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

Programming and Parameters Chapter 2

Analog Inputs

821
803
801
802
804
805
800
1093
809
807
808
810
811
806
1094
815
813
814
816
817
812
1095

Analog I/O Units
Anlg In1 Offset
Anlg In1 Value
Anlg In1 Scale
AI 1 Filt Gain
Anlg In1 Filt BW
Anlg In1 Data
Anlg In1LossCnfg
Anlg In2 Offset
Anlg In2 Value
Anlg In2 Scale
AI 2 Filt Gain
Anlg In2 Filt BW
Anlg In2 Data
Anlg In2LossCnfg
Anlg In3 Offset
Anlg In3 Value
Anlg In3 Scale
AI 3 Filt Gain
Anlg In3 Filt BW
Anlg In3 Data
Anlg In3LossCnfg

Analog Outputs

821
831
832
833
834
835
836
837
838
839
840
841
842
843
844

Analog I/O Units
Anlg Out1 Sel
Anlg Out1 DInt
Anlg Out1 Real
Anlg Out1 Offset
Anlg Out1 Sca le
Anlg Out1 Zero
Anlg Out1 Value
Anlg Out2 Sel
Anlg Out2 DInt
Anlg Out2 Real
Anlg Out2 Offset
Anlg Out2 Sca le
Anlg Out2 Zero
Anlg Out2 Value

Digital Inputs

823
825
826
827
828
829
830
824

DigIn Debounce
Dig In1 Sel
Dig In2 Sel
Dig In3 Sel
Dig In4 Sel
Dig In5 Sel
Dig In6 Sel
Local I/O Status

Digital Outputs

845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
824

Dig Out1 Sel
Dig Out1 Data
Dig Out1 Bit
Dig Out1 On Time
Dig Out1 OffTime
Dig Out2 Sel
Dig Out2 Data
Dig Out2 Bit
Dig Out2 On Time
Dig Out2 OffTime
Rly Out3 Sel
Rly Out3 Data
Rly Out3 Bit
Rly Out3 On Time
Rly Out3 OffTime
Local I/O Status

BitSwap Control

860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889

BitSwap 1A Data
BitSwap 1A Bit
BitSwap 1B Data
BitSwap 1B Bit
BitSwap 1 Result
BitSwap 2A Data
BitSwap 2A Bit
BitSwap 2B Data
BitSwap 2B Bit
BitSwap 2 Result
BitSwap 3A Data
BitSwap 3A Bit
BitSwap 3B Data
BitSwap 3B Bit
BitSwap 3 Result
BitSwap 4A Data
BitSwap 4A Bit
BitSwap 4B Data
BitSwap 4B Bit
BitSwap 4 Result
BitSwap 5A Data
BitSwap 5A Bit
BitSwap 5B Data
BitSwap 5B Bit
BitSwap 5 Result
BitSwap 6A Data
BitSwap 6A Bit
BitSwap 6B Data
BitSwap 6B Bit
BitSwap 6 Result

1

The calculation is based on the drive frame size and input voltage.

Motor Control

Monitor

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 31

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

Param & Co nfig

1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021

UserFunct Enable
UserFunct Actual
UserData DInt 01
UserData DInt 02
UserData DInt 03
UserData DInt 04
UserData DInt 05
UserData DInt 06
UserData DInt 07
UserData DInt 08
UserData DInt 09
UserData DInt 10
UserData Real 01
UserData Real 02
UserData Real 03
UserData Real 04
UserData Real 05
UserData Real 06
UserData Real 07
UserData Real 08
UserData Real 09
UserData Real 10

Select Switches

1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046

Sel Switch Ctrl
Swtch Real 1 NC
Swtch Real 1 NO
Swtch Real 1 Ou t
Swtch DInt 1 NC
Swtch DInt 1 NO
Swtch DInt 1 Out
Sel Swtch In00
Sel Swtch In01
Sel Swtch In02
Sel Swtch In03
Sel Swtch In04
Sel Swtch In05
Sel Swtch In06
Sel Swtch In07
Sel Swtch In08
Sel Swtch In09
Sel Swtch In10
Sel Swtch In11
Sel Swtch In12
Sel Swtch In13
Sel Swtch In14
Sel Swtch In15
SelSwtch RealOut
SelSwtch DIntOut

Math & Logic

1047
1048
1049
1150
1151
1152
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107

DInt2Real1 In
DInt2Real1 Scale
DInt2Real1Result
DInt2Real2 In
DInt2Real2 Scale
DInt2Real2Result
Real2DInt In
Real2DInt Scale
Real2DInt Result
MulDiv 1 Input
MulDiv 1 Mul
MulDiv 1 Div
MulDiv 1 Result
MulDiv 2 Input
MulDiv 2 Mul
MulDiv 2 Div
MulDiv 2 Result
Logic Conf ig
Logic/Cmpr State
Logic 1A D ata
Logic 1A B it
Logic 1B Data
Logic 1B Bit
Logic 2A D ata
Logic 2A B it
Logic 2B Data
Logic 2B Bit
Compare 1A
Compare 1B
Compare 2A
Compare 2B
AddSub 1 Input
AddSub 1 Add
AddSub 1 Subtrct
AddSub 1 Result
AddSub 2 Input
AddSub 2 Add
AddSub 2 Subtrct
AddSub 2 Result
AddSub 3 Input
AddSub 3 Add
AddSub 3 Subtrct
AddSub 3 Result

Timers

1108
1109
1110
1111
1112
1113
1114
1115
1116
1117

DelTmr1 TrigData
DelTmr1 Trig Bit
DelayTimer1PrSet
DelayTimer1Accu
DelayTimer1Stats
DelTmr2 TrigData
DelTmr2 Trig Bit
DelayTimer2PrSet
DelayTimer2Accu
DelayTimer2Stats

Electronic Gear Ratio

1161
1162
1163
1164
1165
1166

EGR Config
EGR Mul
EGR Div
EGR Pos Input
EGR Pos Output
EGR Pos Preset

32 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Parameter Data in Linear List Format

Programming and Parameters Chapter 2

No. Name

Description

1 Motor NP Volts

Set to the motor n ameplate rated volts.

2 Motor NP FLA

Set to the motor na meplate rated full load amps. Range limite d by three-second inverter rating.

3 Motor NP Hertz

Set to the motor na meplate rated frequency.

4 Motor NP RPM

Set to the motor na meplate rated rpm.

5 Motor NP Power

Set to the motor na meplate rated power.
Note: The unit of measure for this parameter was changed from kW to Hp for firmware version 2.003.

6 Mtr NP Pwr Units

The power units shown on the motor nameplate.

7 Motor Poles

Set the number of motor poles indicated on the motor nameplate or manufacturer's motor data sheet. Only even
numbers of poles are allowed.
Calculation: (120 x NP Hz) / NP rpm = Poles [round down]
Note: The maximum value was changed from 60 to 128 for firmware version 4.002.

9 Total Inertia

Time, in seconds, for a moto r coupled to a load to accelerate from zero to base spee d, at rated motor torque.
Calculated during auto-tune.

10 Speed Ref 1

Sets the speed reference that the drive should use when selected by Par 2 7 [Speed Ref A Sel] or

Par 28 [Speed Ref B Sel]. A value of 1.0 represents base speed of the motor.

11 Spd Ref1 Divide

Par 10 [Speed Ref 1] is divided by this number. This number can be used to scale the value of Par 10 [Speed Ref 1].

12 Speed Ref 2

Sets the speed reference that the drive should use when selected by Par 2 7 [Speed Ref A Sel]
or Par 28 [Speed Ref B Sel]. A value of 1.0 represents base speed of the motor.

13 Spd Ref2 Multi

Par 12 [Speed Ref 2] is multiplied by this number. This number can be used to scale the value of

Par 12 [Speed Ref 2].

14

Preset Speed 1

through

through

20

Preset Speed 7

Provides an internal fixed speed command value. The preset speeds may be selected with Par 27 [Speed Ref A Sel]
or Par 28

[Speed Ref B Sel].

21 Speed Trim 1

Provides an additive trim value to Par 3 8 [Speed Ref Scale].

22 Speed Trim 2

Provides an additive speed trim value to Par 47 [SpdRef + SpdTrm1] with a Lead/Lag filter. The Position regulator
output is linked to this parameter by default. This speed trim value affects the speed reference input to the speed
regulato r.

23 Speed Trim 3

Provides a scalable speed trim value that will be added to Pa r 47 [SpdRef + SpdTrm1]. Par 24 [SpdTrim 3 Scale]
scales this value prior to the trim value affecting the speed reference.

24 SpdTrim 3 Scale

Par 23 [Speed Trim 3] is multiplied by this number. This number can be used to scale the value of

Par 23 [Speed Trim 3].

25 STrim2 Filt Gain

Sets the lead term for the Par 22 [Speed Trim 2] filter. Values greate r than 1 wil l result in a l ead functi on and value
less than 1 will result in a lag function. A value of 1 will disable the filter.

(1) The calculation is based on the drive frame size and input voltage.

Values

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:

Default:
Min/Max:

(1)

Calculate d
75/705
V

(1)

Calculate d
Calculated/Calculated
A

(1)

Calculate d

2.0000/500.0000
Hz

(1)

Calculate d
1/30000
rpm

(1)

Calculate d

0.2500/3500.0000
Hp

0 =

“Hp”

0 =

“Hp”

1 =

“kW”

4
2/128
Pole

2.0000

0.0100/655.0000
s

0.0000

-/+2200000000.0000

1.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

1.0000

-/+2200000000.0000

0.0000

-/+8.0000 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+14112.0000
rpm

Par 4

[Motor NP RPM] = 1.0 P.U.

0.0000

-/+14112.0000
rpm

Par 4

[Motor NP RPM] = 1.0 P.U.

0.0000

-/+14112.0000
rpm

Par 4

[Motor NP RPM] = 1.0 P.U.

1.0000

-/+1000.0000

1.0000

-/+15.0000

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Linkable

Read-Write

RW 16-bit

RW Real

RW Real

RW 16-bit

RW 32-bit

RW 16-bit

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

Data Type

Integer

Integer

Integer

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 33

Chapter 2 Programming and Parameters

S Curve Time = 1.0 second

Speed

Time in Seconds

0.5 sec.

Accel Time = 5.0 seconds

Total Ramp Time = 6.0 seconds

0.5 sec.

No. Name

Description

26 SpdTrim2 Filt BW

Sets the frequency for the Speed Trim 2 filter.

2728Speed Ref A Sel

Speed Ref B Sel

Selects the speed reference source for the drive. The selected speed reference values converge in the final
selection of the drives speed reference with Par 1 52
See the Block Diagrams beginning on page 173

29 Jog Speed 1

Sets the speed reference that the drive should use when responding to bit 18 [Jog 1] of

Par 15 2

[Applied LogicCmd].

30 Min Spd Ref Lim

Sets the minimum speed reference limit. This value may be negative or positive but not greater than

Par 31 [Max Spd Ref Lim].

31 Max Spd Ref Lim

Sets the maximum speed reference limit. This value may be negative or positive but not less than

[Min Spd Ref Lim].

Par 30

32 Accel Time 1

Sets the rate of acceleration for all speed increases, with time in seconds to base speed.
Accel Rate = Par 4

33 Decel Time 1

Sets the rate of deceleration for all speed decreases, with time in seconds to base speed.
Decel Rate = Par 4 [Motor NP RPM] / Par 3 3 [Decel Time]

34 S Curve Time

Sets the S time (Round In and Round Out ) in seconds. Half of the time specified is added to the beginning and
half to the end of the applied ramp. The S time is independent of speed and results in a trapezoidal torque profile.
For example:

[Motor NP RPM] / Par 32 [Accel Time]

[Applied LogicCmd] and are selected with bits 28, 29, 30.

for a description.

Values

Default:
Min/Max:
Units:

Default A:
Default B:
Options:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

200.0000

0.0000/1000.0000
rad/s

1 =

“Spd Ref 1”

5 =

“Preset Spd 1”

0 =

“Zero Speed” 9 = “Preset Spd 5”

1 =

“Speed Ref 1” 10 = “Preset Spd 6”

2 =

“Speed Ref 2” 11 = “Preset Spd 7”

3 =

“Sum Sref 1+2” 12 = “DPI Port 1”

4 =

“MOP Level” 13 = “DPI Port 2”

5 =

“Preset Spd 1” 14 = “DPI Port 3”

6 =

“Preset Spd 2” 15 = “Reser ved”

7 =

“Preset Spd 3 16 = “DP I Port 5”

8 =

“Preset Spd 4”

0.0000

-/+8.0000 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-8.0000/Par 31 [Max Spd Ref Lim]
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000
Par 30 [Min Spd Ref Lim]/8.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

10.0000

0.0100/6553.5000
s

10.0000

0.0100/6553.5000
s

0.5000

0.0000/4.0000
s

Y

Y

Y

Y

Y

Linkable

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

Read-Write

Data Type

35 SpdRef Filt Gain

Sets the lead term for the Speed Reference filter. Values greater than 1 will result in a lead function and values
less than 1 will result in a lag function. A value of 1 will disable the filter.

36 SpdRef Filt BW

Sets the frequency for the Speed Reference filter.

