cases.

Important: These faults are not instantaneous. Test results have shown that they can take between 2…12 seconds to occur.

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 9

Preface

Notes:

10 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Chapter 1

Drive Start-Up

This chapter describes how you start up the PowerFlex 700H drive. Refer to

Appendix

For Information on… See page…

Prepare For Drive Start-Up Below

Start-Up the Drive 12

A for a brief description of the LCD Human Interface Module (HIM).

ATTENTION: Power must be applied to the drive to perform the following startup procedure. Some of the voltages present are at incoming line potential. To avoid electric shock hazard or damage to equipment, only qualified service personnel should perform the following procedure. Thoroughly read and understand the procedure before beginning. If an event does not occur while performing this procedure, Do Not Proceed. Remove Power including user supplied control voltages. User supplied voltages may exist even when main AC power is not applied to then drive. Correct the malfunction before continuing.

Prepare For Drive Start-Up

Before Applying Power to the Drive

❏ 1. Confirm that all inputs are connected to the correct terminals and are

secure.

❏ 2. Verify that AC line power at the disconnect device is within the rated value

of the drive.

❏ 3. Verify that control power voltage is correct.

The remainder of this procedure requires that a HIM be installed. If an operator interface is not available, remote devices should be used to start up the drive.

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 11

Chapter 1 Drive Start-Up

Apply Power to the Drive

❏ 4. Apply AC power and control voltages to the drive.

Start-Up the Drive

• If the STS (status) LED is NOT flashing green, refer to Drive Status

page 62 for more information.

• If any of the six digital inputs are configured for “Stop – CF” (CF = Clear Fault) or “Enable,” verify that signals are present or reconfigure [Digital Inx Sel].

• If an I/O option is not installed (no I/O terminal block is present), verify that [Digital Inx Sel] is not configured to “Stop – CF” or “Enable.” If this is not done, the drive will not start. Refer to Fault and

Alarm Descriptions on page 64 for a list of potential digital input

conflicts.

• If a fault code appears, refer to Chapter

❏ 5. Proceed to “Start-Up the Drive”.

The PowerFlex 700H drive is designed so that start up is simple and efficient. If you have an LCD HIM, two start-up methods are provided, allowing you to select the desired level needed for the application.

• S.M.A.R.T. Start

This routine allows you to quickly set up the drive by programming values for the most commonly used functions. See Running S.M.A.R.T. Start

page 13.

•Assisted Start Up

This routine prompts you for information that is needed to start up a drive for most applications, such as line and motor data, commonly adjusted parameters and I/O. See Running an Assisted Start Up

IMPORTANT

Power must be applied to the drive when viewing or changing parameters. Previous programming may affect the drive status and operation when power is applied.

on page 13.

12 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Drive Start-Up Chapter 1

Running S.M.A.R.T. Start

During a Start Up, the majority of applications require changes to only a few parameters. The LCD HIM on a PowerFlex 700H drive offers S.M.A.R.T. start, which displays the most commonly changed parameters. With these parameters, you can set the following functions:

S - Start Source and Stop Mode M - Minimum and Maximum Speed A - Accel Time 1 and Decel Time 1 R - Reference Source T - Thermal Motor Overload

To run a S.M.A.R.T. start routine, follow these instructions:

Step Key(s) Example LCD Displays

1. Press ALT and then Esc (S.M.A.R.T). The S.M.A.R.T. star t screen appears.

2. View and change parameter values as desired. For HIM information, see Appendix

3. Press Esc to exit the S.M.A.R.T. star t.

ALT

Esc

F-> Stopped Auto

0.0

SMART List:

Main Menu:

Digital In2 Sel

Diagnostics

Stop Mode A

Parameter

Minimum Speed

Running an Assisted Start Up

IMPORTANT

The Assisted start-up routine asks simple yes or no questions and prompts you to input required information. Access Assisted Start Up by selecting “Start Up” from the Main Menu.

Figure 1 - PowerFlex 700H Start Up Menu

Main Menu:

Start-Up

Input Voltage

Select

Sets Input

Voltage

To perform an Assisted Start-Up, follow these instructions:

Step Key(s) Example LCD Displays

1. In the Main Menu, press the Up Arrow or Down Arrow to scroll to “Start Up”.

2. Press Enter.

This start-up routine requires an LCD HIM.

Motor Data and

Ramp Times

Enter Motor NP

Data, Stop Mode,

Accel/Decel

Ramp Times

Motor Tests

Optimize Torque

and

Verify Direction

Speed Limits

Set Min/Max

Speed and

Direction Control

Speed/Torque

Control

Configure Source, Value and Scale for

Speed References

Digital Inputs/Outputs

F-> Stopped Auto

0.0

Main Menu: Memory Storage

Start Up

Preferences

Start/Stop/I/O

Configure

Control Method

(2 Wire/3 Wire), I/O,

and Analog Outputs

Done Exit

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 13

Chapter 1 Drive Start-Up

Notes:

14 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Chapter 2

Programming and Parameters

This chapter provides a complete list and description of the PowerFlex 700H parameters. The parameters can be programmed (viewed/edited) using an LCD Human Interface Module (HIM). As an alternative, programming can also be performed using DriveExplorer™ or DriveExecutive™ software and a personal computer. Refer to HIM Overview HIM.

For Information on… See page…

About Parameters Below

How Parameters are Organized 17

Monitor File 20

Motor Control File 21

Speed Command File 24

Dynamic Control File 30

Utility File 35

Communication File 45

Inputs/Outputs File 49

Param eter Li st by Na me 56

Parameter List by Number 58

on page 81 for a brief description of the LCD

About Parameters

To configure a drive to operate in a specific way, drive parameters may have to be changed to values different than the default setting. Three types of parameters exist:

•ENUM Parameters

ENUM parameters allow a selection from a list of items. The LCD HIM will display a text message for each item.

•Bit Parameters

Bit 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 numerical value (i.e. 0.1 Volts).

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 15

Chapter 2 Programming and Parameters

This table is an example of how each parameter type is presented in this manual. Each numbered column is described in the table following this example.

123 4 5 6

File

Parameter Name & Description Values

Group

No.

198 [Load Frm Usr Set]

Loads a previously saved set of parameter values from a selected user set location in drive

Drive . . .

nonvolatile memory to active drive memory.

