Rockwell Automation 20D-700S-AC User Manual
Programming Manual
PowerFlex 700S High Performance AC Drive - Phase II Control
Firmware Versions 1.xxx...5.002
Important User Information
IMPORTANT
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required
to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the
use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Allen-Bradley, Connected Components Workbench, DPI, DriveTools SP, DriveExplorer, PowerFlex, Rockwell Software, and Rockwell Automation are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
This manual contains new and updated information.
Summary of Changes
New and Updated Information
This table contains the changes made to this revision.
Top ic Pag e
Updated the list of Additional Resources. 9
Updated the description of parameter 338 [Mtr I2T Spd Min] to include setting it to the
minimum value for the motor overload trip to vary in time at low speeds.
Updated the description of fault 15 “Inv OTemp Trip” to include a possible juntion temperature
fault condition.
Removed the “Input Voltage Range/Tolerance” topic from Chapter B Application Notes. 161
Added a note to the “Inverter Overload IT” block diagram for parameter 338 [Mtr I2T Spd Min]. 197
69
146
Changes to this manual for previous revisions are included in Chapter F History
of Changes on page 209
.
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 3
Summary of Changes
Notes:
4 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Table of Contents
Preface
Drive Start-Up
Programming and Parameters
Purpose of This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Qualified Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Personal Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Product Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Class 1 LED Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 1
Drive Start-Up Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Prepare for Initial Drive Start-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Start Up the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Chapter 2
About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
How Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Parameter Data in Linear List Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Parameter Cross Reference By Name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Troubleshooting
Human Interface Module Overview
Chapter 3
Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
DriveLogix5730 Controller Status Indicators. . . . . . . . . . . . . . . . . . 141
Precharge Board Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
HIM Indication of a Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Fault and Alarm Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Fault/Alarm Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Appendix A
External and Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
LCD Display Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
HIM Key Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Alternate (ALT) Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Access the Start-Up Routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Menu Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Diagnostics Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Parameter Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Device Select Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Memory Storage Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Start Up Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Preferences Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 5
Table of Contents
Application Notes
View and Edit Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
LCD HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Numeric Keypad Shortcut. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Parameter Links. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Establishing A Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Remove/Install the HIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Appendix B
DPI Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Typical Programmable Controller Configurations . . . . . . . . . . . . . 162
Logic Command Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Logic Status Word. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
DPI Device Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Motor Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Field Oriented Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Permanent Magnet Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Volts/Hertz Control - v2.003 and Later . . . . . . . . . . . . . . . . . . . . . . . 165
Motor Overload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Setting Parameter 338 [Mtr I2T Spd Min]. . . . . . . . . . . . . . . . . . . . . 166
Motor Overload Memory Retention Per 2005 NEC . . . . . . . . . . . . 167
Motors with Compatible Thermistor Ratings. . . . . . . . . . . . . . . . . . . . . . 168
Setpt 1 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Setpt 2 Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Stop Dwell Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Sleep-Wake Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Control Block Diagrams
PowerFlex 700S Permanent Magnet
Motor Specifications
ATEX Approved PowerFlex 700S,
Phase II Drives in Group II Category
(2) Applications with ATEX Approved
Motors
Appendix C
List of Control Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Diagram Conventions and Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Appendix D
Compatible Permanent Magnet Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Appendix E
General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Motor Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Drive Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Safe-Off Terminal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Drive Hardware Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Operation Verification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
6 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Appendix F
Table of Contents
History of Changes
Index
20D-PM001B-EN-P, July 2011 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
20D-PM001A-EN-P, June 2010 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 7
Table of Contents
8 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Preface
Purpose of This Manual
Who Should Use This Manual
Additional Resources
The purpose of this manual is to provide you with the information needed to
start-up, program and troubleshoot PowerFlex 700S Phase II Adjustable
Frequency AC drives.
Top ic Pa ge
Who Should Use This Manual 9
Additional Resources 9
General Precautions 11
This manual is intended for qualified personnel. You must be able to program
and operate adjustable frequency AC drives. In addition, you must have an
understanding of the parameter settings and functions of this drive and
programmable controllers for PowerFlex 700S Phase II drives with DriveLogix.
These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
PowerFlex 700S Phase II Drive, Frames 1…6 Installation
Instructions, publication 20D-IN024
PowerFlex 700H and 700S Drives, Frames 9…14 Installation
Instructions, publication PFLEX-IN006
PowerFlex 700S Phase II Reference Manual, publication
PFLEX-RM003
Stegmann Feedback Option for PowerFlex 700S Drives
Installation Instructions, publication 20D-IN001
Resolver Feedback Option for PowerFlex 700S Drives
Installation Instructions, publication 20D-IN002
Multi-Device Interface for PowerFlex 700S Drives Installation
Instructions, publication 20D-IN004
Second Encoder Option for PowerFlex 700S Drives with
Phase II Control Installation Instructions,
publication 20D-IN009
SynchLink™ Board for PowerFlex 700S Drives with Phase II
Control Installation Instructions, publication 20D-IN010
DriveLogix5730 Controller User Manual, publication
20D-UM003
Logix5000 Controllers Common Procedures Programming
Manual, publication 1756-PM001
Logix5000 Controllers General Instructions Reference
Manual, publication 1756-RM003
Logix5000 Controllers Process Control and Drives
Instructions Reference Manual, publication 1756-RM006
Provides you with the information needed to install and
wire PowerFlex 700S Phase II frame 1…6 drives.
Provides you with the information needed to install and
wire PowerFlex 700S Phase II frame 9…14 drives.
Provides detailed explanations and examples of
PowerFlex 700S Phase II drive control functions and
application programming.
Provides instructions for installing the Stegmann
feedback option board for PowerFlex 700S drives.
Provides instructions for installing the resolver
feedback option board for PowerFlex 700S drives.
Provides instructions for installing the multi-device
interface option board for PowerFlex 700S drives.
Provides instructions for installing the second encoder
option board for PowerFlex 700S drives.
Provides instructions for installi ng the SynchLink option
board for PowerFlex 700S drives.
Provides information to help you develop projects for
DriveLogix controllers and establish communications
with PowerFlex 700S Phase II drives.
This publication links to a collection of programming
manuals that describe how you can use procedures that
are common to all Logix5000 controller projects.
Provides a programmer with details about each
available instruction for a Logix-based controller.
Provides a programmer with details about each
available instruction for a Logix-based controller.