37 Spd Ref Bypass

The speed command after the limit, ramp and s-cur ve blocks. Link a source directly to this parameter to bypass
these blocks.

38 Speed Ref Scale

This parameter is multiplied with the value in Pa r 37 [Spd Ref Bypass].

39 Jog Speed 2

Sets the speed reference that the drive should use when responding to bit 23 [Jog 2] of

[Applied LogicCmd].

Par 15 2

34 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

1.0000

-/+5.0000

0.0000

0.0000/500.0000
rad/s

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

1.0000

-/+1000.0000

0.0000

-/+8.0000 P.U.
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

Y

Y

Y

Y

Y

RW Real

RW Real

RW Real

RW Real

RW Real

Programming and Parameters Chapter 2

A

No. Name

Description

40 Selected Spd Ref

Displays the speed command before the speed reference limit block.

41 Limited Spd Ref

Displays the speed command after the limit block, limited by Par 30 [Min Spd Ref Lim] and

[Max Spd Ref Lim].

Par 31

42 Jerk

Allows you to adjust the amount of S-Curve or "Jerk" applied to the Accel/Decel rate.
Note: This parameter was added for firmware version 2.003.

43 Ramped Spd Ref

Displays the speed command after the ramp block, modified by Par 32 [Accel Time 1], Par 33 [Decel Time 1] and

Par 34 [S Curve Time].

45 Delayed Spd Ref

One sample period delayed output of Par 43 [Rampe d Spd Ref]. Used in some applications to synchronize the
speed reference value through SynchLink. This master drive Par 43 [Ramped Spd Ref] would then be transmitted
to the slave drives over SynchLink.

46 Scaled Spd Ref

Displays the speed command after scaling.

47 SpdRef + Spd Trm1

Displays the final speed command used by the Speed Regulator. It is the sum of Par 4 6 [Scaled Spd Ref] and

[Speed Trim 1].

Par 21

48 Spd Ref Bypass2

The speed command after the limit, ramp and s-cur ve blocks. Link a source directly to this parameter to bypass
these blocks.

49 Selected SpdRefA

Used to view the value of Speed Reference A, Par 27 [Speed Ref A Sel] from a Human Interface Module (HIM).
Note: This parameter is new for firmware version 3.001.

50 Selected SpdRefB

Used to view the value of Speed Reference B, Par 28 [Speed Ref B Sel] from a HIM.
Note: This parameter is new for firmware version 3.001.

53 Drive Ramp Rslt

Displays the speed reference value, after the limit function. This is the input to the error calculator and speed
regulator. Available for use in peer-to-peer data links (DPI interface) . This number is scaled so that rated motor
speed will read 32768.

54 Inertia TrqLpfBW

Sets the bandwidth of the inertia compensation torque output low pass filter. A value of 0.0 will disable the filter.
Note: This parameter is new for firmware version 3.001.

55 Speed Comp

Displays the derivative or change in Par 56 [Iner tia SpeedRef] on a per second basis. Link this parameter to

[Speed Trim 3] and set Par 24 [SpdTrim 3 Scale] to 0.002 to reduce position error in following applications.

Par 23

56 Inertia SpeedRef

The speed input of the inertia compensator. Link this parameter to the output of an internal ramp or s-curve
block. The inertia compensator generates a torque reference that is proportional to the rate of change of speed
input and total inertia.

57 InertiaAccelGain

Sets the acceleration gain for the Inertia Compensation function. A value of 1 produces 100% compensation.

58 InertiaDecelGain

Sets the deceleration gain for the Inertia Compensation function. A value of 1 produces 100% compensation.

59 Inertia Trq Add

The torque reference output generated by the inertia compensator. This torque level is modified by Par 57
[InertiaAccelGain] and Par 5 8

60 DeltaSpeedScale

Multiplier in the Inertia Compensation function - affec ts the value of Par 59 [Inertia Trq Add]. Use in center winder
and unwind applications to compensate for roll diameter build-up.

61 Virt Encoder EPR

Equivalent Edges Per Revolution (EPR) or line count of a virtual encoder. A virtual encoder is a position reference
whose input comes from speed reference. It accumulates pulses at the same rate as a real encoder of identical
Pulses Per Revolution (PPR). Enter the equivalent PPR. For example, enter 1024 PPR to match an encoder with
1024 EPR.

[InertiaDecelGain]. A value of 1.0 represents rated torque of the moto r.

Values

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:0-/+262144

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

0.0000

-/+8.0000 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+8.0000 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

900
2/30000

0.0000

-/+8.0000 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+8.0000 P.U.
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

0.0000

-/+8.0000 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+8.0000
rpm

0.0000

-/+8.0000
rpm

35.0000

0.0000 /2000.0000
rad/s

0.0000

-/+2200000000.0000
/s

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

1.0000

1.0000/2.0000

1.0000

1.0000/2.0000

1.0000

-/+8.0000 P.U.
P. U .

1.0000

-/+1000.0000

4096
10/67108864
EPR

Y

Y

Y

Y

Y

Y

Linkable

Read-Write

RO Real

RO Real

RW 16-bit

RO Real

RO Real

RO Real

RO Real

RW Real

RO Real

RO Real

RO 32-bit

RW Real

RO Real

RW Real

RW Real

RW Real

RO Real

RW Real

RW 32-bit

Data Type

Integer

Integer

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 35

Chapter 2 Programming and Parameters

No. Name

Description

62 Virt Encdr Posit

A 32 bit pulse accumulator of the virtual encoder. The accumulated pulse count is equivalent to the hardware
accumulator of a real encoder. It accumulates at a rate of 4x the value placed in Par 61
accumulator starts at zero upon position enable.

63 Virt Encdr Dlyed

One sample period delayed output of Par 62 [ Virt Encdr Posit]. Used in some applications to phase synchronize
position reference through SynchLink. The master is delayed one sample while the downstream drives update
their position references – then all drives sample position simultaneously. The downstream drives do not select a
delay.

64 FricComp Spd Ref

Supplies a speed input to the Friction Compensation algorithm. This input is normally a speed reference from a
motion planner or ramped speed reference. It will trigger a torque feed forward response depending on its value.

65 FricComp Setup

Enter or write a value to configure the friction compensation algorithm. This is a packed word of 3 digits. Each
digit has a possible selection of 10 levels.

• The least significant digit sets the speed threshold in intervals of 0.0 005 P.U. speed.

• The next (middle) digit sets the hysteresis band for the “units” digit in intervals of 0.0005 P.U. velocity.

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

Example: Value = 524 means: 5 time steps between stick and slip, each of 0.002 sec. duration, 2 counts of
hysteresis or 0.001 pu_speed (each count is 0.0005 pu_speed), and 4 counts or 0.002 pu_speed is the trigger
threshold (each count is 0.0005 pu_speed).

66 FricComp Stick

The torque needed to break away from zero speed. By nature of friction, the break away sticktion will always be
greater than the running friction.

67 FricComp Slip

The torque level to sustain very low speed – once “break away” has been achieved. By nature of friction, viscous
friction will always be less than sticktion.

68 FricComp Rated

The torque needed to keep the motor running at base speed and with no process loading. The friction
compensation algorithm assumes a linear or viscous component of friction between Par 67 [FricComp Slip] and
Par 68 [FricComp Rated].

69 FricComp Trq Add

The torque reference output of the Friction Compensation function. A value of 1.0 represents rated torque of the
motor.

71 Filtered SpdFdbk

Displays the motor speed feedback value output from the feedback Lead/Lag filter.

72 Scaled Spd Fdbk

Displays the product of the speed feedback and Par 73 [Spd Fdbk Scale]. This parameter is for display only.

73 Spd Fdbk Scale

A user-adjustable scale factor (multiplier) for speed feedback . It is multiplied with speed feedback to produce

[Scaled Spd Fdbk].

Par 72

74 Atune Spd Ref

Sets the maximum speed of the motor during the Flux current and inertia tests.

75 Rev Speed Limit

Sets a limit on the speed reference in the negative direction. This value can be entered as a negative value or zero.
The maximum value equals Par 532

76 Fwd Speed Limit

Sets a limit on the speed reference in the positive direction. This value can be entered as a positive value or zero.
The maximum value equals Par 532

77 Spd Ref TP Sel

Enter or write a value to select speed reference data displayed in Par 7 9 [Spd Ref TP Data] and

[Spd Ref TP RPM].

Par 78

Note: The values for options 7, 8, & 9 were changed to “Reserved” for firmware version 2.004.

[Maximum Freq] x 0.95.

[Maximum Freq] x 0.95.

[Virt Encoder EPR]. The

Values

Default:
Min/Max:0-/[phone]

Default:
Min/Max:0-/[phone]

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Scale:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Options:

0.0000

-/+8.0000 P.U.
rpm

325
0/999

0.1500

0.0000/8.0000
P. U .

0.1000

0.0000/8.0000
P. U .

0.2000

0.0000/8.0000
P. U .

0.0000

-/+8.0000 P.U.
P. U .
Motor P.U. Torque

0.0000

-/+14112.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

0.0000

-/+2200000000.0000

Par 4 [Motor NP RPM] = 1.0 P.U.

1.0000

-/+2200000000.0000

Par 4 x 0.8500
Par 4 x 0.1000/Par 4 x 1.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

Par 4 x -1.2500

-8.0000/0.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

Par 4 x 1.2500

0.0000/8.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0 =

“Zero”

0 =

“Zero” 12 = “S Crv Match”

1 =

“User Ref” 13 = “S Array size”

2 =

“Logic Select” 14 = “S Array Indx”

3 =

“Lgc Sel Ref” 15 = “Reserved”

4 =

“Ramp Spd Ref” 16 = “Scl Ext Trim”

5 =

“Ramp In” 17 = “Trim FiltOut”

6 =

“Filt Spd Ref” 18 = “Ref w/Trim”

7 =

“Reserved” 19 = “Amp Lim2 In”

8 =

“Reserved” 20 = “Amp LimStat2”

9 =

“Reserved” 21 = “Amp Lim2 Out”

10 =

“Amp Lim Stat” 22 = “FTD Ramp Out”

11 =

“Ramp Match” 23 = “Reserved”

Y

Y

Y

Y

Y

Y

Linkable

Read-Write

RO 32-bit

RO 32-bit

RW Real

RW 16-bit

RW Real

RW Real

RW Real

RO Real

RO Real

RO Real

RW Real

RW Real

RW Real

RW Real

Data Type

Integer

Integer

Integer

36 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Tot al I ner tia
(Par 9)

Maximum Speed Regulator
Bandwidth (Par 90)

Maximum Speed Regulator
Proportional Gain (Par 81)

0.01 475 (0.5 ms) 4.75

0.01 650 (0.25 ms) 6.50

0.01 30 (sensorless mode) 0.03

2.0 475 (0.5 ms) 950

2.0 650 (0.25 ms) 1300

2.0 30 (sensorless mode) 60

Under-Shoot

Over-Shoot

Over-Shoot

Under-Shoot

Error

Reference

Feedback, SpdReg AntiBckup = 0.0

Feedback, SpdReg AntiBckup = 0.3

Error

No. Name

Description

78 Spd Ref TP RPM

Displays the value selected in Par 77 [Spd Ref TP Sel ] in rpm. Thi s display sh ould only b e used if th e selected value
is floating point data.

79 Spd Ref TP Data

Displays the value selected in Par 77 [Spd Ref TP Sel]. This display should only be used if the selected value is
integer data.

81 Spd Reg P Gain

Sets the proportional gain of the speed regulator. This value is automatically calculated based on the bandwidth
setting in Par 90
value of zero. Units are (per unit torque) / (per unit speed).
The maximum value for Par 81 [Spd Reg P Gain] = Par 90 [Spd Reg BW] x Par 9

Note: The Max. value was increased from 600.0000 for firmware version 3.001.

82 Spd Reg I Gain

Sets the integral gain of the speed regulator. This value is automatically calculated based on the bandwidth
setting in Par 9 0
of zero. Units are (per unit torque/sec) / (per unit speed).

84 SpdReg AntiBckup

By setting this parameter to 0.3, the drive will not over shoot to a step response. This parameter has no affect on
the drive's response to load changes. The recommended setting is 0.1000 to 0.5000.
Note: This parameter was changed to non-linkable for firmware version 3.001.

[Spd Reg BW]. Proportional gain may be manually adjusted by setting Par 90 [Spd Reg BW] to a

[Total Inertia]

[Spd Reg BW]. Integral gain may be manually adjusted by setting Par 90 [Spd Reg BW] to a value

Values

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:0-/+32768

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:

0.0000

-/+8.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

20.0000

0.0000/3000.0000

50.0000

0.0000/100000.0000
/s

0.0000

0.0000/0.5000

Y

Y

Linkable

Read-Write

RO Real

RO 16-bit

RW Real

RW Real

RW Real

Data Type

Integer

85 Servo Lock Gain

Sets the gain of an additional integrator in the speed regulator. The effect of Servo Lock is to increase stiffness of
the speed response to a load disturbance. It behaves like a position regulator with velocity feed forward, but
without the pulse accuracy of a true position regulator. The units of Servo Lock are rad/sec. Gain should normally
be set to less than 1/3 speed regulator bandwidth, or for the desired response. Set to zero to disable Servo Lock.