216 [Dig In Status]

Default:

Options:00

“Ready”

“Ready” “User Set 1”

“User Set 2”

“User Set 3”

3 Read Only 361

Status of the digital inputs.

UTILITY

Name

Reserved

Digital In6

Digital In5

Digital In4

Digital In3

Diagnostics

044 [Motor NP RPM]

MOTOR . . .

Motor Data

Column

Description

Defaultxxxxxxxxxx000000

Bit 1514131211109876543210

Set to the motor nameplate rated RPM.

Default:

Min/Max: Units:

1750.0 RPM

60.0/19200.0 RPM

1.0 RPM

Digital In2

No.

1File – Lists the major parameter file category. 2Group – Lists the parameter group within a file. 3No. – Parameter number. = Parameter value cannot be changed until drive is stopped.

= 32 bit parameter.

4 Parameter Name & Description – Parameter name as it appears on an LCD HIM, with a brief description of

the parameters function. Parameters names appear within square brackets [] throughout this manual.

5Values – Defines the various operating characteristics of the parameter. Three types exist.

ENUM Default:

Options:

Lists the default value assigned at the factory. “Read Only” = no default.

Displays the optional programming selections available. Bit Bit: Lists the bit name, default setting and place holder for each bit. Numeric Default:

Min/Max: Units:

Lists the default value assigned at the factory. “Read Only” = no default.

The range (lowest and highest setting) possible for the parameter.

Unit of measure and resolution as shown on the LCD HIM.

Important: Some parameters will have two unit values:

• Analog inputs can be set for current or voltage with parameter 320 [Anlg In Config].

• Setting parameter 79 [Speed Units] selects “Hz” or “RPM.” Important: When sending values through DPI ports, simply remove the decimal point to arrive

at the correct value (i.e. to send “5.00 Hz,” use “500”).

6Related – Lists parameters (if any) that interact with the selected parameter. The symbol “ ” indicates

that additional parameter configuration information is available in Appendix

199

thru

366

Digital In1

16 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Programming and Parameters Chapter 2

How Parameters are Organized

The LCD HIM displays parameters in a File-Group-Parameter or Numbered List view order. To switch display mode, access the Main Menu, press ALT, then

Sel while the cursor is on the parameter selection. In addition, using [Param

Access Lvl], you can display only the commonly used parameters or all

parameters.

File-Group-Parameter Order View

This view simplifies programming by grouping parameters that are used for similar functions. The parameters are organized into six files in Basic Parameter view or seven files in Advanced Parameter view. Each file is divided into groups, and each parameter is an element in a group. By default, the LCD HIM displays parameters by File-Group-Parameter view.

Numbered List View

In this view, all parameters are listed in ascending numerical order.

Basic Parameter View

Parameter 196 [Param Access Lvl] set to option 0 “Basic.”

File Group Parameters

Monitor

Motor Control

Speed Command

Dynamic Control

Utility

Metering Output Freq 001

Motor Data M otor NP Volts 041

Torq Attributes Motor Cntl Sel 053 Maximum Freq 055 Autotune 061

Spd Mode/Limits Speed Units 079

Speed References Speed Ref A Sel 090

Discrete Speeds Jog Speed 1 100

Ramp Rates Accel Time 1 140

Load Limits Current Lmt Sel 147 Current Lmt Val 148

Stop/Brake Modes Stop/Brk Mode A 155

Restart Modes Start At PowerUp 168 Auto Rstrt Tries 174 Auto Rstrt Delay 175

Power Loss Power Loss Mode 184 Power Loss Time 185 Power Loss Volts 186

Direction Config Direction Mode 190

Drive Memory Param Access Lvl 196

Diagnostics Start Inhibits 214 Dig In Status 216 D ig Out Status 217

Faults Fault Config 1 238

Alarms Alarm Config 1 259

Commanded Speed 002 Speed Reference 023

Motor NP FLA 042 Motor NP Hertz 043

Feedback Select 080

Speed Ref A Hi 091 Speed Ref A Lo 092

Preset Speed 1 101 Preset Speed 2 102

Accel Time 2 141

Stop/Brk Mode B 156 DC Brk Lvl Sel 15 7

Reset To Defalts 197

Commanded Torque 024 Output Current 003 Torque Current 004

Motor NP RPM 044 Motor NP Power 045 Mtr NP Pwr Units 046

Minimum Speed 081 Maximum Speed 082

Speed Ref B Sel 093 Speed Ref B Hi 094 Speed Ref B Lo 095

Preset Speed 3 103 Preset Speed 4 104 Preset Speed 5 105

Decel Time 1 142 Decel Time 2 143

DC Brake Level 158 DC Brake Time 159 Bus Reg Mode A 161

Load Fr m Usr Set 198 Save To User Set 199

DC Bus Voltage 012

Motor OL Hertz 047 Motor Poles 049

Rev Speed Limit 454

TB Man Ref Sel 096 TB Man Ref Hi 097 TB Man Ref Lo 098

Preset Speed 6 106 Preset Speed 7 107 Jog Speed 2 108

S-Curve % 146

Bus Reg Mode B 162 DB Resistor Type 163

Language 201

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 17

Chapter 2 Programming and Parameters

File Group Parameters

Inputs/Outputs

Inputs & Outputs

Analog Inputs Anlg In Config 320

Analog Outputs Analog Out1, 2 Sel 342

Digital Inputs Digital In1 Sel 361

Digital Outputs Digital Out1 Sel 380

Analog In1 Hi 322

Analog Out1 Hi 343

Digital In2 Sel 362 Digital In3 Sel 363

Digital Out2 Sel 384

Analog In1 Lo 323 Analog In2 Hi 325

Analog Out1, 2 Lo 344 Analog Out1, 2 Sel 345

Digital In4 Sel 364 Digital In5 Sel 365 Digital In6 Sel 366

Digital Out3 Sel 388 Dig Out1 Level 381

Advanced Parameter View

Parameter 196 [Param Access Lvl] set to option 1 “Advanced.”