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 9
Preface
Resource Description
SynchLink System Design Guide, publication 1756-TD008 Provides a detailed description of SynchLink and the
Wiring and Grounding for Pulse Width Modulated (PWM) AC
Drives, publication DRIVES-IN001
Safety Guidelines for the Application, Installation and
Maintenance of Solid State Control, publication SGI-1.1
Industrial Automation Wiring and Grounding Guidelines,
publication 1770-4.1
Product Certifications website, http://www.ab.com Provides declarations of conformity, certificates, and
products that operate on it, including:
• ControlLogix SynchLink module (1756-SYNCH)
• ControlLogix Drive modules (1756-DMxxx Series)
• PowerFlex 700S drives
Provides basic information needed to properly wire and
ground Pulse Width Modulated (PWM) AC drives.
Provides general guidelines for the application,
installation, and maintenance of solid-state control in
the form of individual devices or packaged assemblies
incorporating solid state components.
Provides general guidelines for installing a Rockwell
Automation industrial system.
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.
10 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Preface
General Precautions
Qualified Personnel
ATTENTION: Only qualified personnel familiar with the PowerFlex 700S Drive
and associated machinery should plan or implement the installation, start-up
and subsequent maintenance of the system. Failure to comply may result in
personal injury and/or equipment damage.
Personal Safety
ATTENTION: To avoid an electric shock hazard, verify that the voltage on the bus
capacitors has discharged before performing any work on the drive. Measure 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: Hazard of personal injury or equipment damage exists when using
bipolar input sources. Noise and drift in sensitive input circuits can cause
unpredictable changes in motor speed and direction. Use speed command
parameters to help reduce input source sensitivity.
ATTENTION: Risk of injury or equipment damage exists. DPI or SCANport 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.
ATTENTION: Risk of injury or equipment damage exists. Parameters 365 [Fdbk
LsCnfg Pri]…394 [VoltFdbkLossCnfg] let you determine the action of the drive
in response to operating anomalies. Precautions should be taken to ensure that
the settings of the parameters do not create hazards of injury or equipment
damage.
ATTENTION: Risk of injury or equipment damage exists. Parameters 383 [SL
CommLoss Data]…392 [NetLoss DPI Cnfg] let you determine the action of the
drive if communications are disrupted. You can set the parameters so that the
drive continues to run. Precautions should be taken to ensure that the settings of
the parameters do not create hazards of injury or equipment damage.
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 11
Preface
Product Safety
ATTENTION: An incorrectly applied or installed drive can result in component
damage or a reduction in product life. Wiring or application errors such as under
sizing the motor, incorrect or inadequate AC supply, or excessive surrounding air
temperatures may result in malfunction of the system.
ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts and
assemblies. Static control precautions are required when installing, testing,
servicing or repairing drive assemblies. Component damage may result if ESD
control procedures are not followed. If you are not familiar with static control
procedures, reference Guarding Against Electrostatic Damage, publication 8000-
4.5.2 or any other applicable ESD protection handbook.
ATTENTION: A contactor or other device that routinely disconnects and
reapplies the AC line to the drive to start and stop the motor can cause drive
hardware damage. The drive is designed to use control input signals that will
start and stop the motor. If an input device is used, operation must not exceed
one cycle per minute or drive damage will occur.
Class 1 LED Product
ATTENTION: Hazard of permanent eye damage exists when using optical
transmission equipment. This product emits intense light and invisible radiation.
Do not look into module ports or fiber optic cable connectors.
12 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Chapter 1
IMPORTANT
DPI Ports 1 and 2
1
2
Drive Start-Up
This chapter provides the information necessary to start up the PowerFlex 700S
Phase II drive.
Top ic Pa ge
Drive Start-Up Checklist Below
Prepare for Initial Drive Start-Up 14
Start Up the Drive 15
Drive Start-Up Checklist
❏ A Human Interface Module (HIM) is required to complete this Start-Up
procedure, which uses the Assisted Start routine. The Assisted Start 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 settings. The Assisted Start routine also performs autotuning procedures.
See Figure 1
❏ A HIM must be installed in Drive Peripheral
Interface (DPI) Port 1 or 2. If a HIM is not
installed, a remote device should be used to
start-up the drive. Refer to Human Interface
Module Overview on page 153
information on using the PowerFlex 7-Class
(DPI) HIM. Refer to the Enhanced PowerFlex
7-Class HIM User Manual, publication
20HIM-UM001, for information on using the
Enhanced HIM (if installed).
❏ 3-wire control is the default (and
recommended) mode of use for the Assisted
Start routine. In this case, the drive will start
when the HIM “Start” key is pressed and stop
when the HIM “Stop” key is pressed. If the drive
is configured for 2-wire control, the HIM
installed on the drive will also act as a 2-wire device. In 2-wire mode, the drive
will start when the HIM “Start” key is pressed and stop when the HIM “Start”
key is released.
on page 16 for a flow chart of the Assisted Start routine.
for more
❏ Analog and Digital I/O parameter values may be modified when using the
Assisted Start routine.
If you have a DriveLogix™ application, you must first connect the battery before
starting this section. Refer to the DriveLogix™ 5730 Controller for PowerFlex
700S Drives with Phase II Control, publication 20D-UM003
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 13
, for details.
Chapter 1 Drive Start-Up
IMPORTANT
TIP
Prepare for Initial Drive Start-Up
ATT EN TI ON : Power must be applied to the drive to perform the following
start-up 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.
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.
4. Apply AC power and control voltages to the drive. The drive and HIM
will power up.
When power is first applied, the HIM may require approximately five
seconds until commands are recognized (including the Stop key).
• If the STS (status) LED is NOT
Indicators on page f139
• If any digital input is configured to “Stop - CF” (CF=Clear Faults) or
“Enable”, verify that signals are present or the drive will not start. See
Ta b l e 1
5. When prompted on the HIM, select a display language and press Enter
().
The PowerFlex 700S Start-Up screen displays for drives that have not
been previously configured.
on page 17 for other causes of a start inhibit.
If the Assisted Start routine has already been accessed and started, you
can return to and continue with the Start-Up routine. See Access the
Start-Up Routine on page 155
or more information.
flashing green, refer to Status
for more information.