86 Spd Reg Droop

Specifies the amount of base speed that the speed reference is reduced when at full load torque. Use the droop
function to cause the motor speed to decrease with an increase in load. The units are per unit speed / per unit
torque.

87 SReg Trq Preset

When the drive is not enabled, this parameter presets integrator output Par 1 01 [SpdReg Integ Out] to a specified
torque le vel. This ensures that the torque c ommand will b e at the preset value when the drive is enabled and run.

[Control Options], bit 18 [SpdRegPreset] = 0, enables this preset.

Par 15 3

89 Spd Err Filt BW

Sets the bandwidth of a 2nd order Butterworth low pass filter, which reduces quantization noise. The units are
rad/sec. A value of 0 will disable the filter. The value should be greater than 5 times the value of

[Spd Reg BW].

Par 90

Note: The default value for this parameter was changed from 200.0000 to 700.0000 for firmware version 2.003.

Y

Y

Y

Y

RW Real

RW Real

RW 16-bit

Integer

RW Real

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

0.0000

0.0000/300.0000
/s

0.0000

0.0000/0.2500
P. U .

0.0000

-/+8.0000 P.U.
P. U .

700.0000

0.0000/2000.0000
rad/s

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 37

Chapter 2 Programming and Parameters

No. Name

Description

90 Spd Reg BW

Sets the bandwidth of the speed regulator in rad/sec. Bandwidth is also referred to as the crossover frequency.
Small signal time response is approximately 1/BW and is the time to reach 63% of set point. A change to this
parameter will cause an automatic update of Par 81
automatic gain calculation, set this parameter to a value of zero.

91 Spd Reg Damping

Sets the damping factor of the drive's characteristic equation and factors in the calculation of the integral gain. A
damping factor of 1.0 is considered critical damp. Lowering the damping will produce faster load disturbance
rejection, but may cause a more oscillatory response. When Par 90 [Spd Reg BW] is set to zero, damping factor has
no effect.

92 SpdReg P Gain Mx

Places a limit on the maximum value of proportional gain in Par 81 [Spd Reg P Gain] and

Par 10 4

[Srlss Spd Reg Kp]. When gains are automatically calculated, this parameter is necessary to limit the
amplification of noise with increased inertia.
Note: The Max. value was increased from 600.0000 for firmware version 3.001.

93 SRegFB Filt Gain

Sets the lead term for the speed feedback filter. Values greater than 1 will result in a lead functi on and values less
than 1 will result in a lag function. A value of 1 will disable the f ilter.

94 SReg FB Filt BW

Sets the frequency for the Speed Feedback filter.

95 SRegOut FiltGain

Sets the lead term for the Speed Regulator output filter. Values greater than 1 will result in a lead function and
values less than 1 will result in a lag function. A value of 1 will disable the filter.
Note: The default value for this parameter was changed from 0.7000 to 1.0000 for firmware version 2.003.

96 SReg Out Filt BW

Sets the frequency for the Speed Regulator output filter.

97 Act Spd Reg BW

Displays the actual speed regulator bandwidth or crossover frequency. The value represents the bandwidth in

Par 90 [Spd Reg BW] after the maximum bandwidth limits have been applied.

98 Slip RPM @ FLA

Sets the amount of compensation to drive output at motor full load current (FLA).
Note: This parameter was added for firmware version 2.003.

99 Slip Comp Gain

Sets the response time of slip compensation.
Note: This parameter was added for firmware version 2.003.

100 Speed Error

The error (difference) between the motor speed reference (+) and the filtered motor speed feedback (–).

101 SpdReg Integ Out

The output value of the Speed Regulator Integral channel.

102 Spd Reg Pos Lim

Sets the positive limit of the Speed Regulator output value. The output of the Speed Regulator is limited by
adjustable high and low limits.

103 Spd Reg Neg Lim

Sets the negative limit of the Speed Regulator output value. The output of the Speed regulator is limited by
adjustable high and low limits.

104 SrLss Spd Reg Kp

Sets the proportional gain of the Speed Regulator when sensorle ss motor speed feedback is used. This value is
automatically calculated based on the bandwidth set in Par 10 6 [Srlss Spd Reg BW]. Proportional gain may be
manually adjusted by setting Par 106 to zero. This gain setting has no units (per unit torque) / (per unit speed
error).

105 SrLss Spd Reg Ki

Sets the integral gain of the Speed Regulator when sensorless motor spee d feedback is used. This value is
automatically calculated based on the bandwidth set in Par 10 6
manually adjusted by setting Par 106 to zero. Units are '/s' (per unit torque/sec) / (per unit speed error).

106 SrLss Spd Reg BW

Sets the bandwidth of the Speed Regulator when sensorless motor speed feedback is used. Bandwidth is also
referred to as the crossover frequency. Small integral time response is approximately 1/BW and is the time to
reach 63% of set point. A cha nge to this parameter will cause an automatic update of Par 104
and Par 10 5 [Srlss Spd Reg Ki]. To disable the automatic gain calculation, set this parameter to zero.

[Spd Reg P Gain] and Par 8 2 [Spd Reg I Gain]. To disable the

[Srlss Spd Reg BW]. Integral gain may be

[Srlss Spd Reg Kp]

Values

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min.Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

10.0000

0.0000/500.0000
rad/s

1.0000

0.5000/3.0000

100.0000

0.0000/3000.0000

1.0000

-5.0000/20.0000

35.0000

0.0000/3760.0000
rad/s

1.0000

-/+5.0000

30.0000

0.0000/3760.0000
rad/s

10.0000

0.0000/500.0000
rad/s

Based on [Motor NP RPM]

0.0/1200.0 rpm
rpm

40.0

1.0/100.0
rad/s

0.0000

-/+14112.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

0.0000

-/+8.0000 P.U.
P. U .

1.0 P.U. Torque

3.0000

0.0000/6.0000
P. U .

Par 4 [Motor NP RPM] = 1.0 P.U.

-3.0000

-6.0000/0.0000
P. U .

[Motor NP RPM] = 1.0 P.U.

Par 4

8.0000

0.0000/200.0000

8.0000

0.0000/4095.8000
/s

10.0000

0.0000/30.0000
rad/s

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Linkable

Read-Write

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RO Real

RW 16-bit

RW 16-bit

RO Real

RO Real

RW Real

RW Real

RW Real

RW Real

RW Real

Data Type

Integer

Integer

38 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

No. Name

Description

107 Slip RPM Meter

Displays the present amount of adjustment being applied as slip compensation.
Note: This parameter was added for firmware version 2.003.

108 Spd Reg TP Sel

Enter or write a value to select Speed Regulator data displayed in Par 109 [Spd Reg TP Data].
Note: The values for options 10 & 11 were changed to “Reserved” for firmware version 2.004.

109 Spd Reg TP Data

Displays the data selected by Par 108 [Spd Reg TP Sel].

110 Speed/TorqueMode

Selec ts the source for the drive torque reference .
Note: Values 7 & 8 were added for firmware version 3.001.

111 Torque Ref 1

Supplies an ex ternal motor torque reference to the drive. This parameter is divided by the value in

Par 11 2 [Torq Ref1 Div]. A value of 1.0 represents rated torque of the motor.

112 Torque Ref1 Div

Par 11 1 [Torque Ref 1] is divided by this number. Use this parameter to scale the value of Par 111 [Torque Ref 1].

113 Torque Ref 2

Supplies an extern al motor torque reference to the drive. This parameter is multipli ed by the value in

Par 11 4 [Torq Ref2 Mult]. A value of 1.0 represents rated torque of the motor.

114 Torque Ref2 Mult

Par 11 3 [Torque Ref 2] is multiplied by this number. Use this parameter to scale the value of Par 113 [Torque Ref

2].

115 Torque Trim

The amount added to Par 111 [Torque Ref 1] and Par 113 [Torque Ref 2] before the Speed/Torque Mode Selector.
A value of 1.0 represents rated torque of the motor.

116 Torque Step

The amou nt added to th e selected Torque Reference be fore notch filtering or limits are applied. A value of 1.0
represents rated torque of the motor.

Values

Default:
Min/Max:
Units:

Default:
Options:

Default:
Min/Max:

Units:

Default:
Options:

Default:
Min/Max:
Scale:

Default:
Min/Max:

Default:
Min/Max:
Scale:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

0.0
+/- 3000.0
rpm

0 =

“Zero”

0 =

“Zero” 27 = “Spd FiltOut”

1 =

“Iq Rate BW” 2 8 = “Servo Lock”

2 =

“Reserved” 29 = “Spd+ServLock”

3 =

“PGain Max BW” 30 = “Prop Output”

4 =

“BW Limit” 31 = “Intg Input”

5 =

“InertiaMaxBW” 32 = “Scld Int Pre”

6 =

“BW Lim Stat” 33 = “Sel Int Pre”

7 =

“BW Select” 34 = “Droop Output ”

8 =

“Totl Inertia” 35 = “Out Lim Stat”

9 =

“TI Lim Stat” 36 = “Intg Hold ”

10 =

“Reserved” 37 = “Srlss ZeroWe”

11 =

“Reserved” 38 = “I GainParLim”

12 =

“I Rate Limit” 39 = “P GainParLim”

13 =

“I RtLim Stat” 40 = “SrvLck ParLm”

14 =

“PGain Max” 41 = “AntiBkup PLm”

15 =

“GnMx LimStat” 42 = “Droop ParLim”

16 =

“Damping” 43 = “Pos Lim Stat”

17 =

“Dmp Lim Stat” 44 = “Neg Lim Stat”

18 =

“Reserved” 45 = “Limiter Out”

19 =

“Srls KpMxBW” 46 = “Active Pgain”

20 =

“Srls BWLimit” 47 = “Active Igain”

21 =

“SrlsInrtMxBW” 48 = “Reserved”

22 =

“SrlsBWSelect” 49 = “Reserved”

23 =

“Srls BW Calc” 50 = “Reserved’

24 =

“Snsr BW Calc” 5 1 = “Reserved”

25 =

“Reserved” 52 = “Reserved”

26 =

“Reserved” 53 = “Reserved”

0.0000

-/+8.0000 P.U.
P. U .

1 =

“Speed Reg”

0 =

“Zero Torque” 5 = “Sum Spd/Trq”

1 =

“Speed Reg” 6 = “AbsMnSpd/Trq”

2 =

“Torque Ref” 7 = “SLAT Minimum”

3 =

“Min Spd/Trq” 8 = “SLAT Maximum”

4 =

“Max Spd/Trq”

0.0000

-/+2200000000.0000

1.0 Rated Motor Torque

1.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

1.0 Rated Motor Torque

1.0000

-/+2200000000.0000

0.0000

-/+8.0000 P.U.
P. U .

1.0 Rated Motor Torque

0.0000

-/+8.0000 P.U.
P. U .

1.0 Rated Motor Torque

Y

Y

Y

Y

Y

Y

Linkable

Read-Write

RO 16-bit

RO Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

Data Type

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 39

Chapter 2 Programming and Parameters

Freq (Hz)

Attenuation

A

A

No. Name

Description

117 NotchAttenuation

Sets the depth for the Notch Filter. Attenuation is the ratio of the output to the input at the notch frequency. An
attenuation of 30 means that the notch output is 1/30
Calculation: Attenuation = Input / Output

118 Notch Filt Freq

The center frequency for Notch filter. To disable, set to zero (0).

119 SLAT ErrorSetpnt

Determines the rpms at which the drive will switch from speed mode to the Speed Limited Adjustable Torque
(SLAT) min. or SLAT max. mode, identified in Par 110
Maximum”.
Note: This parameter was added for firmware version 3.001.

120 SLAT Dwell Time

SLAT control dwell time. The time in seconds that the drive can be above the error set point in

Par 119 [SLAT ErrorSetpnt] before returning to the SLAT min. or SLAT max. mode.

Note: This parameter was added for firmware version 3.001.

123 Trq PosLim Actl

Sets the internal torq ue limit for positive torque reference values. The posit ive internal motor torque will not be
allowed to exceed this value.

124 Trq NegLim Actl

Sets the internal torque limit for negative torque ref erence values. The internal n egative motor t orque will not be
allowed to exceed this value.

125 Torque Pos Limit

Sets the exter nal torque limit for positive torque reference values. The ex ternal positive motor torque will not be
allowed to exceed this value.

126 Torque Neg Limit

Sets the external to rque limit for negative torque reference values. The external neg ative motor torque will not be
allowed to exceed this value.

127 Mtring Power Lim

Sets the maximum motoring (positive) power of the drive. This can be calculated by multiplying the desired
maximum motor torque and the maximum motor speed. A value of 1.0 = nominal motor power.

128 Regen Power Lim

Sets the maximum regenerative (negative) power of the drive. This can be calculated by multiplying the desired
maximum motor torque and the maximum motor speed. A value of 1.0 = nominal motor power.
Note: The default value for this parameter was changed from -1.0000 to -0.5000 for firmware version 2.003.

129 Atune Trq Ref

Sets the motor torque that is applied to the motor during the flux current and inertia tests.
Note: The minimum value for this parameter was changed from 0.2500 to 0.2000 for firmware version 2.003.