File Group Parameters

Monitor

Motor Control

Speed Command

Dynamic Control

Metering Output Freq 001

Drive Data Rated kW 026

Motor Data Mo tor Type 040

Torq Attributes Motor Cntl Sel 053

Commanded Speed 002 Ramped Speed 022 Speed Reference 023 Commanded Torque 024 Output Current 003 Torque Current 004

Rated Volts 027

Motor NP Volts 041 Motor NP FLA 042 Motor NP Hertz 043

Maximum Freq 055 Flux Up Mode 057

Volts per Hertz Start/Acc Boost 069 Break Voltage 071 Break Frequency 072

Spd Mode/Limits Speed Units 079

Speed References Speed Ref A Sel 090

Discrete Speeds Jog Speed 1 100

Speed Trim Trim In Select 117

Feedback Select 080 Minimum Speed 081 Maximum Speed 082

Speed Ref A Hi 091 Speed Ref A Lo 092

Preset Speed 1 101 Preset Speed 2 102

Tri m Ou t Se le ct 1 18

Slip Comp Sli p RPM @ FLA 121 Slip RPM Meter 123

Process PI PI Configuration 124

Ramp Rates Accel Time 1 140

Load Limits Current Lmt Sel 147

Stop/Brake Modes Stop/Brk Mode A 155

Restart Modes Start At PowerUp 168

Power Loss Power Loss Mode 184

PI Control 125 PI Reference Sel 126 PI Setpoint 12 7 PI Feedback Sel 128 PI Integral Time 129 PI Prop Gain 130

Accel Time 2 141

Current Lmt Val 148

Stop/Brk Mode B 156 DC Brk Lvl Sel 15 7 DC Brake Level 158 DC Brake Time 159

Flying Start En 169 Auto Rstrt Tries 174 Auto Rstrt De lay 175

Power Lo ss Time 185

Flux Current 005 Output Voltage 006 Output Power 007 Output Powr Fctr 008 Elapsed MWh 009 Elapsed Run Time 010 MOP Reference 011

Rated Amps 028 Control SW Ver 029

Motor NP RPM 044 Motor NP Power 045 Mtr NP Pwr Units 046 Motor OL Hertz 047

Flux Up Tim e 058 SV Boost Filter 059 Autotune 061

Overspeed Limit 083 Skip Frequency 1 084 Skip Frequency 2 085 Skip Frequency 3 086

Speed Ref B Sel 093 Speed Ref B Hi 094 Speed Ref B Lo 095

Preset Speed 3 103 Preset Speed 4 104 Preset Speed 5 105

Tri m Hi 11 9 Tri m Lo 120

PI Lower Limit 131 PI Upper Limit 132 PI Preload 133 PI Status 134 PI Ref Meter 135 PI Fdback Meter 136 PI Error Meter 137

Decel Time 1 142 Decel Time 2 143

Current Lmt Gain 149 Drive OL Mode 150

Bus Reg Ki 160 Bus Reg Mode A 161 Bus Reg Mode B 162 DB Resistor Type 163 Bus Reg Kp 164

Sleep Wake Mode 178 Sleep Wake Ref 179 Wake Level 18 0 Wake Time 18 1

Power Loss Volts 186 Shear Pin Time 189

Analog In2 Lo 32 6

Analog Out2 Hi 346 Analog Out1, 2 Lo 347

20C-DG1 Remove 358 20C-DG1 Status 359

Dig Out2 Level 385 Dig Out3 Level 389

DC Bus Voltage 012 DC Bus Memory 013 Analog In1 Value 016 Analog In2 Value 017 Speed Reference 023 Speed Feedback 025

Motor OL Factor 0 48 Motor Poles 049 Motor OL Mode 050

IR Voltage Drop 062 Flux Current Ref 063 Compens ation 056

Skip Freq Band 087 Speed/Torque Mod 088 Rev Speed Limit 454

TB Man Ref Sel 096 TB Man Ref Hi 097 TB Man Ref Lo 098

Preset Speed 6 106 Preset Speed 7 107 Jog Speed 2 108

Trim % Setpoint 116

PI Output Meter 138 PI Reference Hi 460 PI Reference Lo 461 PI Feedback Hi 462 PI Feedback Lo 463 PI Output Gain 464

S Curve % 146

PWM Frequency 151 Droop RPM @ FLA 152

Bus Reg Kd 165 DB While Stopped 145 Fan C ontro l 465

Sleep Level 182 Sleep Time 183 Powerup Delay 167

18 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

File Group Parameters

Utility

Direction Config Direction Mode 190

HIM Ref Config Save HIM Ref 192 Man Ref Preload 193

MOP Config Save MOP Ref 194 MOP Rate 195

Communication

Inputs/Outputs

Inputs & Outputs

Drive Memory Param Access Lvl 196

Diagnostics Drive Status 1 209

Faults Fault Config 1 238

Alarms Alarm Config 1 259

Comm Contr ol Drive Logic R slt 271

Masks/Owners Logic Mask 276

Datalinks Data In A1 300

Security Port Mask Act 595

Analog Inputs Anlg In Config 320

Analog Outputs Anlg Out Config 340

Digital Inputs Digital In1 Sel 361

Digital Outputs Digital Out1 Sel 380

Reset To Defalts 197 Load Fr m Usr Set 198 Save To User Set 199

Drive Status 2 210 Drive Alarm 1 211 Drive Alarm 2 212 Speed Ref Source 213 Start Inhibits 214 Last Stop Source 215 Dig In Status 216

Faul t Cle ar 24 0 Fault Clear Mode 241 Power Up Marker 242 Fault 1 Code 243 Fault 2 Code 245 Fault 3 Code 247 Fault 4 Code 249 Fault 5 Code 251 Fault 6 Code 253

Alarm Clear 261 Alarm1 Code 262 Alarm2 Code 263

Drive Ref Rslt 272

Start Mask 277 Jog Mask 278 Direction Mask 279 Reference Mask 280 Accel Mask 281 Decel Mask 282

Data In A2 301 Data In B1 302 Data In B2 303 Data In C1 304 Data In C2 305

Write Mask Cfg 596

Anlg In Sqr Root 321 Analog In1 Hi 322

Anlg Out Absolut 341 Analog Out1 Sel 342 Analog Out2 Sel 345

Digital In2 Sel 362 Digital In3 Sel 363

Dig Out1 Level 381 Dig Out1 OnTime 382 Dig Out1 OffTime 383 Digital Out2 Sel 384

Programming and Parameters Chapter 2

Reset Meters 200 Language 201 Voltage Class 202 Drive Checksum 203

Dig Out Status 217 Drive Temp 218 Motor OL Count 220 Fault Frequency 224 Fault Amps 225 Fault Bus Volts 226 Status 1 @ Fault 227 Status 2 @ Fault 228