14 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Drive Start-Up Chapter 1
IMPORTANT
Start Up the Drive
6. Press Enter ( ) on the HIM.
The Assisted Start routine will prompt you for the required information
needed to start-up the drive and complete the autotuning procedures. See
Figure 1
Note: When starting up some high impedance motor applications, the
“Power Circuit Test” may fail. If this test fails, the HIM displays the
following fault description text:
• Power Circuit Diagnostic Test Detected Error: XX_XX no gate, open
If this failure occurs, do the following:
• Verify the connections between the motor and the drive; make sure that
• Press Enter to continue and perform the Direction Test. If the
7. When the Assisted Start routine is finished and Done/Exit displays on the
HIM, press Enter ( ) to save any changed and/or updated data.
on page 16 for a flow chart of the Assisted Start routine.
circuit, bad I sensor, press Enter.
a disconnect device or contactor is not interfering with the signal.
Direction Test is successful, continue with the Start-Up routine ignoring the failure. If the Direction Test fails, check for an open
connection or bad current sensor.
Always exit the Assisted Start routine before cycling power to the drive.
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 15
Chapter 1 Drive Start-Up
PowerFlex 700S
Start-Up
Motor Control Motor Data
Feedback
Configuration
Power Circuit
Test
Direction Test
Motor Tests Inertia Measure Speed Limits Speed Control Start / Stop / I/O
Select:
Motor Control Mode,
DB Resistor
Enter:
Motor NP Data,
Power & Units, FLA,
Volts, Hertz, RPM, Poles
Setup / Select:
Encoder, Resolver,
Hi-Res Encoder,
Linear Sensor
Diagnostic Check for:
Drive Power Circuit
Verify Direction
Field Oriented Control:
Measure: Stator
Resistance, Leakage
Inductance, Magnetizing
Inductance,
Slip Frequency
PMag Motor:
Measure: Encoder Offset,
Stator Resistance, Stator
Inductance, Back EMF
Measure:
System Inertia
Setup / Select:
Direction Control,
FWD, REV and
Absolute Speed Limits
Select:
Speed Reference
Sources
Done / Exit
Esc
Select a menu option or move down one level
Go back one selection or one level
Scroll through all choices
Configure: Digital Inputs,
Digital Outputs, Analog
Inputs, Analog Outputs
Figure 1 - PowerFlex 700S Assisted Start Routine Flow Chart
16 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Drive Start-Up Chapter 1
Table 1 - Common Causes of a Start Inhibit
Examine Parameter 156 [Start Inhibits]
Bit Description Action
1 No power is present at the Enable Terminal; TB2-16 Apply the enable
2, 3, 4 A stop command is being issued Close all stop inputs
5 Power loss event is in progress, indicating a loss of the AC input voltage Restore AC power
6 Data supplied by the power structure EEprom is invalid or corrupt Cycle the power - if problem persists, replace the power structure
7 Flash Update in Progress Complete Flash Procedures
8 Drive is expecting a Start Edge and is receiving a continuous signal Open all start buttons and remove all start commands
9 Drive is expecting a Jog Edge and is receiving a continuous signal Open all jog buttons and remove all jog commands
10 A conflict exists between the Encoder PPR programming (Par 232 or 242) and the
11 The drive cannot precharge because a precharge input is programmed and no
12
14 Invalid Feedback Device for Permanent Magnet Motor Control Set Par 222 to Value 5 (FB Opt Port0)
encoder configuration for edge counts (Par 233, bits 4 & 5)
signal is present
Start input configured but stop not configured Program Par 825…830 to include a stop button, rewire the drive
Run input configured but control options do not match Program Par 153, B it 8 to “0” (2 wire cont rol)
Start input configured but control options do not match Program Par 153, Bit 8 to “1” (3 wire control)
Multiple inputs configured as Start or Run Reprogram Par 825…830 so multiple starts, multiple runs or any combination do
Multiple inputs configured as Jog1 Reprogram Par 825…830 so only (1) is set to Jog1
Digital Configuration
Multiple inputs configured as Jog2 Reprogram Par 825…830 so only (1) is set to Jog2
Multiple inputs configured as Fwd/Rev Reprogram Par 825…830 so only (1) is set to Fwd/Rev
Verify encoder data and reprogram
Reprogram the input or close the precharge control contact
not exist
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 17
Chapter 1 Drive Start-Up
Notes:
18 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Chapter 2
Programming and Parameters
This chapter provides a complete listing of the PowerFlex 700S Phase II drive
parameters. The parameters can be programmed (viewed/edited) using a Human
Interface Module (HIM). Refer to Human Interface Module Overview on page
for information on using the HIM to view and edit parameters. As an
153
alternative, programming can also be performed using DriveTools™ software and a
personal computer.
Top ic Pag e
About Parameters 19
How Parameters are Organized 21
Parameter Data in Linear List Format 33
Parameter Cross Reference By Name 131
About Parameters
To configure a drive module to operate in a specific way, certain drive parameters
may have to be configured appropriately. Three types of parameters exist:
•ENUM Parameters
These parameters allow a selection from two or more items. The LCD
HIM will display a text message for each item.
•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, for example, “0.1 Volts”.
The example tables on the following page illustrate how each parameter type is
presented in this manual.
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 19
Chapter 2 Programming and Parameters
Options
PI Trim Rst
PI Trim Hold
Posit ion En
PI Trim En
Frict Co mp
Inertia Comp
Ext Flt/Alm
Reserved
Reserved
SReg IntgRst
SReg IntgHld
SpdRamp Hold
Time Axis En
Tac hLo ss R st
Spd S Crv En
SpdRamp Dsbl
Default 0000000000000000
Bit 1514131211109876543210
0 = False
1 = True
Table 2 - Table Explanation
12 3
Name
No.
Description Values
4 Motor NP RPM
Set to the motor namep late rated rpm.
110 Speed/TorqueMode
Selec ts the source for the drive t orque reference .
151 Logic Command
The controller-drive interface (as defined by the Controller Communication Format) sets bits to enable and disable various functions and algorithms. Bits that are changed here are reflected in Par
152 [Appl ied LogicC md].
Note: Bits 4 through 9 in Logic Command are NOT recalled from Control EEprom. They will be cleared upon drive powerup or following an EEprom recall op eration.
Default:
Min/Max:
Units:
Scale:
Default:
Options:
Calculated
1/30000
rpm
Par 4 [Motor NP RPM] = 1.0 P.U.
1 =
“Speed Reg”
0 =
“Zero Torque” 4 = “Max Spd/Torq”
1 =
“Speed Reg” 5 = “Sum Spd/Torq”
2 =
“Torque Ref” 6 = “AbsMn Spd/Tq”
3 =
“Min Spd/Torq”
Linkable
Read-Write
RW 16-bit
Data Type
Integer
Column(s) Explanation
No. - Parameter Number
1
A
Name - Parameter name as it appears in the DriveExecutive software.