130 Trq Ref TP Sel

Enter or write a value to select torq ue reference da ta displayed i n Par 131 [Trq Ref TP Data].
Note: The value for option 5 was changed to “Reserved” for firmware version 2.004.

131 Trq Ref TP Data

Displays the data selected by Par 13 0 [Trq Ref TP Sel].

th

of the input at the specified frequency.

[Speed/Torque Mode] bit 7 “SLAT Minimum” or bit 8 “SLAT

Values

Default:
Min/Max:500/500

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:
Scale:

Default:
Options:

Default:
Min/Max:
Units:
Scale:

0.0000

0.0000/500.0000
Hz

0.005

0.0/0.1
rpm

0.0

0.0/2.0
s

1.0

0.0/8.0
P. U .

-1.0

-8.0/0.0
P. U .

2.0000

0.0000/8.0000
P. U .

-2.0000

-8.0000/0.0000
P. U .

8.0000

0.0000/8.0000
P. U .

-0.5000

-8.0000/0.0000
P. U .

0.50

0.2/1.0
P. U .

1.0 = P.U. Motor to Torque

0 =
0 =

1 =
2 =
3 =
4 =
5 =
6 =
7 =
8 =
9 =
10 =
11 =
12 =
13 =
14 =
15 =

0.0

-/+8.0 P.U.
P. U .

1.0 = P.U. Motor to Torque

Y

Y

Y

Y

Y

Y

Y

Y

“Zero”
“Zero” 16 = “Neg Lim Src”

“Scale Output” 17 = “MPwr Par Lim”
“Spd Torque” 18 = “RP wr Par Lim”
“Trq Mode Out” 19 = “+Trq ParLim”
“Ac tv TrqM ode ” 20 = “ -Trq P arL im”
“Reserved” 21 = “Nom Bus Volt”
“Trq En Input” 22 = “Bus Volt Hys”
“NotchFiltOut” 23 = “Bus Reg Ref”
“NotchFilt In” 24 = “Bus Reg Err”
“Trq Lim In” 25 = “Bus Reg Intg”
“Bus Reg Out” 26 = “BusReg Clamp”
“Pos Pwr Lim” 27 = “BusRegOutput”
“Neg Pwr Lim” 28 = “IAA Filt Out”
“Pos Atun Trq” 29 = “IAA dVf/d t”
“Neg Atun Trq” 30 = “MC Trq Lim”
“Pos Lim Src” 31 = “IqActlTrqLim”

Linkable

RW Real

RW Real

RW Real

RW Real

RO Real

RO Real

RW Real

RW Real

RW Real

RW Real

RW Real

RO Real

Read-Write

Data Type

40 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

First Diff

Load Est

Inrtia Adapt

Default xxxxxxxxxxxxxx000

Bit 161514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

DriveLogix

Stahl Fdbck

Reserved

TemposonFdbk

Resolver Brd

MDI Brd

Heidenhain

StegmannHiRs

2nd Encoder

Reserved

Reserved

SafeOff Brd

Reserved

SynchLinkBrd

Reserved

EmbeddedENET

DPI Comm Brd

Default xxxxxxxxxxxxxxx00x000000xx0x0x00

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

DvlpmntDeBug

Tre nd in g

Reserved

Peak D etect

Tes t Po in ts

Reserved

Reserved

Phase LockLp

Sync Gener

PosWtc h/Dtc t

Reserved

Reserved

MotinPlanner

Reserved

Reserved

Posit ionCtr l

DI BitSwaps

Digital Outs

Analog Outs

Analog Ins

PF700S

Reserved

Reserved

Lim/Func Gen

Process Trim

Reserved

Speed Reg

Virt Encoder

FrictionComp

Inertia Comp

Spd Ref Ctrl

Spd Ref Sel

Default 11x11xx011xx0xx011111xx11x111111

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

132 Inert Adapt Sel

Configures the Inertia Adaptation Algorithm (IAA Function).

• Bit 0 “Inrtia Adapt” when set to 1 (on), the Inertia Adaptation function will effect enhanced stability, higher bandwidths and dynamic stiffness. Useful when systems with a ge ar-box becomes
disconnected from the load. Also used with motors that have very little inertia that otherwise lack dynamic stiffness, even at high bandwidths.

• Bit 1 “Load Est” when set to 1 (on), the Load Estimate option removes or greatly reduces load disturbances and gives quicker system response.

• Bit 2 “First Diff ” selects the first difference feedback for Inertia Adaptation.

Notes: When setting both Bit 0 & 1, stability is enhanced and load disturbances are removed. Bit 2 “First Diff” was added for firmware version 3.001.

Default:

133 Inert Adapt BW

This parameter sets the bandwidth of the Inertia Adaptation function when the IAA function is selected

[Inert Adapt Sel], bit 0 = 1). Typical IAA bandwidths range from 70 to 150 rad/sec with 100 rad/sec

(Par 13 2
nominal best.

If the Load Estimate function is selected (Par 132
frequency of a filter in rad/sec. Typical values range from 10 to 150 rad/sec with higher values being more
responsive to disturbances but with increased system noise. There is no nominal best value, but 40 rad/sec is a
suggested starting point. This adjustm ent may not function well in 'sloppy' geared systems.

If both Inertia Adaptation and Load Estimate functions are active, use a bandwidth setting of 100 rad/sec.

134 Inert Adapt Gain

This parameter sets a multiplier of system inertia when the Inertia Adaptation function is selected
(Par 13 2 [Inert Adapt Sel], bit 0 = 1). Higher values may cause high frequency ringing, while smaller values may
cause fundamental load instability. A typical value is 0.5 This parameter has no affect on the Load Estimate
function.

136

Skip Speed 1

137

Skip Speed 2

138

Skip Speed 3

Sets a frequency at which the drive will not operate. [Skip Speed 1 - 3] and Par 139 [Skip Speed Band] must not
equal 0.
Note: These parameters were added for firmware version 2.003.

139 Skip Speed Band

Determines the bandwidth around a skip frequency. [Skip Speed Band] is split, applying 1/2 above and 1/2 below
the actual skip frequency. The same bandwidth applies to all skip frequencies.
Note: This parameter was added for firmware version 2.003.

145 Hardware Present

Indicates if optional hardware is installed.

[Inert Adapt Sel], bit 0 = 1), then this parameter sets the natural

Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

100.0000

10.0000/250.0000
rad/s

0.500

0.300/1.000

0.0
–/+30000.0
rpm

0.0

0.0/1000.0
rpm

Linkable

Y

Y

Y

Y

Read-Write

Data Type

RW Real

RW Real

RW 16-bit

Integer

RW 16-bit

Integer

Default:

0 =
0 =

1 =
2 =

“0.5 /2 /8ms”
“0.5 /2 /8ms”

“0.5 /1 /8ms”
“0.25 /1 /8ms”

146 FW TaskTime Sel

Sets the scan times for the drive firmware. Changing the firmware scan times will affect drive performance. Faster
scan times may allow for higher bandwidth of the internal regulators. To achieve faster scan times some functions
may need to be disabled. Only the most demanding application may benefit from faster scan times. Typically,
adjusting this parameter is not needed, it is recommended you consult the factor y before changing.

147 FW Functions En

Allows specific firmware functions to be disabled. When a bit is false, the associated function is disabled and all related parameters will be hidden. When a bit is true, the associated function is
enabled and all related parameters will be displayed.
Notes: Bits 18, 20, & 21 were changed to “Reserved” for firmware version 2.004. Bit 19 “MotinPlanner” and 24 “PhaseLockLp” were added for firmware version 3.001.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 41

Options:

RW 16-bit

Integer

Chapter 2 Programming and Parameters

Options

DvlpmntDeBug

Tre nd in g

Reserved

Peak D etect

Tes t Poi nts

Reserved

Reserved

Phase LockLp

Sync Gener

PosWtc h/Dtc t

Posit Offset

Posit Motion

MotinPlanner

Posit Pt2Pt

Posit Direct

Posit Interp

DI BitSwaps

Digital Outs

Analog Outs

Analog Ins

Reserved

Reserved

Reserved

Lim/Func Gen

Process Trim

Reserved

Speed Reg

Virt Encoder

FrictionComp

Inertia Comp

Spd Ref Ctrl

Spd Ref Sel

Default 00x00xx0000000000000xxx00x000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

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 Ax is En

Tac hLo ss R st

Spd S Crv En

SpdRamp Dsbl

Default 0000000xx 0000000

Bit 1514131211109876543210

0 = False
1 = True

Options

Reserved

Spd Ref Sel2

Spd Ref Sel1

Spd Ref Sel0

Reserved

Reserved

Coast S top

CurrLim Stop

Jog 2

Reserved

Reverse

Forw ard

Clear Fault

Jog 1

Start

Normal Stop

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 x000xx000x0000000000000xx0000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Speed Reference Select Inputs

Bit 30 Bit 29 Bit 28

Spd Ref
Sel2

Spd Ref
Sel1

Spd Ref
Sel0

Auto Reference Source

0 0 0 S peed Ref A Sel To access Preset Speed 1, set

parameter 27 [Speed Ref A Sel]
or 28 [Speed Ref B Sel] to 5 ­“Preset Spd 1.”

001Speed Ref B Sel

0 1 0 Preset Speed 2

0 1 1 Preset Speed 3

1 0 0 Preset Speed 4

1 0 1 Preset Speed 5

1 1 0 Preset Speed 6

1 1 1 Preset Speed 7

No. Name

Values

Description

148 FW TaskTime Actl

Displays the actual firmware scan times selected by Par 146 [FW TaskTime Sel]. Before the change to the firmware
scan time is accepted, the drive evaluates the change to ensure the processor will not be overloaded. If there is risk
of overloading the processor, the change will not be accepted.

149 FW FunctionsActl

Displays the actual state of the firmware functions. If activating requested functions could overload the processor, the change to Par 147 [FW Functions En] will not be accepted.
Note: Bit 19 “MotinPlanner” and 24 “PhaseLockLp” were added for firmware version 3.001

150 Logic State Mach

Indicates the logical state of the drive.

• “Stopped” indicates zero speed has been detected and the speed and torque regulators are disabled.

• 8 “Slip Test” indicates that the Slip Frequency Auto Tune test is in progress.

• 11 “Sleep Mode” indicates that the drive has entered sleep mode.
Note: Value 11 “Sleep Mode” was added for firmware version 5.002. Value 8 “Slip Test” was added for firmware
version 3.001. Values 9 “Finding Home” and 10 “Homing Done” were added for firmware version 3.003.

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 [Applied Lo gicCmd].

Note: Bits 4 through 9 are NOT recalled from Control EEprom. They will be cleared upon drive powerup or following an EEprom recall operation.

Default:
Options:

Default:
Options:

0 =

“0.5 /2 /8ms”

0 =

“0.5 /2 /8ms”

1 =

“0.5 /1 /8ms”

2 =

“0.25 /1 /8ms”

3 =

“0.25 /0.5 /8ms”

4 =

“0.1/0.5 /8ms”

5 =

“0.5/1 /2ms”

6 =

“0.25 /1 /2ms”

7 =

“0.25 /0.5 /2ms”

8 =

“0.1/0.5 /2ms”

0 =

“Stopped”

0 =

“Stopped” 6 = “Test Done”

1 =

“Starting” 7 = “Enabl eHealth”

2 =

“Running” 8 = “Slip Test”

3 =

“Stopping” 9 = “Finding Home”

4 =

“Inertia Test” 10 = “Homing Done”

5 =

“MC Diag” 11 = “Sleep Mode”

Linkable

Read-Write

RO 16-bit

Data Type

Integer

152 Applied LogicCmd

Displays the Logic Command that is applied to the Regulators and Control Algorithms within the drive. Logic Commands come from the 32-bit Logic Command found in a connection with the Logix
Controlle r.
Note: Bits 7 & 8 were changed to “Reserved” for firmware version 2.004.

42 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Ids Test Enable

Sys Inrt En

Slip Test En

PM Offset En

Pwr Diag En

Trq Trim En

MC Atune En

Time Axis En

PITrim EnOut

Reserved

Inrt TrqLPEn

Motor OL Ret

Slip Comp En

SpdRegPreset

Aux Pwr Sply

Auto Tach Sw

Reserved DM

Reserved DM

OL ClsLpDsbl

Jog -NoInteg

Iq Delay

Motor Dir

Reserved

3WireControl

Trq DsblZSpd

Trq Sto pRa mp

Jog - NoRamp

Jog in Trq

Flying Start

SErrFilt1Stg

SRef LdLg En

Bipolar SRef

Default 000000000x1000000000000100001001

Bit 313029282726252423222120191817161514131211109876543210

Bit Name Current Fun ction

0 Bipolar SRef When this bit is enabled a bipolar speed reference is used. In bipolar reference mode, Par 4 0 [Selected Spd Ref] indicates both the speed magnitu de and the

direc tion: Positive speed referen ce values (+) = forward di rection and negative speed reference values (–) = reverse direction. When this bit is disabled a
unipolar speed reference is used. In unipolar mode, the speed reference is limited to a minimum value of zero (0). In this case Par 40 [Selected Spd Ref]
supplies only the speed magnitude. The direction is determined by Par 152

[Applied LogicCmd] bits 20 “Forward” and 21 “Reverse”. The forward/reverse
direction button on the HIM is one possible source for the Applied Logic Command direction bits. The following chart explains the effect that the direction
button on the HIM has based on the condition of the “Bipolar SRef” bit:
Bipolar

Reference Controlled By HIM? HIM Direction Button
Enabled Yes Changes the motor direction due to a HIM supplied (+) or (-) command signal.
Enabled No Has no effect on motor direction. Direction determined by sign of Par 40 [Selected Spd Ref].
Disabled Yes Changes the motor direction due to a HIM supplied Forward or Reverse Logic Command bit.
Disabled No Changes the motor direction due to a HIM supplied Forward or Reverse Logic Command bit.
In either Bipolar or Unipolar mode, the selected direction can be dete rmined from the sign of Par 41

[Limited Spd Ref]. Positive values indicate forward

rotation and negative values indicate reverse rotation.