Fault 7 Code 255 Fault 8 Code 257 Fault 1 Time 244 Fault 2 Time 246 Fault 3 Time 248 Fault 4 Time 250 Fault 5 Time 252 Fault 6 Time 254 Fault 7 Time 256 Fault 8 Time 258

Alarm3 Code 264 Alarm4 Code 265 Alarm5 Code 266 Alarm6 Code 267

Drive Ramp Rslt 273 DPI Port Sel 274

Fault Clr Mask 283 MOP Mask 284 Local Mask 285 Stop Owner 288 Start Owner 289 Jog Owner 290 Direction Owner 291

Data In D1 306 Data In D2 307 Data Out A1 310 Data Out A2 311 Data Out B1 312 Data Out B2 313

Write Mask Act 597 Logic Mask Act 598

Analog In2 Hi 325 Analog In1 Lo 323 Analog In2 Lo 326

Analog Out1 Hi 343 Analog Out2 Hi 346 Analog Out1 Lo 344 Analog Out2 Lo 347

Digital In4 Sel 364 Digital In5 Sel 365 Digital In6 Sel 366

Dig Out2 Level 385 Dig Out2 OnTime 386 Dig Out2 OffTime 387 Digital Out3 Sel 388 Dig Out3 Level 389

Dyn UserSet Cnfg 204 Dyn UserSet Sel 205 Dyn UserSet Actv 206

Alarm 1 @ Fault 229 Alarm 2 @ Fault 230 Testpoint 1 Sel 234 Testpoint 1 Data 235 Testpoint 2 Sel 236 Testpoint 2 Data 237

Faul t 1 Su bCod e 54 3 Faul t 2 Su bCod e 54 5 Faul t 3 Su bCod e 54 7 Faul t 4 Su bCod e 54 9 Faul t 5 Su bCod e 55 1 Faul t 6 Su bCod e 55 3 Faul t 7 Su bCod e 55 5 Faul t 8 Su bCod e 55 7

Alarm7 Code 268 Alarm8 Code 269

DPI Port Value 275

Reference Owner 292 Accel Owner 293 Decel Owner 294 Fault Clr Owner 295 MOP Owner 296 Local Own er 297

Data Out C1 314 Data Out C2 315 Data Out D1 316 Data Out D2 317

Analog In1 Loss 324 Analog In2 Loss 327

Anlg Out1 Scal 354 Anlg Out2 Scal 355 Anlg1 Out Setpt 377 Anlg2 Out Setpt 378

20C-DG1 Remove 358 20C-DG1 Status 359

Dig Out3 OnTime 390 Dig Out3 OffTime 391 Dig Out Setpt 379

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 19

Chapter 2 Programming and Parameters

Monitor File

File

Parameter Name & Description Values

Group

No.

001 [Outp ut Freq]

Output frequency present at U/T1, V/T2 & W/T3.

002 [Commanded Speed]

Value of the active Speed/Frequency Reference. Displayed in Hz or RPM, depending on value of [Speed Units].

003 [Output Current]

The total output current present at U/T1, V/T2 & W/T3.

004 [Torque Current]

Based on the motor, the amount of current that is in phase with the fundamental voltage component.

005 [Flux Current]

Amount of current that is out of phase with the fundamental voltage component.

006 [Outp ut Voltag e]

Output voltage present at terminals U/T1, V/T2 & W/T3.

007 [Output Power]

Output power present at U/T1, V/T2 & W/T3.

008 [Outp ut Powr Fctr]

Output power factor.

009 [Elapsed MWh]

Metering

MONITOR

Accumulated output energy of the drive.

010 [Elapsed Run Time]

Accumulated time drive is outputting power.

011 [MOP Reference]

Value of the signal at MOP (Motor Operated Potentiometer).

012 [DC Bus Voltage]

Present DC bus voltage level.

013 [DC Bus Memory]

Approximate full load DC bus voltage level.

016

[Analog In1 Value]

017

[Analog In2 Value]

Value of the signal at the analog inputs.

022 [Ramped Speed]

Value of commanded speed after Accel/Decel, and S-Curve are applied.

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max:

Units:

Default:

Min/Max:

Units:

Read Only

–/+ [Maximum Freq]

0.1 Hz Read Only

–/+ [Maximum Speed]

0.1 Hz

0.1 RPM Read Only

0.0/Drive Rated Amps x 2

0.1 Amps Read Only

Drive Rating x –2/+2

0.1 Amps

Read Only

Drive Rating x –2/+2

0.1 Amps Read Only

0.0/Drive Rated Volts

0.1 VAC Read Only

0.0/Drive Rated kW x 2

0.1 kW Read Only

0.00/1.00

0.01 Read Only

0.0/429496729.5 MWh

0.1 MWh Read Only

0.0/214748364.0 Hrs

0.1 Hrs Read Only

–/+ [Maximum Speed]

0.1 Hz

0.1 RPM Read Only

0.0/Based on Drive Rating

0.1 VDC Read Only

0.0/Based on Drive Rating

0.1 VDC Read Only

0.000/20.000 mA –/+10.000V

0.001 mA

0.001 Volt Read Only

–/+320.0 Hz –/+19200.0 RPM

0.1 Hz

0.1 RPM

079

20 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Programming and Parameters Chapter 2

File

Parameter Name & Description Values

Group

No.

023 [Speed Reference]

Summed value of ramped speed, process PI and droop.

024 [Commanded Torque]

Final torque refe rence value after limits and filtering are applied. Percent of motor rated

Metering

torque. Note: Added for firmware revision 4.001.

025 [Speed Feedback]

This parameter displays the estimated value of actual motor speed.

MONITOR

026 [Rated kW]

Drive power rating.

027 [Rated Volts]

The drive input voltage class (208, 240, 400 etc.).

028 [Rated Amps]

Drive Data

The drive rated output current.

029 [Control SW Ver]

Main Control Board software revision.

Default:

Min/Max:

Units:

Default:

Min/Max: Units:

Default:

Min/Max:

Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Read Only

–/+320.0 Hz –/+19200.0 RPM

0.1 Hz

0.1 RPM Read Only

–/+800.0%

0.1%

Read Only

–/+320.0 Hz –/+19200.0 RPM

0.1 Hz

0.1 RPM Read Only

0.00/3000.00 kW

0.01 kW Read Only

0.0/690.0 VAC

0.1 VAC Read Only

0.0/6553.5 Amps

0.1 Amps Read Only

0.000/255.255

0.001

079

053

Motor Control File

File

Parameter Name & Description Values

Group

No.