2
Description - Brief description of parameter function.
Values - D efine the various operating characteristics of th e parameter.
3
There are 3 types of Values:
Numeric Default: Lists the value assigned at the factor y.
ENUM Default: Lists the value assigned at the factory.
Bit Options: Displays the bit selections available.
Linkable - “Y” indicates that the parameter is linkable.
Read-Write - Identifies if the parameter is read-write or read-only.
RW = Read-Write
RO = Read Only
Data Type - Identifies the parameter data type (i.e. integer, floating point, boolean).
= Parameter value cannot be changed until the drive is stopped.
= Parameter is displayed on the HIM only when Par 196 [ParamAccessLvl] is set to 1 “Advanced”.
Min/Max. Displays lowest possible setting/Displays highest possible setting.
Units: Unit of measure and resolution as shown on the LCD HIM.
Scale: Value sent from Controller or Comm Device = Drive Parameter Value x Comm Scale
Options: Displays the selections available.
Default: Lists the value a ssigned at the factory.
Bit: Bit number.
Important: Analog inputs can be set for current or voltage with parameter 821 [Analog I/O Units].
20 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Programming and Parameters Chapter 2
User Functions
Inputs & Outputs
Communication
Utility
Speed/Posit Fdbk
Position Control
Process Control
Torque Control
Speed Control
Dynamic Control
Motor Control
Monitor
Metering
310
49
50
40
43
301
319
300
72
297
499
309
312
307
311
762
299
298
306
313
345
824
801
807
813
837
844
Output Freq
Selected SpdRefA
Selected SpdRefB
Selected Spd Ref
Ramped Spd Ref
Motor Speed Ref
Selected Trq Ref
Motor Spd Fdbk
Scaled Spd Fdbk
Output Curr Disp
Trq CurFdbk (Iq)
% Motor Flux
MotorFluxCurr FB
Output Voltage
Output Power
Position Fdbk
Elapsed MWHrs
Elapsed Run Time
DC Bus Voltage
Heatsink Temp
Drive OL JnctTmp
Local I/O Status
Anlg In1 Value
Anlg In2 Value
Anlg In3 Volts
Anlg Out1 Value
Anlg Out2 Value
Control Status
150
155
157
156
166
167
555
346
159
165
317
554
Logic State Mach
Logic Sta tus
Logic Ctr l State
Start Inhibits
Motor Ctrl Cmmd
Motor Ctrl Ackn
MC Status
Drive OL Status
DigIn ConfigStat
Tun e Tes t St atu s
SL System Time
LED Status
Drive Data
400
401
420
404
314
315
457
456
900
901
Rated Amps
Rated Volts
Pwr Strct Mode
Dead Time
VPL Firmware Rev
VPL Build Number
MC Firmware Rev
MC Build Number
SynchLink Rev
SL System Rev
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 twelve files. Each file is divided into multiple
groups of parameters. Each illustration below contains a list of the Parameters
contained in each Group for each File.
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 21
Chapter 2 Programming and Parameters
User Functions
Inputs & Outputs
Communication
Utility
Speed/Posit Fdbk
Position Control
Process Control
Torque Control
Speed Control
Dynamic Control
Motor Control
Monitor
Motor Data
1
2
3
4
5
6
336
7
9
Motor NP Volts
Motor NP FLA
Motor NP Hertz
Motor NP RPM
Motor NP Power
Mtr NP Pwr Units
Motor OL Factor
Motor Poles
Total Inertia
Monitoring
525
526
434
435
441
442
497
498
495
496
499
489
Slip Ratio
Stator Frequency
Mtr Vds Base
Mtr Vqs Base
Vds Fd bk Filt
Vqs Fd bk Filt
Vqs Co mmand
Vds Co mmand
Iqs Command
Ids Command
Trq CurFdbk (Iq)
Flx CurFdbk (Id)
Drive Config
485
402
403
405
409
410
411
510
511
512
513
514
515
516
517
505
506
507
508
509
424
Motor Ctrl Mode
PWM Frequency
Voltage Class
Dead Time Comp
Line Undervolts
PreChrg TimeOut
PreChrg Control
FVC Mode Config
FVC2 Mode Config
PMag Mode Cnfg
V/Hz Mode Config
Tes t M ode Con fi g
FVC Tune Config
FVC2 Tune Config
PMag Tune Config
PM TestWait Time
PM Test Idc Ramp
PM Test FreqRamp
PM Test Freq Ref
PM Test I Ref
Flux Ratio Ref
Tuning
423
453
454
425
426
443
470
444
533
500
501
437
438
439
440
469
449
450
447
448
446
445
552
553
472
431
432
433
477
428
537
538
539
54
551
Iqs Rate Limit
Iu Offset
Iw Offset
Flux Rate Limit
Flux Satur Coef
Flux Reg P Gain1
Flux Reg P Gain2
Flux Reg I Gain
SlewRateTimeLimit
Bus Util Limit
Tor que En Dly
Vqs M ax
Vds M ax
Vqs M in
Vds M in
FVC CEMF Comp
SrLss Reg I Gain
SrLss Reg P Gain
Slip Reg P Gain
Slip Reg I Gain
Slip Gain Min
Slip Gain Max
Slip Preload Val
Slip Slew Rate
PreCharge Delay
Tes t Cu rr ent Ref
Tes t Fr eq Ref
Tes t Fr eq Rat e
Est Theta Delay
IReg IGain Fctr
SrLssAngleStblty
SrLss VoltStblty
SrLss StbltyFilt
Inertia TrqLpfBW
CurrFdbk AdjTime
Autotune Results
421
422
429
430
486
487
488
490
491
492
493
494
502
503
504
427
520
521
522
523
Iqs Integ Freq
Iqs Reg P Gain
Ids Integ Freq
Ids Reg P Gain
Rated Slip Freq
Motor NTC Coef
Flux Current
StatorInductance
StatorResistance
Leak Indu ctance
Leak Indc Satur1
Leak Indc Satur2
Rotor Resistance
Current Reg BW
PM AbsEncd Offst
PM Mtr CEMF Comp
PM Q Inductance
PM D Inductance
PM Stator Resist
PM Mtr CEMF Coef
22 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Programming and Parameters Chapter 2
User Functions
Inputs & Outputs
Communication
Utility
Speed/Posit Fdbk
Position Control
Process Control
Torque Control
Speed Control