1 SRef LdLg En Ena bles/disables the Speed Reference Lead Lag Filter

2 SErrFilt1Stg

Setting this bit will configure the speed error filter as a single first order low pass filter. Clearing this bit will configure the speed error filter as two casc aded
first order low pass filters

3 Flying Star t Enables/disables the function which reconnects to a spinning motor at ac tual rpm when a start command is issued

4 Jog in Torq Overrides Par 110

[Speed/TorqueMode] setting when a jog command is received

5 Jog-NoRam p Bypasses the Speed Reference Ramp and S-Curve

6 Trq StopRamp Overrides Par 110 [Speed/TorqueMode] setting when stopping

7 Trq DsblZSpd Configures how the drive uses stop dwell time

8 3 WireControl Co nfigures th e drive for 3- wire control

10 Motor Dir Changes direction of the motor rotation

11 Iq Delay Enables the Torque Current Delay option

12 Jog-NoInteg Configures the speed regulator’s integrator to “hold” when jogging

13 OL ClsLpDsbl Overload Closeloop Calculation Disable

14 Reserved DM Reserved for use by the Drive module for “Invert Speed Feedback”

15 Reserved DM Reserved for use by the Drive module for “Invert Motor Torque Current”

16 Auto Tach Sw Switches the drive to secondary motor feedback. This bit cannot be set when Par 485 [Motor Ctrl Mode] = 2 “PMag Motor”.

17 Aux Pwr Sply

Enables the use of an auxiliary power sup ply. When set to 1, the Ma in Control Board (MCB) examines internal 12V DC p ower to see when it is energized. When
set to 0, the MCB examines the voltage of the DC Bus. This bit enables the MCB to remain energized when 3-Ø voltage is de-energized.

18 SpdRegPreset When set to “1”, this bit selects Par 303

[Motor Torque Ref ] for the Speed Regulator preset. When set to “0”, Par 8 7 [SReg Trq Preset] is selected.

19 Slip Comp Enables slip compens ation

20 Motor OL Ret Enable s motor over-load retention

21 Inrt TrqLPEn Enables the Inertia Compensation Torque Output Low Pass Filter

23 PITrim EnOut Enables the output of Process Trim

24 Time Axis En Ramps the output of the Time Function Generator

25 MC Atune En Enables Autotune tests

26 Trq Trim En En abl es To rqu e Tri m

27 Pwr Diag En Enables the Power Diagnostic test

28 PM Offset En Enables the Permanent Magnet Motor offset test

29 Slip Test En Enables the Slip Frequency Auto-Tune function

30 Sys Inrt En Enable s the System Inertia test

31 Ids Test Enable Enables the flux producing (d-axis) current test for the Field Oriented Control (FOC) encoder mode

0 = False
1 = True

No. Name

Values

Description

153 Control Options

Set bits to configure the options for operating the drive. Note: Bit 3 “Flying Start” was added for firmware version 2.004. Bit 20, 21, and 29 were added for firmware version 3.001. Added bit 31 “Ids
Test Enable” for firmware version 4.001.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 43

Linkable

Read-Write

Data Type

Chapter 2 Programming and Parameters

Options

Logix Present

Spd Ref Act2

Spd Ref Act1

Spd Ref Act0

Reserved

RunCommanded

Start Active

Posit ionMod e

Speed Mode

Tor que Mo de

Hw Enable On

Spd Commis

MC Commis

MC Active

Above Setpt2

At Setpt 1

Enable On

At Setpt Spd

At Zero Spd

Tac h Lo ss S w

At Limit

Ready

Flash Mo de

Alarm

Faul ted

Jogging

Decelerating

Accelerat ing

Actual Dir

Comma nd Dir

Running

Active

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109 8 7 6 5 4 3 2 1 0

Bit Name Current Function Bit Name Current Function

0 Active Drive is controlling motor 15 Enable On

1 Running Run command received & controlling motor 16 At Setpt 1 Par 17 2

value is within limits defined by Par 173 and Par 174

2 Command Dir Commanded direction is forward 17 Above Setpt 2 Par 175 value is within limits defined by Par 176 and Par 1 77

3 Actual Dir Actual motor direction is forward 18 MC Active Drive is controlling motor (same as enabled)

4 Accelerating Motor is increasing speed 19 MC Commis Motor control commissioning in progress

5 D ecelerating Motor is decreasing speed 20 Spd Commis Speed control commissioning in progress

6 Jogging Jog command received & controlling motor 21 Hw Enable On

7 Faulted Exception event that causes a fault has occurred 22 Torque Mode Par 110

value is 2, 3, 4, 5 or 6

8 Alarm Exception event that causes an alarm has occurred 23 Speed Mode Par 110 value is 1 & position control is not enabled

9 Flash Mode Flash upgrade in progress 24 Position Mode Position control active & Par 110 value is not 2, 3, 4, 5 or 6

10 Ready Enable input is high & drive is fault free 25 Start Active Start command received & controlling motor

11 At Limit Speed, Power, Current or Torque is being limited, refer to Par 304

26 Command Run Run command received

12 Tach Loss SW

Failure is detected in primary speed or position feedback device &
drive has switched to secondary device 28-30 Spd Ref Act1-3

13 At Zero Spd Speed feedback is within limits defined in Par 160

31 LogixPresent

14 At Setpt Spd Sp eed feedback is within limits defined in Par 41

and Par 17 1

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Sleep Config

Sleep Stop

High BusVolt

Reserved

MC Config

SafeOff Enbl

GateShutDown

Posit FdbkSe l

PM Mtr Fdbk

Motin Shtdwn

DigIn Config

Bus PreChrg

Encoder PPR

Jog

Start

Flash Upgrd

Power E E

Power Lo ss

SW I Lim Stp

SW Coast Stp

SW Ramp Stop

No Enable

Faul ted

Default xxxxxxxxx000x 0000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

ProcsTrim En

Cmd Dir Upol

Lgx I/O Cnx

Lgx Run Mode

Reserved

VP Gate Enbl

MC Gate Enbl

Ramp Hold

Slip Test En

S Tst FulSpd

PM Offset Rq

Mtr Dir Req

Pwr Diag Req

MC Atune Req

FTD Ramp EN

MC En Req

RThru Flux

DC Brake En

Mtr Sim Mode

RThru Coast

CurrRef En

Forced Spd

Trq Ref En

Spd Reg En

SReg IntgHld

CurLim Stop

J Tst FulSpd

Inert Tst En

Posit ionEnb l

SRef SCrv En

SRef Ramp En

Spd Ref En

Default 0000x000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Description

154 Stop Dwell Time

Sets an adjustable delay time between detecting zero speed and disabling the speed and torque regulators, when
responding to a stop command. For more information, please see Stop Dwell Time on page 170

Important: Consult industry and local codes when setting the value of this parameter.

155 Logic Status

Displays the status - condition of the drive.

Values

Linkable

Read-Write

Data Type

Default:

.

Min/Max:
Units:

0.0000

0.0000/10.0000
s

Y

RW Real

156 Start Inhibits

Indicates which condition is preventing the drive from starting or running.

• Bit 16 “GateShutDown” is set when the shunt jumper in the 16-15 position on the Main Control board is missing and a Safe-Off option board is not present.

• Bit 17 “SafeOff Enbl” is set when the HW Enable jumper (P22) is in the Bypass position (on pins 1&3) and the Safe-Off option board is present. A HW Enable is required when a safe-off board is
used.

• Bit 21 “Sleep Stop” is set when the sleep mode has stopped the drive.

• Bit 22 “Sleep Config” is set when sleep mode has not been setup correctly. Check the sleep/wake levels and digital input configuration.

Note: Bit 18 “MC Config” was added to this parameter for firmware version 2.003. Added bit 20 “High BusVolt” for firmware version 4.001. Bits 21 and 22 were added for firmware version 5.002.

157 Logic Ctrl State

Indicates which logic control functions are enabled.

• Bit 22 “S Tst FulSpd” set to “1” indicates that the Slip Auto Tune function is active

• Bit 23 “Slip Test En” set to “1” indicates that the drive is at speed for the Auto Tune function.

Notes: Bits 22 and 23 were added for firmware version 3.001. Bit 14 “DC Brake En” is not functional.

44 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Reserved

Spd Ref Sel2

Spd Ref Sel1

Spd Ref Sel0

Reserved

Reserved

Coast S top

CurrLim Stop

Jog 2

Reserved

Reverse

Forw ard

Clear Fault

Jog 1

Start

Normal Stop

Reserved

Spd Ref Sel2

Spd Ref Sel1

Spd Ref Sel0

Reserved

Reserved

Coast S top

CurrLim Stop

Jog 2

Reserved

Reverse

Forw ard

Clear Fault

Jog 1

Start

Normal Stop

Default x000xx000x000000x000xx000x000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

158 Drive Logic Rslt

This is the logic output of the logic parser that combines the outputs from the DPI ports and the DriveLogix controller to determine drive control based on the masks and owners. The control bits are
reflected in Par 152

159 DigIn ConfigStat

This parameter indicates the status of the digital inputs.

• If 8 “Sleep Config” is displayed, the sleep mode has not been set up correctly. Check the values of parameters
280 [Wake Level] and 282 [Sleep Level] to verify that they are not set outside the bounds of the analog input.
Also verify the digital input configuration. See Figure 9 on page 172
Mode configuration.

Note: Value 8 “Sleep Config” was added for firmware version 5.002.

160 Zero Speed Lim

Establishes a band around zero speed that is used to determine when the drive considers the motor to be at zero
speed.

161 Logic TP Sel

Enter or write a value to select logic status indication displayed in Par 162 [Logic TP Data].

162 Logic TP Data

Displays the indication selected by Par 161 [Logic TP Sel].

163 Stop Oper TP Sel

Enter or write a value to select data displayed in Par 164 [StpOper TPData] at the time of the last initiated stop.

[Applied LogicCmd] bits 16-31.

for more information on Sleep / Wake

Default:
Options:

Default:
Min/Max:
Units:
Scale:

Default:
Options:

Default:
Min/Max:

Default:
Options:

0 =

“DigIn Ok”

0 =

“DigIn Ok” 4 = “Strt+UnLatch”

1 =

“2 Run/Starts” 5 = “2 Jog1's”

2 =

“Start NoStop” 6 = “2 Jog2's”

3 =

“Run+Latched” 7 = “2Fwd's/Rev's”

8 =

“Sleep Config”

17.6400

0.0000/882.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0 =

“Zero”

0 =

“Zero” 28 = “Sys Friction”

1 =

“Avg Spd Ref” 29 = “Iq proc time”

2 =

“Avg Spd Fdbk” 30 = “Enable Inhib”

3 =

“LastStopMode” 31 = “DI Src Index ”

-(0=None) 32 = “DI SrcRevIdx”

-(1=Coast) 33 = “DI TrendTrig”

-(2=Current Limit) 34 = “DI Prchg Ena”

-(3=Ramp) 35 = “Enable State”

-(4=Torque Mode) 36 = “LID Revision”

4 =

“Spd Ref Sel” 37 = “DI MOP Incr”

5 =

“Start State” 38 = “DI MOP Decr”

6 =

“Run State” 39 = “DI MOP Reset ”

7 =

“Stop State” 40 = “Cmd Term Blk”

8 =

“PrChrg Logic” 41 = “Cmd DPI 1”

9 =

“Meas State” 42 = “Cmd DPI 2”

10 =

“Data State” 43 = “Cmd DPI 3”

11 =

“Diag State” 44 = “Cmd DPI 4”

12 =

“MC CalcState” 45 = “Cmd DPI 5”

13 =

“Task 1 time” 46 = “Cmd DPI 6”

14 =

“Task 1 max” 47 = “Cmd ELC”

15 =

“Task 2 time” 48 = “Cmd Debugg er”

16 =

“Task 2 max” 49 = “Reser ved”

17 =

“Task 3 time” 50 = “SelSw Posit”

18 =

“Task 3 max” 51 = “DI SelSw 00”

19 =

“BkGnd Time” 52 = “DI SelSw 01”

20 =

“BkGnd Max” 53 = “DI SelSw 02”

21 =

“Task 1 %” 54 = “DI SelSw 03”

22 =

“Task 2 %” 55 = “Ids Motoring”

23 =

“Task 3 %” 56 = “IqsRef Motor ”

24 =

“BkGnd %” 57 = “Ids Regen”

25 =

“RThru State” 58 = “IqsRef Regen”

26 =

“RThru Timer”

27 =

“Health State”

0.0000

-/+2200000000.0000

0 =

“Zero”

0 =

“Zero” 14 = “ZM1 Spd Fdbk”

1 =

“Logic State” 15 = “Speed Ref”

2 =

“Logic Input” 16 = “Avg Spd Ref”

3 =

“Lcl In State” 17 = “ZM1 Spd Ref ”

4 =

“Logic Status” 18 = “SReg PI Out”

5 =

“Run Inhibit” 19 = “Trq Ref”

6 =

“Logic Ctrl” 20 = “TrqRef Stat”

7 =

“Mtr Ctrl Cmd” 21 = “DC Bus Volts”

8 =

“Mtr Ctrl Ack” 22 = “M otor Volts”

9 =

“Reserved” 23 = “Mtr Current”

10 =

“Flt Status 1” 24 = “Motor Flux”

11 =

“Flt Status 2” 25 = “Motor Freq”

12 =

“Motor Speed” 26 = “Motor Power”

13 =

“Avg Spd Fdbk” 27 = “Flt Status 3”

Y

Linkable

RW Real

RO Real

Read-Write

Data Type

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 45

Chapter 2 Programming and Parameters

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Faul t Res et

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Base Block

Reserved

Reserved

Tor que Ru n

Flux Run

CP Enable

Default xxxxxxxxxxxxxxxx0xxxxxxxx0000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Faul t Res et

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Power D iag

Precharge

Tor que Ru n

Flux Run

CP Enable

Default xxxxxxxxxxxxxxxx0xxxxxxxxxx00000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

A

No. Name

Description

164 StopOper TP Data

Displays the data selected by Par 16 3 [Stop Oper TP Sel].