040 [Motor Type]

Set to match the type of motor connected.

041 [Motor NP Volts]

Set to the motor nameplate rated volts.

042 [Motor NP FLA]

Set to the motor nameplate rated full load amps.

043 [Motor NP Hertz]

Set to the motor nameplate rated frequency.

Motor Data

MOTOR CONTROL

044 [Motor NP RPM]

Set to the motor nameplate rated RPM.

045 [Motor NP Power]

Set to the motor nameplate rated power.

Default:

Options:00 Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

“Induction”

Based on Drive Rating

0.0/[Rated Volts]

0.1 VAC Based on Drive Rating

0.0/[Rated Amps] × 2

0.1 Amps Based on Drive Rating

5.0/320.0 Hz

0.1 Hz Based on Drive Rating

60.0/19200.0 RPM

1.0 RPM Based on Drive Rating

0.00/5000.00

0.01 kW/HP See [Mtr NP Pwr Units]

053

047 048

046

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 21

Chapter 2 Programming and Parameters

File

Parameter Name & Description Values

Group

No.

046 [Mtr NP Pwr Units]

Selects the motor power units to be used. “Convert H P” = converts all power units to Horsepower. “Convert kW” = converts al l power units to kilowatts. Note: This parameter does not get changed with a “Reset to Defaults”.

047 [Motor OL Hertz]

Selects the output frequency below which the motor operating current is derated. The motor thermal overload will generate a fault at lower levels of current below this output frequency.

048 [Motor OL Factor]

Sets the operating level for the motor overload.

Motor

FLAOLFactor

049 [Motor Poles]

Motor Data

Defines the number of poles in the motor. Note: Maximum value changed from 12 to 18 for firmware revision 4.001.

050 [Motor OL Mode]

“Pwr Cyc Ret” - If “0”, the value of parameter 220 [Motor OL Count] is reset to zero by a drive reset or power cycle. If “1”, the value of parameter 220 [Motor OL Count] is maintained. A “1” to “0” transition resets parameter 220 [Motor OL Count] to zero. Note: Added for firmware revision 3.001. 1 = Enabled 0 = Disabled

Default:

Options:–0

Default:

Min/Max: Units:

Default:

Min/Max:

Level

Operating

Units:

Default:

Min/Max: Units:

Based on Drive Rating

“Horsepower” “kiloWatts”

“Convert HP”

“Convert kW”

Motor NP Hz/3

0.0/Motor NP Hz

0.1 Hz

1.00

0.20/2.00

0.01

2/18 1 Pole

042 220

220

MOTOR CONTROL

053 [Motor Cntl Sel]

Sets the method of motor control used in the drive.

055 [Maximum Freq]

Sets the highest frequency the drive will output. Refer to parameter 083 [Overspeed Limit].

056 [Compensation]

“Mtr Lead Rev” - If “1”, reverses the phase rotation of the applied voltage, effectively reversing the motor leads. Notes: Not retained when the parameters are reset to defaults. Added for firmware revision

3.001.

Torq Attributes

1 = Enabled 0 = Disabled

Name

Reserved

Pwr Cyc Ret

Defaultxxxxxxxxxxxxxxx0

Bit 1514131211109876543210

Default:

Options:00

Default:

Min/Max: Units:

Name

Reserved

Defaultxxxxxxxxxx0xxxxx

Bit 1514131211109876543210

“Sensrls Vect”

“SV Economize”

“Custom V/Hz”

“Fan/Pmp V/Hz”

Based on Drive Rating

5.0/320.0 Hz

0.1 Hz

Reserved

Mtr Lead Rev

Reserved

083

22 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Programming and Parameters Chapter 2

File

Group

No.

057 [Flux Up Mode]

058 [Flux Up Time]

059 [SV Boost Filter]

061 [Autotune]

Torq Attributes

MOTOR CONTROL

Parameter Name & Description Values

Flux is established for [Flux Up Time] before

Default:

Options:00

“Manual”

acceleration.

Sets the amount of time the drive will use to try and achieve full motor stator flux. When a Start

Default:

Min/Max: Units:

0.2 Secs

0.0/5.0 Secs

0.1 Secs command is issued, DC current at current limit level is used to build stator flux before accelerating. This will occur unless [Rated Amps] is less than [Motor NP FLA], then only 81% of drive rated current is used.

0/32767 1

“Calcul ate”

“Ready” “Static Tune”

“Rotate Tune”

“Calcul ate”

Sets the amount of filtering used to boost voltage during Sensorless Vector operation.

Provides a manual or automatic method for setting [IR Voltage Drop], and [Flux Current Ref]. Note: Program parameter 053 [Motor Cntl Sel] prior to running an autotune.

Default:

Min/Max: Units:

Default:

Options:30

“Ready” (0) = Parameter returns to this setting following a “Static Tune” or “Rotate Tune.” It also permits manually setting [IR Voltage Drop], [Ixo Voltage Drop] and [Flux Current Ref]. “Static Tune” (1) = A temporary command that initiates a non-rotational motor stator resistance test for the best possible automatic setting of [IR Voltage Drop], [Break Voltage] and [Break Frequency] in all modes. A start command is required within 20 seconds following initiation of this setting. The parameter returns to “Ready” (0) following the test, at which time another start transition is required to operate the drive in normal mode. Used when motor cannot be rotated. “Rotate Tune” (2) = A temporary command that initiates a “Static Tune” followed by a rotational test for the best possible automatic setting of [Flux Current Ref] and [Start Boost]. A start command is required following initiation of this setting. The parameter returns to “Ready” (0) following the test, at which time another start transition is required to operate the drive in normal mode. Important: Used when motor is uncoupled from the load. Results may not be valid if a load is coupled to the motor during this procedure.

053 058

053 062

ATT EN TI ON : Rotation of the motor in an undesired direction can occur during this procedure. To guard against possible injury and/or equipment damage, it is recommended that the motor be disconnected from the load before proceeding.

“Calculate” (3) = This setting uses motor nameplate data to automatically set [IR Voltage Drop], [Flux Current Ref] and [Slip RPM @ FLA].