Dynamic Control
Motor Control
Monitor
Configuration
151
152
153
158
160
169
335
Logic Command
Applied LogicCmd
Control Options
Drive Logic Rslt
Zero Spe ed Lim
SrLss ZeroSpdLim
Abs OverSpd Lim
Overload Protect
337
338
339
340
341
343
344
Mtr I2T Curr Min
Mtr I2T Spd Min
Mtr I2T Calibrat
Mtr I2T Trp ThrH
Mtr I2T Count
OL OpnLp CurrLim
OL ClsLp CurrLim
Stop/Brake Modes
168
414
415
416
417
154
545
546
547
1125
544
1126
Normal Stop Mode
Brake/Bus Cnfg
BusReg/Brake Ref
Brake PulseWatts
Brake Watts
Stop Dwell Time
Bus Reg Ki
Bus Reg Kp
Bus Reg Kd
DC Brake Level
External DB Res
DC Brake Time
Power L oss
406
407
408
Power Loss M ode
Power Loss Ti me
Power Loss Le vel
Sleep/Wake
278
279
280
281
282
283
284
Sleep-Wake Mode
Sleep-Wake Ref
Wake Level
Wake Time
Sleep Level
Sleep Time
Sleep Control
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 23
Chapter 2 Programming and Parameters
User Functions
Inputs & Outputs
Communication
Utility
Speed/Posit Fdbk
Position Control
Process Control
Torque Control
Speed Control
Dynamic Control
Motor Control
Monitor
Reference
27
28
10
11
12
13
14
15
16
17
18
19
20
29
39
40
30
31
41
32
33
34
43
53
45
61
62
63
37
35
36
38
46
21
47
56
9
57
58
60
55
59
64
65
1160
66
67
68
69
Speed Ref A Sel
Speed Ref B Sel
Speed Ref 1
Spd Ref1 Divide
Speed Ref 2
Spd Ref2 Multi
Preset Speed 1
Preset Speed 2
Preset Speed 3
Preset Speed 4
Preset Speed 5
Preset Speed 6
Preset Speed 7
Jog Speed 1
Jog Speed 2
Selected Spd Ref
Min Spd Ref Lim
Max Spd Ref Lim
Limited Spd Ref
Accel Time 1
Decel Time 1
S Curve Time
Ramped Spd Ref
Drive Ramp Rslt
Delayed Spd Ref
Virt Encoder EPR
Virt Encdr Po sit
Virt Encdr D lyed
Spd Ref Bypass
SpdRef Filt Gain
SpdRef Filt BW
Speed Ref Scale
Scaled Spd Ref
Speed Trim 1
SpdRef + SpdTrm1
Inertia SpeedRef
Total Inertia
InertiaAccelGain
InertiaDecelGain
DeltaSpeedScale
Speed Comp
Inertia Trq Add
FricComp Spd Ref
FricComp Setup
Virt EncPosi tFast
FricComp Stick
FricComp Slip
FricComp Rated
FricComp Trq Add
Regulator
48
23
24
22
25
26
74
75
76
301
300
93
94
71
100
89
84
85
87
9
90
97
91
81
82
92
86
101
106
104
105
102
103
95
96
302
Spd Ref Bypass2
Speed Trim 3
SpdTrim 3 Scale
Speed Trim 2
STrim2 Filt Gain
SpdTrim2 Filt BW
Atune Sp d Ref
Rev Speed Lim
Fwd Speed Lim
Motor Speed Ref
Motor Spd Fdbk
SRegFB Filt Gain
SReg FB Filt BW
Filtered SpdFdbk
Speed Error
Spd Err Filt BW
SpdReg AntiBckup
Servo Lock Gain
SReg Trq Preset
Total Inertia
Spd Reg BW
Act Spd Reg BW
Spd Reg Damping
Spd Reg P Gain
Spd Reg I Gain
SpdReg P Gain Mx
Spd Reg Droop
SpdReg Integ Out
SrLss Spd Reg BW
SrLss Spd Reg Kp
SrLss Spd Reg Ki
Spd Reg Pos Lim
Spd Reg Neg Lim
SRegOut FiltGain
SReg Out Filt BW
Spd Reg PI Out
Setpoint Monitor
171
172
173
174
175
176
177
Set Speed Lim
Setpt 1 Data
Setpt1 TripPoint
Setpt 1 Limit
Setpt 2 Data
Setpt2 TripPoint
Setpt 2 Limit
24 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Programming and Parameters Chapter 2
Tor que
110
302
59
69
111
112
113
114
115
119
120
319
116
129
117
118
415
401
306
300
127
128
353
125
126
123
124
303
132
133
134
221
Speed/TorqueMode
Spd Reg PI Out
Inertia Trq Add
FricComp Trq Add
Tor que Re f 1
Tor que Re f1 D iv
Tor que Re f 2
Torque Ref2 Mult
Tor que Tri m
SLAT ErrorSetpnt
SLAT Dwell Time
Selected Trq Ref
Tor que St ep
Atune Trq Ref
NotchAttenuation
Notch Filt Freq
BusReg/Brake Ref
Rated Volts
DC Bus Voltage
Motor Spd Fdbk
Mtring Power Lim
Regen Power Lim
Iq Actual Lim
Tor que Pos Li mit
Tor que Ne g Li mi t
Trq PosL im A ctl
Trq NegLim Actl
Motor Torque Ref
Inert Adapt Sel
Inert Adapt BW
Inert Adapt Gain
Load Esti mate
Current
303
309
359
360
361
350
351
308
343
356
362
352
488
312
345
313
346
344
353
354
355
305
Motor Torque Ref
% Motor Flux
Motor Flux Est
Min Flux
Flx LpassFilt BW
Iq Actual Ref
Iq Ref Trim
Output Current
OL OpnLp CurrLim
Mtr Current Lim
Current Lmt Gain
Is Actual Lim
Flux Current
MotorFluxCurr FB
Drive OL JnctTmp
Heatsink Temp
Drive OL Status
OL ClsLp CurrLim
Iq Actual Lim
Iq Rate Limit
Iq Ref Limited
Mtr Trq Curr Ref
Monitor
Motor Control
Dynamic Control
Speed Control
Torque Control
Process Control
Position Control
Speed/Posit Fdbk
Utility
Communication
Inputs & Outputs
User Functions
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 25
Chapter 2 Programming and Parameters
User Functions
Inputs & Outputs
Communication
Utility
Speed/Posit Fdbk
Position Control
Process Control
Torque Control
Speed Control
Dynamic Control
Motor Control
Monitor
Regulator
181
182
184
183
185
186
187
188
189
190
191
192
180
PI Reference
PI Feedback
PI Lpass Filt BW
PI Error
PI Preload
PI Prop Gain
PI Integ Time
PI Integ HLim
PI Integ LLim
PI Integ Output
PI High Limit
PI Lower Limit
PI Output
Limit Generator
202
203
204
205
206
207
208
Time Axis Rate
Time Axis Outpu t
LimGen Y axis Mx
LimGen Y axis Mn
LimGen X axis In
Limit Gen Hi Out
Limit Gen Lo Out
26 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Programming and Parameters Chapter 2
Note: The Position Control function is disabled by default. To enable the Position Control function,
set Par 147 bit 16 to “1” enable.