165 Tune Test Status

Indicates which test (if any) is in progress.

• Value 7 is retained and is used to continue the Auto Tune test from the last point at which it was stopped.
Notes: Value 5 was changed to “Res erved” for firmware version 2.004. Value 7 “Mtr+Sys J” was changed to “Slip
Test” for firmware version 3.001. Value 8 “Find Home” was added for firmware version 3.003.

166 Motor Ctrl Cmmd

Displays the command bits to the Motor Control Processor from the Velocity Processor.

167 Motor Ctrl Ackn

Displays the Motor Control Processor's acknowledgment to the Velocity Processor for the Motor Control Command bits.

168 Normal Stop Mode

Sets the method of stopping the drive when a stop command is given. Normal Stop command and the RUN input
changing from true to false will command a Normal Stop.

Ramp Stop = decelerates to zero speed at the decal rate
CurLim Stop = Max torque / current applied until zero speed
Coast Stop = power removed from moto r, motor coasts to zero

169 SrLss ZeroSpdLim

Functionally equivalent to Par 160 [Zero Speed Lim], but is used exclusively in Sensorless speed mode. The value is
automatically set from Par 3
corresponds to the rated slip speed of the motor (synchronous speed - nameplate speed). The value can be
manually set.

170 Flying StartGain

This parameter is currently not used.
Note: This parameter was added for firmware version 2.003.

171 Set Speed Lim

Creates a tolerance - hysteresis band around the value in Par 41 [Limited Spd Ref] for comparison to average speed
feedback. The comparison controls bit 14 “At Setpt Spd” of Par 155
turns on when the feedback is within the tolerance of the reference.

• Turn-on level for rising feedback = Limited Spd Ref - Limit.

• Turn-off level for rising feedback = Limited Spd Ref + 2(Limit).

• Turn-on level for falling feedback = Limited Spd Ref + Limit.

• Turn-off level for falling feedback = Limited Spd Ref - 2(Limit).

172 Setpt 1 Data

Provides data for comparison to Par 173 [Setpt1 TripPoint], driving bit 16 “At Setpt 1” of Par 155 [Logic Status]. For
more information, please see Setpt 1 Data on page 169

173 Setpt1 TripPoint

Provides the midpoint for operation of bit 16 “At Setpt 1” of Par 15 5 [Logic Status].

174 Setpt 1 Limit

Creates a tolerance - hysteresis band around the value in Par 173 [Setpt1 TripPoint].

• Turn-on level for ascending data = TripPoint - Limit.

• Turn-off level for ascending data = TripPoint + 2(Limit).

• Turn-on level for descending data = TripPoint + Limit.

• Turn-off level for descending data = TripPoint - 2(Limit).

175 Setpt 2 Data

Provides data for comparison to Par 176 [Setpt2 TripPoint], driving bit 17 “Above Setpt 2” of Par 155 [Logic Status].
For more information, please see Setpt 2 Data on page 169.

176 Setpt2 TripPoint

Provides the midpoint for operation of bit 17 “Above Setpt 2” of Par 155 [Logic Status].

[Motor NP Hertz], Par 4 [Motor NP RPM] or Par 7 [Motor Poles]. The automatic setting

[Logic Status]. In general bit 14 “At Setpt Spd”

.

Values

Default:
Min/Max:0-/[phone]

Default:
Options:

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

0 =

“None”

0 =

“None” 5 = “Reserved”

1 =

“MC Autotune” 6 = “Sys Inertia”

2 =

“Power Diag” 7 = “Slip Test”

3 =

“Motor Direct” 8 = “Find Home”

4 =

“PM Offset”

0 =

“Ramp Stop”

0 =

“Ramp Stop”

1 =

“CurLim Stop”

2 =

“Coast Stop”

49.9975

0.0000/875.0000
rpm

4000
0/32767

17.6400

0.0000/882.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+8.0000 P.U.
P. U .

0.1000

-/+8.0000 P.U.
P. U .

0.0100

0.0000/0.5000
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.2000

-/+8.0000 P.U.
P. U .

Linkable

Y

Y

Y

Y

Y

Y

Y

Read-Write

Data Type

RO 32-bit

Integer

RW Real

RW 16-bit

Integer

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

46 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

No. Name

Description

177 Setpt 2 Limit

Creates a tolerance - hysteresis band around the value in Par 176 [Setpt2 TripPoint].
For positive setpoints:

• Turn-on level = TripPoint

• Turn-off level = TripPoint - Limit.

For negative setpoints:

• Turn-on level = TripPoint

• Turn-off level = TripPoint + Limit.

178 PI TP Sel

Enter or write a value to select Process Control PI data displayed by Par 179 [PI TP Data].
The values for options 1 & 8 were changed to “Reserved” for firmware version 2.004.

179 PI TP Data

Displays the data selected by Par 17 8 [PI TP Sel].

180 PI Output

The final output of the Process Control regulator. A value of 1 can represent either base motor speed, motor rated
torque, or 100% for some external function.

181 PI Reference

The reference input for the process control regulator. A value of 1 can represent either base motor speed, motor
rated torque, or 100% for some external function.

182 PI Feedback

The feedback input for the process control regulator. A value of 1 can represent either base motor speed, motor
rated torque, or 100% for some external function.

183 PI Error

Displays the error of the process trim reference minus the process trim feedback.

184 PI Lpass Filt BW

Sets the bandwidth of a single pole filter applied to the error input of the Process Control regulator. The input to
the filter is the difference between Par 181 [PI Reference] and Par 18 2 [PI Feedback]. The output of this filter is
used as the input to the process control regulator.

185 PI Preload

Presets the integrator of the Process Control regulator.

186 PI Prop Gain

Controls the proportional gain of the Process Control regulator. If the proportional gain is 1.0, the regulator output
e q u al s 1 P. U . f o r 1 P. U. e r r o r.

187 PI Integ Time

Controls the integral gain of the Process Control regulator. If the integrator time is 1.0, the regulator output equals
1 P.U. in 1 second for 1 P.U. error.

188 PI Integ HLim

The high limit of the integral gain channel for the Process Control regulator. A value of 1 can represent either base
motor speed, motor rated torque, or 100% for some external functi on.

189 PI Integ LLim

The low limit of the integral gain channel for the Process Control regulator. A value of 1 can represent either base
motor speed, motor rated torque, or 100% for some external functi on.

190 PI Integ Output

Displays the output value of the integral channel of the Process Control regulator. A value of 1 can represent either
base motor speed, moto r rated torque, or 100% for some external fu nction.

191 PI High Limit

The high limit of the Process Control regulator output. A value of 1 can represent either base motor speed, motor
rated torque, or 100% for some external function.

192 PI Lower Limit

The low limit of the Process Control regulator output. A value of 1 can represent either base motor speed, motor
rated torque, or 100% for some external function.

196 ParamAccessLevel

The value of this parameter establishes the level of parameter access for the Human Interface Module (HIM).

• Value 0 - Basic grants access to the minimum number of parameters

• Value 1 - Advanced grants access to a larger group of parameters

201 Language

Selects the display language when using an LCD HIM. Currently, only option 0 - “English” is available.

Values

Default:
Min/Max:
Units:

Default:
Options:

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:

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:
Options:

Default:
Options:

0.0100

0.0000/0.5000
P. U .

0 =

“Zero”

0 =

“Zero” 7 = “Status Hold”

1 =

“Reserved” 8 = “Reserved”

2 =

“LPF Output” 9 = “Reset Status”

3 =

“P Gain Term” 10 = “Time Axis En”

4 =

“Reg Output” 11 = “Enbl Status”

5 =

“On Intg Lim” 12 = “Out Max Lim”

6 =

“On Out Limit” 13 = “Out Min Lim”

0.0000

-/+8.0000 P.U.
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.0000

0.0000/500.0000
rad/s

0.0000

-/+8.0000 P.U.
P. U .

8.0000

0.0000/200.0000

8.0000

0.0000/4000.0000
/s

0.1000

0.0000/8.0000
P. U .

-0.1000

-8.0000/0.0000
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.1000

0.0000/8.0000
P. U .

-0.1000

-8.0000/0.0000
P. U .

0 =

“Basic”

0 =

“Basic”

1 =

“Advanced”

0 =

“English”

0 =

“English”

1 =

“Al t L ang uag e”

Linkable

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Read-Write

Data Type

RW Real

RO Real

RO Real

RW Real

RW Real

RO Real

RW Real

RW Real

RW Real

RW Real

RW Real

RW Real

RO Real

RW Real

RW Real

RW 16-bit

Integer

RW 16-bit

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 47

Chapter 2 Programming and Parameters

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Peak2 SelHig h

Peak 2 Hold

Peak 2 Set

Reserved

Peak1 SelHig h

Peak 1 Hold

Peak 1 Set

Default xxxxxxxxx0000000

Bit 1514131211109876543210

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Peak 2 Chng

Peak 1 Chng

Default xxxxxxxxxxxxxx00

Bit 1514131211109876543210

0 = False
1 = True

No. Name

Values

Description

202 Time Axis Rate

Sets rate (1/sec) for the Time Function Generator to ramp from an output of 0 to 1 and from 1 to 0.

203 Time Axis Output

The output of the Time Function Generator. When the Time Function Generator is enabled by Par 151 [Logic
Command] bit 3 “Time Axis En”, or Par 153
ramps from 0 to 1 at a rate determined by Par 202
is disabled, the value of this parameter ramps from 1 to 0.

204 LimGen Y axis Mx

Sets Par 207 [Limit Gen Hi Out] and Par 208 [Limit Gen Lo Out] when the absolute value of Par 206 [LimGen X axis
In] is greater than or equal to 1.

205 LimGen Y axis Mn

Sets Par 207 [Limit Gen Hi Out] and Par 208 [Limit Gen Lo Out] when the absolute value of Par 206 [LimGen X axis
In] is equal to 0.

206 LimGen X axis In

The X axis input to the Lim it Generator. Typically this parameter is linked to a speed reference or to Par 203 [Time
Axis Output].

207 Limit Gen Hi Out

Displays the positive output of the Limit Generator. When Par 20 6 [Limit Gen X axis In] is greater than or equal to
1, this value equals Par 2 04
equals Par 205 [Limit Gen Y axis Mn]. For values of X Axis input between 0 and 1, the value of this parameter is
interpolated from Y axis min. and max. values. Typically it is linked to Par 18 8 [PI Integ HLim].

208 Limit Gen Lo Out

Displays the negative output of the Limit Generator. The value of this parameter is the negative of Par 207 [Limit
Gen Hi Out]. Typically it is linked to Par 189 [PI Integ LLim].

210 PeakDtct Ctrl In

Sets the configuration of the two peak/level detectors. Peak detection (when “set” and “hold” are off) causes the output to capture the peak min./max.

• Bit 2 “Peak1SelHigh” and bit 6 “Peak2SelHigh” determine if the peak/level detector is positive or negative. If the bit is set the detector detects positive peaks or levels above the preset. If the bit
is not set the detector detects "valleys" or levels below the preset. The output shows the min. or max. peak.

• Bit 0 “Peak 1 Set” bit is used to reset the output to the value in Par 214
(default 0).

• Bit 1“Peak 1 Hold” is used to hold the output at the present value in Par 214 [PeakDtct1 Preset]. Bit 5 “Peak 2 Hold” is used to hold the output at the present value in Par 218 [PeakDtct2 Preset].