062 [IR Voltage Drop]

Value of voltage drop across the resistance of the motor stator at rated motor current.

063 [Flux Current Ref]

Value of amps for full motor flux.

069 [Start Boost]

Sets the voltage boost level for starting and acceleration. Refer to parameter 083 [Overspeed

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Based on Drive Rating

0.0/[Motor NP Volts]×0.50

0.1 VAC

Based on Drive Rating

0.00/[Motor NP FLA]

0.01 Amps

Based on Drive Rating

0.0/[Motor NP Volts] × 0.25

0.1 VAC Limit].

071 [Break Voltage]

Sets the voltage the drive will output at [Break Frequency]. Refer to parameter 083 [Overspeed

Volts p er Hertz

Limit].

072 [Break Frequency]

Sets the frequency the drive will output at [Break Voltage]. Refer to parameter 083.

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Based on Drive Rating

0.0/[Motor NP Volts]

0.1 VAC

Based on Drive Rating

0.0/[Maximum Freq]

0.1 Hz

053 061

053

053 072

053 071

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 23

Chapter 2 Programming and Parameters

Speed Command File

File

Parameter Name & Description Values

Group

No.

079 [Speed Units]

Selects the units to be used for all speed related parameters. Options 0 & 1 indicate status only. Options 2 & 3 will convert/configure the drive for that selection. “Convert Hz” (2) - converts all speed based parameters to Hz, and changes the value proportionately (i.e. 1800 RPM = 60 Hz). “Convert RPM” (3) - converts all speed based parameters to RPM, and changes the value proportionately. Note: This parameter does not get changed with a “Reset to Defaults”.

080 [Feedback Select]

Selects the source for motor speed feedback. “Open Loop” (0) - no encoder is present, and slip compensation is not needed. “Slip Comp” (1) - tight speed control is needed, and encoder is not present.

081 [Minimum Speed]

Sets the low limit for speed reference after scaling

is applied. Refer to parameter 083 [Overspeed Limit].

082 [Maximum Speed]

Sets the high limit for speed reference after

scaling is applied. Refer to parameter 083 [Overspeed Limit].

083 [Overspeed Limit]

Sets the incremental amount of the output

Spd Mode/Limits

SPEED COMMAND

frequency (above [Maximum Speed]) allowable for functions such as slip compensation. [Maximum Speed] + [Overspeed Limit] must be ≤[Maximum Freq]

Motor Volts

Voltage

Break Volts Start Boost

Allowable Output Frequency Range

Bus Regulation or Current Limit

Allowable Output Frequency Range

Normal Operation

Allowable Reference Frequency Range

Frequency Trim due to Speed Control Mode

Default:

Options:00

Default:

Options:00

Default:

Min/Max: Units:

Default:

Min/Max:

Units:

Default:

Min/Max:

Units:

Overspeed

Limit

“Hz”

“RPM”

“Convert Hz”

“Convert RPM”

“Open Loop”

“Slip Comp”

0.0

0.0/[Maximum Speed]

0.1 Hz

0.1 RPM

50.0 or 60.0 Hz (volt class) [Motor NP RPM]

5.0/320.0 Hz

75.0/19200.0 RPM

0.1 Hz

0.1 RPM

10.0 Hz

300.0 RPM

0.0/20.0 Hz

0.0/600.0 RPM

0.1 Hz

0.1 RPM

152

079 083 092 095

055 079 083 091 094

055 079 082

0 Min

Speed

084

[Skip Frequency 1]

085

[Skip Frequency 2]

086

[Skip Frequency 3]

Sets a frequency at which the drive will not

Break

Frequency

operate. [Skip Frequency x] and [Skip Frequency Band] must not equal 0.

087 [Skip Freq Band]

Determines the bandwidth around a skip frequency. [Skip Freq Band] is split, applying 1/2 above and 1/2 below the actual skip frequency. The same bandwidth applies to all skip frequencies.

24 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Motor

Frequency

Default: Default: Default:

Min/Max: Units:

Default:

Min/Max: Units:

Max

Output

Speed

Freq Limit

Based on Drive Rating

0.0 Hz

–/+[Maximum Speed]

0.1 Hz

0.0 Hz

0.0/30.0 Hz

0.1 Hz

Max Freq

087

084 085 086

Programming and Parameters Chapter 2

File

Parameter Name & Description Values

Group

No.

088 [Speed/Torque Mod]

Selec ts the torque reference source. “Speed Reg” (1) - drive operates as a speed regulato r.

454 [Rev Speed Limit]

Sets a limit on speed in the negative direction.

Spd Mode/Limits

Used in bipolar mode only. A value of zero disables this parameter and uses [Min Speed] for minimum speed.

090 [Speed Ref A Sel]

Selects the source of the speed reference to the drive unless [Speed Ref B Sel] or [Preset Speed 17] is selected.

(1)

See Installation Manual for DPI port locations.

SPEED COMMAND

091 [Speed Ref A Hi]

Scales the upper value of the [Speed Ref A Sel]

Speed References

selection when the source is an analog input.

092 [Speed Ref A Lo]

Scales the lower value of the [Speed Ref A Sel] selection when the source is an analog input.

093 [Speed Ref B Sel]

See [Speed Ref A Sel]

094 [Speed Ref B Hi]

Scales the upper value of the [Speed Ref B Sel] selection when the source is an analog input.

095 [Speed Ref B Lo]

Scales the lower value of the [Speed Ref B Sel] selection when the source is an analog input.

Default:

Options:11

Default:

Min/Max:

“Speed Reg”

0.0 RPM

–[Max Speed]/0.0 Hz

053

–[Max Speed]/0.0 RPM

Units:

0.0 Hz

0.0 RPM

2 3-8 9 10 11 12 13 14 15 16 17 18 19 20 21 22

“Analog In 2”

“Analog In 1” “Analog In 2” “Reserved” “MOP Level” “Reserved” “Preset Spd1” “Preset Spd2” “Preset Spd3” “Preset Spd4” “Preset Spd5” “Preset Spd6” “Preset Spd7” “DPI Port 1” “DPI Port 2” “DPI Port 3” “DPI Port 4” “DPI Port 5”

002 091

thru

093 101

thru

107 117

thru

120 192

thru

194

(1) (1) (1) (1) (1)

213 272 273 320 361

thru

Default:

Options:21

366

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Options: Default:

Min/Max: Units:

Default:

Min/Max: Units:

Based on Drive Rating

–/+[Maximum Speed]

0.1 Hz

0.01 RPM

0.0

–/+[Maximum Speed]

0.1 Hz

0.01 RPM

11 “Preset Spd1”

See [Speed Ref A Sel]

Based on Drive Rating

–/+[Maximum Speed]

0.1 Hz

0.01 RPM

0.0

–/+[Maximum Speed]

0.1 Hz

0.01 RPM

079 082

079 081

090

079 093

079 090 093

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 25

Chapter 2 Programming and Parameters

File

Parameter Name & Description Values

Group

No.