Homing
1120
1121
1122
1124
1123
Home Accel Time
Home Decel Time
Home Speed
Home Actual Pos
Home Position
Phase Lock Loop
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
PLL Control
PLL Position Ref
PLL BandWidth
PLL Rev Input
PLL Rev Output
PLL EPR Input
PLL EPR Output
PLL VirtEncdrRPM
PLL Ext Spd Ref
PLL Ext SpdScale
PLL LPFilter BW
PLL Posit Out
PLL Posit OutAdv
PLL FiltPositOut
PLL Speed Out
PLL SpeedOut Adv
Phase Lock Loop
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
PLL Control
PLL Position Ref
PLL BandWidth
PLL Rev Input
PLL Rev Output
PLL EPR Input
PLL EPR Output
PLL VirtEncdrRPM
PLL Ext Spd Ref
PLL Ext SpdScale
PLL LPFilter BW
PLL Posit Out
PLL Posit OutAdv
PLL FiltPositOut
PLL Speed Out
PLL SpeedOut Adv
User Functions
Inputs & Outputs
Communication
Utility
Speed/Posit Fdbk
Position Control
Process Control
To rq ue Control
Speed Control
Dynamic Control
Motor Control
Monitor
Phase Lock Loop
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
PLL Control
PLL Position Ref
PLL BandWidth
PLL Rev Input
PLL Rev Output
PLL EPR Input
PLL EPR Output
PLL VirtEncdrRPM
PLL Ext Spd Ref
PLL Ext SpdScale
PLL LPFilter BW
PLL Posit Out
PLL Posit OutAdv
PLL FiltPositOut
PLL Speed Out
PLL SpeedOut Adv
Posit ion Confi g
740
741
742
777
784
780
785
781
782
783
Posit ion Contro l
Position Status
Posit Ref Sel
PositionFdbk Sel
Posit Detct1 In
Posit Detct1 Stpt
Posit Detct2 In
Posit Detct2 Stpt
In Posit BW
In Posit Dwell
Point to Point
758
745
746
744
753
754
755
756
747
757
762
763
769
796
768
761
759
760
775
776
778
779
318
797
798
799
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
Pt-Pt Posit Ref
Posit Ref EGR Mul
Posit Ref EGR Div
Posit Ref EGR Out
Posit Offset 1
Posit Offset 2
Posit Offset Spd
X Offst SpdFilt
Posit ion Cmmd
Abs Posit Offset
Position Fdbk
Position Actual
Posit ion Erro r
Posit Gear Ratio
Posit Reg P Ga in
Pt-Pt Filt BW
Pt-Pt Accel Time
Pt-Pt Decel Time
XReg Spd LoLim
XReg Spd HiLim
X Notch Attenu
X Notch FiltFreq
Posit Spd Output
BasicIndx Step
BasicIndx Preset
BasicIndx Output
PPMP Pos Command
PPMP Pos Mul
PPMP Pos Div
PPMP Scaled Cmd
PPMP Control
PPMP Status
PPMP Rev Spd Lim
PPMP Fwd Spd Lim
PPMP Over Ride
PPMP Accel Time
PPMP Decel Time
PPMP SCurve Time
PPMP Spd Output
PPMP Pos Output
PPMP Pos To Go
Sync Generator
786
787
317
788
789
790
791
792
793
794
795
Xsync Status
Xsync Gen Period
SL System Time
Xsync In 1
Xsync Out 1
Xsync In 2
Xsync Out 2
Xsync Out 2 Dly
Xsync In 3
Xsync Out 3
Xsync Out 3 Dly
Interp / Direct
748
750
749
751
752
693
743
745
746
744
757
753
754
755
756
747
762
764
766
767
763
765
769
796
768
770
772
773
774
771
775
776
778
779
318
CoarsePosi t Trgt
Coarse Spd Trgt
Interp Position
Interp Speed
Interp AccelRate
Interp SyncInput
Aux Posit Ref
Posit Ref EGR M ul
Posit Ref EGR D iv
Posit Ref EGR O ut
Abs Posit Offset
Posit Offset 1
Posit Offset 2
Posit Offset Spd
X Offst SpdFilt
Posit ion Cmmd
Position Fdbk
Posit Load Fdbk
Posit FB EGR Mu l
Posit FB EGR Di v
Position Actual
Posit Actl Load
Posit ion Erro r
Posit Gear Ratio
Posit Reg P Ga in
Posit Reg Inte g
XReg Integ LoLim
XReg Integ HiLim
XReg Integ Out
Posit Reg Droo p
XReg Spd LoLim
XReg Spd HiLim
X Notch Attenu
X Notch FiltFreq
Posit Spd Output
Motion
684
685
686
687
688
689
690
691
692
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
MotnUpdatePeriod
Motn CoarseMulti
Motn Config
Motn Axis Status
Motn AxisControl
Motn Axis Resp
Motn Cnct Status
Motn EventStatus
Motn Event Ctrl
Motn Mx Pos Trvl
Motn Mx Neg Trvl
Motn PositErrTol
MotnPositLockTol
Motn Posit Cmmd
Motn Speed Cmmd
Motn Posit Sync
FdbkAxis FdbkSel
FdbkAxis FdbkVal
Motn TP Select
Motn TP Value
Motn RotaryCmmd
MotnUnwdTurnCmmd
SrvoAxis RotFdbk
SrvoAxisUnwdFdbk
FdbkAxis RotFdbk
FdbkAxisUnwdFdbk
MotnCnfgErrParam
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 27
Chapter 2 Programming and Parameters
Feedback Config
222
223
777
224
300
762
73
72
MtrFdbk Sel Pri
MtrFdbk Sel Alt
Posit ionFdbk S el
TachSwitch Level
Motor Spd Fdbk
Position Fdbk
Spd Fdbk Scale
Scaled Spd Fdbk
Encoder Port 0/1
233
234
232
231
230
242
241
240
236
237
238
235
239
Encdr 0/1 Config
Encdr 0/1 Error
Encoder0 PPR
Encdr0 Spd Fdbk
Encdr0 Position
Encoder1 PPR
Encdr1 Spd Fdbk
Encdr1 Position
Enc0/1 RegisCnfg
Enc0/1 RegisCtrl
Enc0/1 RegisStat
Encdr0 RegisLtch
Encdr1 RegisLtch
Calculated Fdbk
225
226
227
228
229
Virtual Edge/Rev
Motor Speed Est
Motor Posit Est
MtrSpd Simulated
MtrPosit Simulat