[Limit Gen Y axis Mx]. When Par 206 [Limit Gen X axis In] is equal to 0, this value

[Control Options], bit 24 “Time Axis En”, the value of this parameter

[Time Axis Rate]. Conversely, when the Time Function Generator

[PeakDtct1 Preset] (default 0). Bit 4 “Peak 2 Set” bit is used to reset the output to the value in Par 218 [PeakDtct2 Preset]

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

1.0000

0.0100/20.0000
/s

0.0000

0.0000/1.0000

0.2500

0.0000/8.0000
P. U .

0.0500

0.0000/8.0000
P. U .

YY Y

8.0000

0.0000/8.0000
P. U .

-8.0000

-8.0000/0.0000
P. U .

Y

Y

Y

Linkable

RW Real

RO Real

RW Real

RW Real

RW Real

RO Real

RO Real

Read-Write

Data Type

211 PeakDtct Status

Status of peak/level detectors. A peak detector sets its “Change” bit for one scan when it detects a peak. The” Change” bit is off when set or when the “Hold” bit is on.

212 PkDtct1 In DInt

Integer input to the first peak/level detector.

213 PkDtct1 In Real

Floating point input to the first peak/level detector.

214 PeakDtct1 Preset

The first detector (in set or hold modes) compares this value to its input for level detection. When the detector
trips (in set mode) it transfers the value of this parameter to its output.

215 PeakDetect1 Out

Output from the first peak/level detector.

216 PkDtct2 In DInt

Integer input to second peak/level detector.

217 PkDtct2 In Real

Floating point input to second peak/level detector.

218 PeakDtct2 Preset

The second detector (in set or hold modes) compares this value to its input for level detection. When the detector
trips (in set mode) it transfers the value of this parameter to its output.

48 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

Y

Y

Y

Y

Y

Y

RW 32-bit

Integer

RW Real

RW Real

RO Real

RW 32-bit

Integer

RW Real

RW Real

Programming and Parameters Chapter 2

No. Name

Description

219 PeakDetect2 Out

Output from the second peak/level detector.

221 Load Estimate

Displays the estimated load torque, which is the side effect of the speed obser ver and does not include torque to
accelerate or decelerate the motor if the inertia input is correct. The value is provided for display purposes.

222 Mtr Fdbk Sel Pri

Selects primary feedbac k device. The primary feedback device configuration must not be set to fault on an event
in order to allow operational feedback switch over to the alternate feedback device set in Par 223
Alt].
Notes: Par 485 [Motor Ctrl Mode] must be set to FOC for Sensorless feedback selection to be active. Selection 5 is
only avai lable when c ompatible fe edback opti on card is installed. This parameter was changed to non-linkable for
firmware version 3.001.

223 Mtr Fdbk Sel Alt

Selects alternate feedback device if the feedback device selected in Par 222 [Mtr Fdbk Sel Pri] fails.
Notes: Par 485
only avai lable when c ompatible fe edback opti on card is installed. This parameter was changed to non-linkable for
firmware version 3.001.

224 TachSwitch Level

Sets the detection level for the automatic tach loss switch-over routine. A drop in feedback speed at this percent of
rated speed over 0.5 msec will cause a tach switch from primar y to alternate feedback device. This feature is
enabled when bit 16 “Auto Tach Sw” in Par 153 [Control Options] is selected.

Setting this level lower will make the tach switch detection more sensitive and lower the minimum speed at
which a tach switch can occur. Setting this level higher will make the tach switch less sensitive and raise the
minimum speed for tach switch detection.
Note: This parameter was changed to non-linkable for firmware version 3.001.

225 Virtual Edge/Rev

Set the edges per revolution (EPR) scaling for calculating motor position. Used in the calculation of the position
feedback such as Par 2 29 [MtrPosit Stimulat].

226 Motor Speed Est

Displays the estimated motor speed, calculated when the selected feedback is sensorless or when encoderless
ridethrough is enabled.

227 Motor Posit Est

Summation (or integration) of Par 226 [Motor Speed Est] scaled by the value in Par 225 [Virtual Edge/Rev].

228 MtrSpd Simulated

The motor speed output of the motor simulator. The motor simulator provides motor speed information during
setup and troubleshoo ting when actual motor control is not desi red or possible. To use the motor simulator, enter
a value of 4 in Par 222 [Mtr Fdbk Sel Pri] or Par 223 [Mtr Fdbk Sel Alt].

229 MtrPosit Simulat

The motor position out put of the motor simulator. The motor simulator provides motor posi tion information
during setup and troubleshooting when actual motor control is not desired o r possible. To use the motor
simulator, enter a value of 4 in Par 222

230 Encdr0 Position

Displays the position feedback (accumulator) from encoder 0. The value changes by a value of four times (4x) the
Pulses Per Revolution (PPR) rating of the encoder for each full revolution of the encoder shaft. Used by the Velocity
Position Loop (VPL) to close the position loop if position control is selected.

231 Encdr0 Spd Fdbk

Displays the speed feedback from encoder 0. Calculated from the change of Par 230 [Encdr0 Position] and Par 232
[Encoder0 PPR].

[Motor Ctrl Mode] must be set to FOC for Sensorless feedback selection to be active. Selection 5 is

[Mtr Fdbk Sel Pri] or Par 22 3 [Mtr Fdbk Sel Alt].

[Mtr Fdbk Sel

Values

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Options:

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:0-/[phone]

Default:
Min/Max:
Units:
Scale:

0.00

0.00/1200.00

0.0

-/+8.0 P.U.
P. U .

0 =

“Encoder 0”

0 =

“Encoder 0” 4 = “Motor Sim”

1 =

“Encoder 1” 5 = “FB Opt Port0”

2 =

“Sensorless”

3 =

“Reserved”

2 =

“Sensorless”

0 =

“Encoder 0” 4 = “Motor Sim”

1 =

“Encoder 1” 5 = “FB Opt Port0”

2 =

“Sensorless”

3 =

“Reserved”

10.0000

5.0000/25.0000
%

4096
10/16777216
EPR

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+14112.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

Linkable

Read-Write

RO Real

RO Real

RW Real

RW 32-bit

RO Real

RO 32-bit

RO Real

RO 32-bit

RO 32-bit

RO Real

Data Type

Integer

Integer

Integer

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 49

Chapter 2 Programming and Parameters

Table 232A: PPR Rating Values

n = 2n = x mod 75 mod 125 mod 225 mod 375 mod 625 mod1125

01 75 125 225 375 625 1125

12 150 250 450 750 1250 2250

24 300 500 900 1500 2500 4500

38 600 1000 1800 3000 5000 9000

4 16 1200 2000 3600 6000 10000 18000

5 32 2400 4000 7200 12000 20000 --

6 64 -- -- -- -- -- --

7 128 -- -- -- -- -- --

8 256 -- -- -- -- -- --

9 512 -- -- -- -- -- --

10 1024 -- -- -- -- -- --

11 2048 -- -- -- -- -- --

12 4096 -- -- -- -- -- --

13 8192 -- -- -- -- -- --

14 16384 -- -- -- -- -- --

No. Name

Description

232 Encoder0 PPR

Sets the pulse per revolution rating of the feedback device connected to the Encoder 0 input. This parameter must
be set to one of the values displayed in bold in Table 232A below.

Values

Default:
Min/Max:
Units:

1024
10/20000
PPR

Linkable

Read-Write

RW 16-bit

Data Type

Integer

50 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

En1SmplRt b2

En1SmplRt b1

En1SmplRt b0

Reserved

Reserved

Enc1 EdgTime

Enc1 Dir

Enc1 A Phs

Enc1 4x

Enc1 Filt b3

Enc1 Filt b2

Enc1 Filt b1

Enc1 Filt b0

Reserved

Reserved

Reserved

En0SmplRt b2

En0SmplRt b1

En0SmplRt b0

Reserved

Reserved

Enc0 EdgTime

Enc0 Dir

Enc0 A Phs

Enc0 4x

Enc0 Filt b3

Enc0 Filt b2

Enc0 Filt b1

Enc0 Filt b0

Default xxx011xx10011010xxx011xx10011010

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Table 233A: Encoder Input Filter Settings

Bit 3/19 2/18 1/17 0/16 Encoder Bit Filter Settings

0000Filter disabled

0001100 ns filter

0010200 ns filter

0011300 ns filter

0100400 ns filter

0101500 ns filter

0110600 ns filter

0111700 ns filter

1000800 ns filter (default setting)

1001900 ns filter

10101000 ns filter

10111100 ns filter

11001200 ns filter

11011300 ns filter

11101400 ns filter

11111500 ns filter

Table 233B: Multiplier and Direction Settings

Bit 5/21 4/20 Mult Direct ions Comment s

0 0 2x fwd/rev Counts rise/fall of phase A, phase B only used to find direction

0 1 4x fwd/rev Counts rise/fall of both A and B phases (default setting)

1 0 1x fwd only Counts rise of phase A. Phase B ignored.

1 1 2X fwd only Counts rise of phase A. Phase B ignored.

Table 233C: FIR Filter Settings

Bit 12/28 11/27 10/26 Taps

0001

0012

0104

0118

10016

10132

11064

111127

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Enc1 PhseLev

Enc1 PhseLos

Enc1 QuadLos

Enc1 Missing

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Enc0 PhseLev

Enc0 PhseLos

Enc0 QuadLos

Enc0 Missing

Default xxxxxxxxxxxx0000xxxxxxxxxxxx0000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

233 Encdr 0/1 Config

Specifies the configuration options for the encoder 0 and encoder 1.

• Bits 0 “Enc0 Filt bt0” through 3 “Enc0 Filt bt3”, or Bits 16 “Enc1 Filt bt0” through 19 “Enc1 Filt bt3” configure the encoder input filter (see Table 233A: Encoder Input Filter Settings
requires the input signal to be stable for the specified time period. Input signal transitions within the filter time setting will be ignored. Bits 0-3 and 16-19 add 100ns filtering per stage to
encoder inputs.

• Bits 4 “Enc0 4x” and 5 “Enc0 A Phs” or 20 “Enc1 4x ” and 21”Enc1 A Phs” determine how the encoder channel A and B signals will be interpreted. Typically, both encoder phases A and B are used
so that di rection inform ation is available. Par 230
encoder position will only increase, regardless of rotation direction. Bits 4 and 5 together also determine the number of edg es counted per encoder pulse (see Table 233B: Multiplier and Direction

Settings). “4x” sampling counts both rise and fall of both A and B encoder phases, hence 4 edges per pulse. In 4x mode, the encoder position will change by four times the encoder pulses per

revolution rating (PPR) per encoder revolution (e.g., it increments the value in Par 230 [Encdr0 Position] by 4096 for one revolution of a 1024 PPR encoder).

• Bit 6 “Enc0 Dir” and 22 “Enc1 Dir” inverts the channel A input, thus reversing the direction of the feedback. Note that changes in encoder direction (bit 6 or 22) may require changing Par 153
[Control Options] bit 10 “Motor Dir”.

• Bit 7 “Enc0 EdgTime” or bit 23 “Enc1 EdgTime” configures the method of sampling used by the Velocity Position Loop (VPL). Setting the bit chooses "Edge to Edge" sampling, while resetting the
bit to zero selects "Simple Difference" sampling. "Simple Difference" sampling calculates speed by examining the difference between pulse counts over a fixed sample time. "Edge to Edge"
sampling adjusts the sample time to synchronize with the position count updates from the daughter card - improving the accuracy of the speed calculation.

• Bits 10 “En0SmplRate bt0” through 12 “En0SmplRate bt2” or bits 26 “En1SmplRate bt0” through 28 “En1SmplRate bt2” configure the Finite Impulse Response (FIR) Filter (see Table 233C: FIR

Filter Settings). This setting reduces the effect of noisy feedback on the system. Refer to the “Speed/Position Feedback” section of the Po werFlex ® 700S wi th Phas e II Cont rol Refere nce Manua l,

publication PFLEX-RM003 for details.

Note: Bit 27 is set to 0 = False by default for firmware version 1.11 and is set to 1 = True by default for firmware version 2.003.

[Encdr0 Position] counts up for forward rotation and down for reverse rotation. If bit 5 is set, then the B phase signal is ignored. As a result, th e

Linkable

Read-Write

). The filter

Data Type

234 Encdr 0/1 Error

Indicates the error status of the encoder 0 and encoder 1.
Note: Bit 4 was changed to “Reserved” for firmware version 2.004.

235 RegisLtch0 Value

Displays the registration data of port 0. Indicates the posit ion reference counter value latched by the external
strobes. The strobe signal used to trigger the latch is configurable by Par 236

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 51

[RegisLtch 0/1 Cnfg].

Default:
Min/Max:0-/[phone]

RW 32-bit

Integer

Chapter 2 Programming and Parameters

Table 236A: Encoder0 Trigger Source Settings

Note: When the Z-pulse is selected as a trigger source, registration latch port 0 is used for
Encoder0 regardless of the setting of bit 0 “RL0 Encoder1”.