096 [TB Man Ref Sel]

Sets the manual speed reference source when a digital input is configured for “Auto/Manual.” Note: Options 18…20 were added for firmware revision 5.002.

(1)

Speed References

097 [TB Man Ref Hi]

Scales the upper value of the [TB Man Ref Sel] selection when the source is an analog input.

098 [TB Man Ref Lo]

Scales the lower value of the [TB Man Ref Sel] selection when the source is an analog input.

100 [Jog Speed 1]

Sets the output frequency when Jog Speed 1 is selected.

SPEED COMMAND

[Preset Speed 1]

101

[Preset Speed 2]

102

[Preset Speed 3]

103

[Preset Speed 4]

104

[Preset Speed 5]

105

[Preset Speed 6]

106

[Preset Speed 7]

107

Discrete Speeds

Provides an internal fixed speed command value. In bipolar mode direction is commanded by the sign of the referen ce.

108 [Jog Speed 2]

Sets the output frequency when Jog Speed 2 is selected.

116 [Trim % Setpoint]

Adds or subtracts a percentage of the speed reference or maximum speed. Dependent on the setting of parameter 118 [Trim Out Select].

Speed Trim

Note: Added for firmware revision 3.001.

“Analog In 2” is not a valid selection if it was selected for any of the following:

- [Trim In Select]

- [PI Feedback Sel]

- [PI Reference Sel]

- [Current Lmt Sel]

- [Sleep Wake Ref]

Default:

Options:11

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

“Analog In 1”

“Analog In 1” “Analog In 2”

2 3…8

“Reserved”

“MOP Level”

“DPI Port1”

“DPI Port2”

“DPI Port3”

Based on Drive Rating

–/+[Maximum Speed]

0.1 Hz

0.01 RPM

0.0

–/+[Maximum Speed]

0.1 Hz

0.01 RPM

10.0 Hz

300.0 RPM

–/+[Maximum Speed]

0.1 Hz 1 RPM

5.0 Hz/150 RPM

10.0 Hz/300 RPM

20.0 Hz/600 RPM

30.0 Hz/900 RPM

40.0 Hz/1200 RPM

50.0 Hz/1500 RPM Based on Drive Rating

–/+[Maximum Speed]

0.1 Hz 1 RPM

10.0 Hz

300.0 RPM

–/+[Maximum Speed]

0.1 Hz 1 RPM

0.0%

–/+200%

0.1%

097 098

(1)

079 096

079

079 090 093

118

26 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Programming and Parameters Chapter 2

File

Parameter Name & Description Values

Group

No.

117 [Trim In Select]

Specifies which analog input signal is being used as a trim input.

(1)

118 [Trim Out Select]

Specifies which speed references are to be trimmed and allows you to trim the speed reference based on a percentage or the frequency of the input signal. Note: Added bit 2 “Add or %” for firmware revision 3.001.

Speed Trim

See Installation Manual for DPI port locations.

Value Bit 2 Bit 1, 0

1 = % Trimmed

0 = Add Not Trimmed

Default:

Options:20

1 2 3-8 9 10 11 12 13 14 15 16 17 18 19 20 21 22

“Analog In 2”

“Setpoint” “Analog In 1” “Analog In 2” “Reserved” “MOP Level” “Reserved” “Preset Spd1” “Preset Spd2” “Preset Spd3” “Preset Spd4” “Preset Spd5” “Preset Spd6” “Preset Spd7” “DPI Port 1” “DPI Port 2” “DPI Port 3” “DPI Port 4” “DPI Port 5”

090 093

(1) (1) (1) (1) (1)

117 119 120

SPEED COMMAND

119 [Trim Hi]

120 [Trim Lo]

121 [Slip RPM @ FLA]

Slip Comp

123 [Slip RPM Meter]

Name

Reserved

Add or %

Tri m Re f B

Defaultxxxxxxxxxxxxx000

Bit 1514131211109876543210

Based on Drive Rating

–/+[Maximum Speed]

0.1 Hz

1 RPM

0.0 Hz

–/+[Maximum Speed]

0.1 Hz

1 RPM

Scales the upper value of the [Trim In Select] selection when the source is an analog input.

Scales the lower value of the [Trim In Select] selection when the source is an analog input.

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Important: Parameters in the Slip Comp Group are used to enable and tune the Slip Compensation Regulator. In order to allow the Slip Compensation Regulator to control drive operation, parameter 080 [Feedback Select] must be set to 1 “Slip Comp”.

Based on [Motor NP RPM]

0.0/1200.0 RPM

0.1 RPM

Read Only

–/+300.0 RPM

0.1 RPM

Sets the amount of compensation to drive output at motor FLA.

Displays the present amount of adjustment being applied as slip compensation.

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Tri m Re f A

079 082 117

0791 17

061 080 123

080 121

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 27

Chapter 2 Programming and Parameters

File

Parameter Name & Description Values

Group

No.

124 [PI Configuration]

Sets configuration of the PI regulator. Note: Added bit 9 “% of Ref” for firmware revision 3.001. 1 = Enabled 0 = Disabled

Defaultxxxxxx0x00000000

Bit 1514131211109876543210

125 [PI Control]

Controls the PI regulator. 1 = Enabled 0 = Disabled

Defaultxxxxxxxxxxxxx000

Bit 1514131211109876543210

126 [PI Reference Sel]

Selects the source of the PI reference.

Process PI

SPEED COMMAND

127 [PI Setpoint]

Provides an internal fixed value for process setpoint when [PI Reference Sel] is set to “PI Setpoint.”

128 [PI Feedback Sel]

Selects the source of the PI feedback.