Feedback Opt 0/1
249
251
250
253
252
259
260
263
264
265
266
267
268
269
277
272
273
274
275
276
254
255
256
257
258
286
289
290
285
291
1155
1156
Fdbk Option ID
FB Opt0 Spd Fdbk
FB Opt0 Posit
FB Opt1 Spd Fdbk
FB Opt1 Posit
Stegmann0 Cnfg
Stegmann0 Status
Heidenhain0 Cnfg
Heidenhain0 Stat
Heidn Mkr Offset
Heidn Encdr Type
Heidn Encdr PPR
Resolver0 Cnfg
Resolver0 Status
Reslvr0 Type Sel
Reslvr0 SpdRatio
Reslvr0 Carrier
Reslvr0 In Volts
Rslvr0 XfrmRatio
Reslvr0 CableBal
Opt0/1 RegisCnfg
Opt0/1 RegisCtrl
Opt0/1 RegisStat
Opt 0 Regis Ltch
Opt 1 Regis Ltch
Linear1 Status
Lin1 Update Rate
Linear1 CPR
Linear1 Config
Lin1Stahl Status
Heidn VM Pos Ref
Heidn VM Enc PPR
Monitor
Dynamic Control
Motor Control
Torque Control
Speed Control
Process Control
Position Control
Speed/Posit Fdbk
Utility
Communication
Inputs & Outputs
User Functions
28 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
Programming and Parameters Chapter 2
Peak D etectio n
210
211
212
213
214
215
216
217
218
219
PeakD tct Ctr l In
PeakD tct Stat us
PkDtct1 In DInt
PkDtct1 In Real
PeakDtct1 Preset
PeakD etect1 Out
PkDtct2 In DInt
PkDtct2 In Real
PeakDtct2 Preset
PeakD etect2 Out
Diagnostics
155
156
304
824
320
321
322
326
327
328
323
324
325
331
313
345
346
316
902
903
518
519
463
464
465
894
895
896
897
898
899
332
333
334
Logic Status
Start Inhibits
Limit Status
Local I/O Statu s
Exception Event1
Exception Event2
Exception Event3
Alarm Status 1
Alarm Status 2
Alarm Status 3
Fault Status 1
Fault Status 2
Fault Status 3
LstFaultStopMode
Heatsink Temp
Drive OL JnctTmp
Drive OL Status
SynchLink Status
SL Error Status
SL Error History
MC Diag Status
MC Diag Done
MC Diag Error 1
MC Diag Error 2
MC Diag Error 3
SL CRC Err Accum
SL CRC Error
SL BOF Err Accum
SL BOF Error
SL CRC Err Limit
SL BOF Err Limit
700L EventStatus*
700L FaultStatus*
700L AlarmStatus*
Tes t Poi nts
161
162
163
164
329
330
77
78
79
108
109
347
348
130
131
357
358
418
419
178
179
737
738
739
892
893
245
246
247
261
262
270
271
287
288
412
413
466
467
468
473
474
475
476
717
718
719
1145
1146
1147
Logic TP S el
Logic TP D ata
Stop Oper TP Sel
StopOper TP Data
Faul t TP S el
Fault TP Data
Spd Ref TP Sel
Spd Ref TP RPM
Spd Ref TP Data
Spd Reg TP Sel
Spd Reg TP Data
Drive OL TP Sel
Drive OL TP Data
Trq Ref TP S el
Trq Ref TP D ata
Curr Re f TP Sel
Curr Re f TP Data
Brake TP Sel
Brake TP Data
PI TP Sel
PI TP Data
Posit TP Selec t
PositTP DataDInt
PositTP DataReal
SL Comm TP Sel
SL Comm TP Data
Spd Fdbk TP Sel
Spd Fdbk TP RPM
Spd Fdbk TP Data
Steg&Hiedn TPSel
Steg&Heidn TPDta
Reslvr0 TP Sel
Reslvr0 TP Data
Linear1 TP Sel
Linear1 TP Data
Power EE TP Sel
Power EE TP Data
MC TP1 Select
MC TP1 Value
MC TP1 Bit
MC TP2 Select
MC TP2 Value
MC FaultTPSelect
MC FaultTP Value
PLL TP Select
PLL TP DataDInt
PLL TP DataReal
PPMP TP Select
PPMP TP DataDInt
PPMP TP DataReal
Drive Memory
196
145
147
149
146
148
ParamAccessLevel
ApplicationGroup
FW Functions En
FW FunctionsActl
FW TaskTime Sel
FW TaskTime Actl
Fault/Alm Config
379
374
373
382
381
393
394
376
377
372
371
375
369
365
366
367
391
392
383
384
390
385
386
387
388
389
370
363
364
378
395
396
397
398
399
368
Ext Flt/Alm Cnfg
Motor Stall Cnfg
Motor Stall Time
MC Cmd Lim Cnfg
PreChrg Err Cnfg
BusUndervoltCnfg
VoltFdbkLossCnfg
Inv OL Pend Cnfg
Inv OL Trip Cnfg
Mtr OL Pend Cnfg
Mtr OL Trip Cnfg
Inv OT Pend Cnfg
Brake OL Cnfg
Fdbk LsCnfg Pri
Fdbk LsCnfg Alt
Fdbk LsCnfgPosit
DPI CommLoss Cfg
NetLoss DPI Cnfg
SL CommLoss Data
SL CommLoss Cnfg
SL MultErr Cnfg
Lgx CommLos sData
Lgx OutOfRunCnfg
Lgx Timeout Cnfg
Lgx Closed Cnfg
Lgx LinkChngCnfg
HiHp InPhsLs Cfg
HiHp GndFlt Cur
HiHp GndFlt Dly
Interp Flt Cnfg
+Sft OvrTrvlCnfg
-Sft OvrTrvlCnfg
+Hrd OvrTrvlCnfg
-Hrd OvrTrvlCnfg
Position ErrCnfg
Cnv NotLogin Cfg*
Tren ding
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
Tre nd C ont rol
Tre nd S tat us
Tre nd S tat e
Tre nd R ate
Tre nd Tr igA DI nt
Tre nd Tr igA Re al
Tre nd Tr igB DIn t
Tre nd Tr igB Rea l
Tre nd Tr ig D ata
Tre nd Tr ig B it
Trend PreSamples
Tre nd M ark DI nt
Tre nd M ark Re al
TrendBuffPointer
Tre nd I n1 D Int
Tre nd I n1 R ea l
Tre nd O ut1 DI nt
Tre nd O ut1 Re al
Tre nd I n2 D Int
Tre nd I n2 R ea l
Tre nd O ut2 DI nt
Tre nd O ut2 Re al
Tre nd I n3 D Int
Tre nd I n3 R ea l
Tre nd O ut3 DI nt
Tre nd O ut3 Re al
Tre nd I n4 D Int
Tre nd I n4 R ea l
Tre nd O ut4 DI nt
Tre nd O ut4 Re al
*Note: This parameter is used by PowerFlex 700L drives only.
To rq ue Control
Speed Control
Monitor
Dynamic Control
Motor Control
Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 29
Position Control
Process Control
Speed/Posit Fdbk
Utility
Communication
Inputs & Outputs
User Functions
Chapter 2 Programming and Parameters
DPI Data Links
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
DPI In DataType
DPI Data In A1
DPI Data In A2
DPI Data In B1
DPI Data In B2
DPI Data In C1
DPI Data In C2
DPI Data In D1
DPI Data In D2
DPI Out DataType
DPI Data Out A1
DPI Data Out A2
DPI Data Out B1
DPI Data Out B2
DPI Data Out C1
DPI Data Out C2
DPI Data Out D1
DPI Data Out D2
DriveLogix I/O
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
Lgx Comm Format
From DL DataType
FromDri veLogix00
FromDri veLogix01
FromDri veLogix02
FromDri veLogix03
FromDri veLogix04
FromDri veLogix05
FromDri veLogix06
FromDri veLogix07
FromDri veLogix08
FromDri veLogix09
FromDri veLogix10
FromDri veLogix11
FromDri veLogix12
FromDri veLogix13
FromDri veLogix14
FromDri veLogix15
FromDri veLogix16
FromDri veLogix17
FromDri veLogix18
FromDri veLogix19
FromDri veLogix20
To DL DataType
To D ri veL ogi x00
To D ri veL ogi x01
To D ri veL ogi x02
To D ri veL ogi x03
To D ri veL ogi x04
To D ri veL ogi x05
To D ri veL ogi x06
To D ri veL ogi x07
To D ri veL ogi x08
To D ri veL ogi x09
To D ri veL ogi x10
To D ri veL ogi x11
To D ri veL ogi x12
To D ri veL ogi x13
To D ri veL ogi x14
To D ri veL ogi x15
To D ri veL ogi x16
To D ri veL ogi x17
To D ri veL ogi x18
To D ri veL ogi x19
To D ri veL ogi x20
SynchLink Input
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
Rx Dir Data Type
SL Dir Data Rx00
SL Dir Data Rx01
SL Dir Data Rx02
SL Dir Data Rx03
Rx Buf Data Type
SL Buf Data Rx00
SL Buf Data Rx01
SL Buf Data Rx02
SL Buf Data Rx03
SL Buf Data Rx04
SL Buf Data Rx05
SL Buf Data Rx06
SL Buf Data Rx07
SL Buf Data Rx08
SL Buf Data Rx09
SL Buf Data Rx10
SL Buf Data Rx11
SL Buf Data Rx12
SL Buf Data Rx13
SL Buf Data Rx14
SL Buf Data Rx15
SL Buf Data Rx16
SL Buf Data Rx17
Security
714
669
712
670
713
Port Mask Ac t
Write Mask
Write Mask Ac t
Logic Ma sk
Logic Ma sk Act
SynchLink Config
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
921
922
923
924
925
926
927
SL Node Cnfg
SL Rx CommFormat
SL Rx DirectSel0
SL Rx DirectSel1
SL Rx DirectSel2
SL Rx DirectSel3
SL Tx CommFormat
SL Tx DirectSel0
SL Tx DirectSel1
SL Tx DirectSel2
SL Tx DirectSel3
SL Rcv Events
SL Clr Events
SL Rx P0 Regis
SL Rx P1 Regis
SL Real2DInt In
SL Real2DInt Out
SL Mult Base
SL Mult A In
SL Mult B In
SL Mult Out
SL Mult State
Masks & Owners
670
671
672
673
674
677
678
679
680
681
Logic Mask
Start Mas k
Jog Mask
Direction Mask
Faul t Clr Mask
Stop Owner
Start Own er
Jog Owner
Direction Owner
Faul t Clr Owne r
SynchLink Output
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
Tx D ir Da ta Ty pe
SL Dir Data Tx00
SL Dir Data Tx01
SL Dir Data Tx02
SL Dir Data Tx03
Tx Buf Data Type
SL Buf Data Tx00
SL Buf Data Tx01
SL Buf Data Tx02
SL Buf Data Tx03
SL Buf Data Tx04
SL Buf Data Tx05
SL Buf Data Tx06
SL Buf Data Tx07
SL Buf Data Tx08
SL Buf Data Tx09
SL Buf Data Tx10
SL Buf Data Tx11
SL Buf Data Tx12
SL Buf Data Tx13
SL Buf Data Tx14
SL Buf Data Tx15
SL Buf Data Tx16
SL Buf Data Tx17
Dynamic Control
Motor Control
Monitor
Torque Control
Speed Control
Process Control
Position Control
Speed/Posit Fdb
k
Utility
Communication
User Functions
Inputs & Outputs
30 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013
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