129 [PI Integral Time]

Time required for the integral component to reach 100% of [PI Error Meter]. Not functional when the PI Hold bit of [PI Control] = “1” (enabled).

130 [PI Prop Gain]

Sets the value for the PI proportional component. PI Error x PI Prop Gain = PI Output

131 [PI Lower Limit]

Sets the lower limit of the PI output.

132 [PI Upper Limit]

Sets the upper limit of the PI output.

Name

124

thru

138

Reserved

% of Ref

Reserved

Anti-Wind Up

Stop Mode

Feedbak Sqrt

Zero Clamp

Ramp Ref

Preload Mode

Invert Error

Excl Mode

080

Reserved

PI Reset

PI Hold

PI Enable

Default:

Options:00

Default:

Min/Max:

Units: Default:

Options:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

“PI Setpoint”

“PI Setpoint” “Analog In 1”

“Analog In 2”

“Reserved”

3-8

“MOP Level”

“Master Ref ”

“Preset Spd1-7”

11-17

“DPI Port 1-5”

18-22

50.0%

–/+100.0% of Maximum Process Value

0.1% 2“Analog In 2”

See [PI Reference Sel]

2.0 Secs

0.00/100.00 Secs

0.01 Secs

1.0

0.00/100.00

0.01 –[Maximum Freq]

100%

–/+800.0%

0.1% +[Maximum Freq]

100%

–/+800.0%

0.1%

124

thru

138

124

thru

138

124

thru

138 124

thru

138

124

thru

138

079 124

thru

138

079 124

thru

138

28 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Programming and Parameters Chapter 2

File

Parameter Name & Description Values

Group

No.

133 [PI Preload]

Sets the value used to preload the integral component on start or enable.

134 [PI Status]

Status of the Process PI regulator. 1 = Condition True 0 = Condition False

Defaultxxxxxxxxxxxx0000

Bit 1514131211109876543210

135 [PI Ref Meter]

Pres ent va lue of the PI reference signal.

136 [PI Fdback Meter]

Pres ent va lue of the PI feedback signal.

137 [PI Error Meter]

Present value of the PI error.

Process PI

SPEED COMMAND

138 [PI Output Meter]

Present value of the PI output.

460 [PI Reference Hi]

Scales the upper value of [PI Reference Sel] of the source.

461 [PI Reference Lo]

Scales the lower value of [PI Reference Sel] of the source.

462 [PI Feedback Hi]

Scales the upper value of [PI Feedback] of the source.

463 [PI Feedback Lo]

Scales the lower value of [PI Feedback] of the source.

464 [PI Output Gain]

Sets the gain factor for [PI Output Meter]. Note: Added for firmware revision 3.001.

Name

Default:

Min/Max: Units:

0.0 Hz

100%

–/+800.0%

0.1%

079 124

thru

138

Read Only 124

thru

138

Reserved

PI InLimit

PI Reset

PI Hold

PI Enabled

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max:

Units:

Read Only

–/+100.0%

0.1%

Read Only

–/+100.0%

0.1%

Read Only

–/+100.0%

0.1%

Read Only

–/+100.0 Hz –/+100.0%

0.1 Hz

124

thru

138

124

thru

138

124

thru

138

124

thru

138

0.1%

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

100.0%

–/+100.0%

0.1%

–100.0%

–/+100.0%

0.1%

100.0%

–/+100.0%

0.1%

0.0%

–/+100.0%

0.1%

1.000

–/+8.000

0.001

138

Rockwell Automation Publication 20C-PM001F-EN-P - March 2012 29

Chapter 2 Programming and Parameters

Dynamic Control File

File

Parameter Name & Description Values

Group

No.

140

[Accel Time 1]

141

[Accel Time 2]

Sets rate of accel for all speed increases.

Max Speed

Accel Time

142

[Decel Time 1]

143

[Decel Time 2]

Sets rate of decel for all speed decreases.

Ramp Rates

Max Speed Decel Time

146 [S Curve %]

Sets the percentage of accel or decel time that is applied to the ramp as S Curve. Time is added, 1/2 at the beginning and 1/2 at the end of the ramp.

147 [Current Lmt Sel]

Selects the source for the adjustment of current limit (i.e. parameter, analog input, etc.).

148 [Current Lmt Val]

Defines the current limit value when [Current Lmt Sel] = “Cur Lim Val.”

149 [Current Lmt Gain]

Sets the responsiveness of the current limit.

150 [Drive OL Mode]

DYNAMIC CONTROL

Selects drive response to increasing drive temperature.

Load Limits

151 [PWM Frequency]

Sets the carrier frequency for the PWM output. Drive derating may occur at higher carrier frequencies.

152 [Droop RPM @ FLA]

Selects amount of droop that the speed reference is reduced when at full load torque. Zero disables the droop function.

Accel Rate

Decel Rate

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Options:00

Default:

Min/Max: Units:

Default:

Min/Max: Units:

Default:

Options:30

Default:

Min/Max: Units:

Default:

Min/Max: Units:

10.0 Secs

0.1/3276.7 Secs

0.1 Secs

10.0 Secs

0.1/3276.7 Secs

0.1 Secs

0/100% 1%

“Cur Lim Val”

“Cur Lim Val” “Analog In 1”

“Analog In 2”

2 Based on Drive Rating

Based on Drive Rating

0.1 Amps 10000

0/32767 1

“Both-PWM 1st”

“Reserved” “Reduce Clim”

“Reserved”

“Both-PWM 1st”

1.5 kHz or 2 kHz based on Drive Rating

1/Based on Drive Rating 1 kHz

0.0 RPM

0.0/200.0 RPM

0.1 RPM

142 143 146 361

thru

366 140

141 146 361

thru

366 140

thru

143

146 149

147 149

147 148

Important: Selecting “Slip Comp” with parameter 080 in conjunction with parameter 152, may produce undesirable results.

145 [DB While Stopped]

Enables/disables dynamic brake operation when drive is stopped. DB may operate if input voltage becomes too high.

• Disa bled = DB will not

operate when the drive

is stopped.

• Enabled = DB may operate whenever drive is

Stop/Brake Modes

energized. Notes: This parameter is used for frame 9 drives only. Added for firmware revision 3.001.

30 Rockwell Automation Publication 20C-PM001F-EN-P - March 2012

Default:

Options:00

“Disabled”

“Disabled” “Enabled”

+ 86 hidden pages