Bit 2 1

0 0 Encoder 0 Z-pulse AND Ext Trig A

0 1 Ext Trig B (Digital Input 2)

1 0 Ext Trig A (Digital Input 1)

1 1 Encoder 0 (Primary Encoder) Z-pulse

Table 236D: Trigger Direction Settings

Bit 6/22 5/21

00Not Configured

01Reverse

10Forward

11Both Directions

Table 236E: Filter Settings

Bit 11 10 9 8 Input Filter Setting

0000Filter disabled

0001100 ns filter

0010200 ns filter

0011300 ns filter

0100400 ns filter

0101500 ns filter

0110600 ns filter

0111700 ns filter

1000800 ns filter (default setting)

1001900 ns filter

10101000 ns filter

10111100 ns filter

11001200 ns filter

11011300 ns filter

11101400 ns filter

11111500 ns filter

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

RL1 Dir Fwd

RL1 Dir Rev

RL1 TrgEdge1

RL1 TrgEdge0

RL1 TrgSrc1

RL1 TrgSrc0

RL1 Encoder1

Reserved

Reserved

Reserved

Reserved

SL DI Filt 3

SL DI Filt 2

SL DI Filt 1

SL DI Filt 0

Reserved

RL0 Dir Fwd

RL0 Dir Rev

RL0 TrgEdge1

RL0 TrgEdge0

RL0 TrgSrc1

RL0 TrgSrc0

RL0 Encoder1

Default xxxxxxxxx0000000xxxx0000x1100011

Bit 313029282726252423222120191817161514131211109876543210

Table 236C: Edge Selection Settings

Bit 4/20 3/19

0 0 Capture on rising edge

0 1 Capture on falling edge

1 0 Capture on both edges

1 1 Disable capture

0 = False
1 = True

Table 236B: Encoder1 Trigger Source Settings

Note: When the Z-pulse is selected as a trigger source, registration latch port 1 is used for
Encoder1 regardless of the setting of bit 16 “RL1 Encoder1”.

Bit 18 17

0 0 Encoder 1 Z-pulse AND Ext Trig A

0 1 Ext Trig B (Digital Input 2)

1 0 Ext Trig A (Digital Input 1)

1 1 Encoder 1 (Secondary Encoder) Z-pulse

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

RL1 DisarmReq

RL1 Arm Req

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

RL0 DisarmReq

RL0 Arm Req

Default xxxxxxxxxxxxxx00xxxxxxxxxxxxxx00

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

236 RegisLtch 0/1Cnfg

Configures the registration latch at port 0 or port 1 to be used with Encoder 0 or Encoder 1, respectively.

• Bit 0 “RL0 Encoder 1” selects the encoder for the input source of latched data. Setting bit 0 selects encoder 1, resetting the bit to zero selec ts encoder 0.

• Bits 1 “RL0 TrgSrc0” and 2 “RL0 TrgSrc1” select the trigger source (see Table 236A: Encoder0 Trigger Source Settings

• Bits 3 “RL0 TrgEdge0”, 4 “RL0 TrgEdge1”, 19 “RL1 TrgEdge0” and 20 “RL1 TrgEdge1” select which edges signal the position (see Table 236C: Edge Selection Settings).

• Bits 5 “RL0 Dir Rev”, 6 “RL0 Dir Fwd”, 21 “RL1 Dir Rev” and 22 “RL1 Dir Fwd” set the direction of position capture (see Table 236D: Trigger Direction Settings

• Bits 8 “SL DI Filt 0”, 9 “SL DI Filt 1”, 10 “SL DI Filt 2”, and 11 “SL DI Filt 3” configure a filter for the digital input 1 and 2 (see Table 236E: Filter Settings
for the specified time period. Input transitions within the filter time setting will be ignored. Bits 8-11 add 100ns filter per stage to external trigger.

• 17 “RL1 TrgSrc0” and 18 “RL1 TrgSrc1” select the trigger source (see Table 236B: Encoder1 Trigger Source Settings

• Bit 0 &16 - o ff = Enc0 input to latch, on = Enc1 inpu t to latch.

).

).

Linkable

Read-Write

Data Type

).

). The filter requires the input signal to be stable

237 RegisLtch0/1 Ctrl

Configures the control for registration latch 0 and 1.

• Set bit 0 “R L0 Arm Req” and bit 16 “RL1 Arm Req” to arm the re gistration logic for the next trigger event. The particular latch will be armed an d ready to be strobed on the next occurrence o f the
trigger input.

• Set bit 1 “RL0 DisarmReq” and bit 17 “RL1 DisarmReq” to disarm the registration logic for next trigger event.

After the registration is captured, bit 0 “RL0 Arm Req” and bit 16 “RL1 Arm Req” automatically resets back to 0 after found. Bit 1 “RL0 DisarmReq” and bit 17 “RL1 DisarmReq” are only needed to
disarm a registration latch that has not been found yet. Setting bits 1 and 17 will clear the bits 0 and 6. Setting bits 0 and 6 sets bits 0 “RL0 Armed” and bit 16 “RL1 Armed” and clears bits 1 “RL0
Found” and bit 17 “RL1 Found” of Par 238

[RegisLtch0/1Stat].

52 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

RL1 Found

RL1 Armed

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

RL0 Found

RL0 Armed

Default xxxxxxxxxxxxxx00xxxxxxxxxxxxxx00

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Table 242A: PPR Rating Values

n = 2

n

= x mod 75 mod 125 mod 225 mod 375 mod 625 mod1125

01 75 125 225 375 625 1125

12 150 250 450 750 1250 2250

24 300 500 900 1500 2500 4500

38 600 1000 1800 3000 5000 9000

4 16 1200 2000 3600 6000 10000 18000

5 32 2400 4000 7200 12000 20000 --

6 64 -- -- -- -- -- --

7 128 -- -- -- -- -- --

8 256 -- -- -- -- -- --

9 512 -- -- -- -- -- --

10 1024 -- -- -- -- -- --

11 2048 -- -- -- -- -- --

12 4096 -- -- -- -- -- --

13 8192 -- -- -- -- -- --

14 16384 -- -- -- -- -- --

No. Name

Description

238 RegisLtch0/1Stat

Indicates the control status of registration latch 0 and 1.

• Bit 0 “RL0 Armed” and bit 16 “RL1 Armed” indicates the registration latch is armed.

• Bit 1 “RL0 Found” and bit 17 “RL1 Found” indicates the registration event has triggered the latch.

• Rising edge of 'Arm request' will set the 'Armed' status bit.

• Rising edge of 'Disarm request' will clear the 'Armed' status bit.

239 RegisLtch1 Value

Displays the registration data of port 1. Indicates the posit ion reference counter value latched by the external
strobes. The strobe signal used to trigger the latch is configurable by Par 236

240 Encdr1 Position

Displays the position feedback (accumulator) from encoder 1. The value changes by a value of four times (4x) the
Pulses Per Revolution (PPR) rating of the encoder for each full revolution of the encoder shaft. Used by the VPL to
close the position loop if position control is selected.

241 Encdr1 Spd Fdbk

Displays the speed feedback from encoder 1. Calculated from the change of Pa r 240 [Encdr1 Position] and Par 242
[Encoder1 PPR].

242 Encoder1 PPR

Sets the pulse per revolution rating of the feedback device connected to the Encoder 1 input. This parameter must
be set to one of the values displayed in bold in Table 242A below.

[RegisLtch 0/1Cnfg].

Values

Default:
Min/Max:0-/[phone]

Default:
Min/Max:0-/[phone]

Default:
Min.Max:
Units:
Scale:

Default:
Min/Max:
Units:

0

-/+14112.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

1024
10/20000
PPR

Linkable

Read-Write

RO 32-bit

RO 32-bit

RO Real

RW 16-bit

Data Type

Integer

Integer

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 53

Chapter 2 Programming and Parameters

N N NNN N N NNN

N NNN

Module ID No.

Vers ion N o.

Revision No. Low

N NNN

Revision No. High

No. Name

Description

245 Spd Fdbk TP Sel

Enter or write a value to select the data displayed in Par 2 46 [Spd Fdbk TP RPM] and Par 24 7 [Spd Fdbk TP Data].
Note: Option values 5 - 15 were changed to “Reserved” and option 41 “First Diff ” was added for firmware version

2.004.

246 Spd Fdbk TP RPM

Displays the value selected in Par 245 [Spd Fdbk TP Sel] in rpm. This display should only be used if the selected
value is floating point data.

247 Spd Fdbk TP Data

Displays the value selected in Par 245 [Spd Fdbk TP Sel]. This display should only be used if the selected value is
integer data.

249 Fdbk Option ID

Displays information about the Feedback Option.

• Bits 15-11 indicate Module ID Number.

• Bits 10-6 indicate Version Number.

• Bits 5-3 indicate Revision Number High.

• Bits 2-0 indicate Revision Number Low.

Hexadecimal 1000 indicates resolver, hexadecimal 2000 indicates old high-resolution board, and hexadecimal
2040 indicates new high-resolution board.

250 FB Opt0 Posit

Displays the position feedback (accumulator) from the feedback option card port 0.

251 FB Opt0 Spd Fdbk

Displays the speed feedback from the feedback option card port 0.

252 FB Opt1 Posit

Displays position feedback (accumulator) from port 1 of the feedback option card.

253 FB Opt1 Spd Fdbk

Displays speed feedback from port 1 of the feedback option c ard.

Values

Default:
Options:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:0-/+32768

Options:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:00/2147483648

Default:
Min/Max:
Units

0 =

“Zero”

0 =

“Zero” 21 = “E0 EPR”

1 =

“Clock Time” 22 = “E0 Edge Mode”

2 =

“InactvFbkDev” 23 = “E0 nMax ”

3 =

“ActiveFbkDev” 24 = “E0 Error”

4 =

“MCP Fdbk Dev” 25 = “E0 Qloss pk”

5 =

“Reserved” 26 = “E0 Ploss pk”

6 =

“Reserved” 27 = “E0 PlevlHist”

7 =

“Reserved” 28 = “E1 Edge Time”

8 =

“Reserved” 29 = “E1 dEdge”

9 =

“Reserved” 30 = “E1 dTime”

10 =

“Reserved” 31 = “E1 EPR”

11 =

“Reserved” 32 = “E1 Edge Mode”

12 =

“Reserved” 33 = “E1 nMax ”

13 =

“Reserved” 34 = “E1 Error”

14 =

“Reserved” 35 = “E1 Qloss pk”

15 =

“Reserved” 36 = “E1 Ploss pk”

16 =

“MCP PPR” 37 = “E1 PlevlHist”

17 =

“MCP 2^n” 38 = “E0 Delta2Err”

18 =

“E0 Edge Time” 39 = “E1 Delta2Err”

19 =

“E0 dEdge” 40 = “EOB Present”

20 =

“E0 dTime” 41 = “First Diff ”

0.0

-/+8.0 P.U.
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+14000.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0

-/+8.0 P.U.
rpm

Linkable

Read-Write

RO Real

RO 16-bit

RO 32-bit

RO Real

RO 32-bit

RO Real

Data Type

Integer

Integer

Integer

54 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Bits 3 & 4, 19 & 20, please refer to Table 254A: Edge Selection Settings below:
Bits 5 & 6, 21 & 22, please refer to Table 254B: Direction Settings

.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

O1 RL DirFwd

O1 RL DirRev

O1 RLTrgEdg1

O1 RLTrgEdg0

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

RL Filt bit3

RL Filt bit2

RL Filt bit1

RL Filt bit0

Reserved

O0 RL DirFwd

O0 RL DirRev

O0 RLTrgEdg1

O0 RLTrgEdg0

Reserved

Reserved

Reserved

Default xxxxxxxxx0000x xx xxxx1000x1100x xx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Table 254A: Edge Selection Settings

Bit 4/20 3/19

0 0 Capture on rising edge

0 1 Capture on falling edge

1 0 Capture on both edges

1 1 Disable capture

Table 254B: Direction Settings

Bit 6/22 5/21

0 0 Disable capture

0 1 Capture position during Reverse rotation

1 0 Capture position during Forward rotation

1 1 Capture position during either rotation

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

O1 DisarmReq

O1 Arm Req

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

O0 DisarmReq

O0 Arm Req

Default xxxxxxxxxxxxxx00xxxxxxxxxxxxxx00

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Opt1 Found

Opt1 Armed

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Opt0 Found

Opt0 Armed

Default xxxxxxxxxxxxxx00xxxxxxxxxxxxxx00

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

254 Opt0/1 RegisCnfg

Configures the registration latch for port 0 of the feedback option card.

• Bits 3 “O0 RLTrgEdg0”, 4 “O0 RLTrgEdg1”, 19 “O1 RLTrgEdg0” and 20 “O1 RLTrgEdg1” select which trigger edges signal the position (see Table 254A: Edge Selection Settings

• Bits 5 “O0 RL DirRev”, 6 “O0 RL DirFwd”, 21 “O1 RL DirRev” and 22 “O1 RL DirFwd” set the direction of position capture (see Table 254B: Direction Settings

• Bits 8-11 configure a digital filter for the registration trigger signal. This filter can be used to reject spurious noise. The filter works by waiting a programmed time before deciding that the signal
is valid. This waiting imposes a mandatory delay in the registration signal. The filter delay is programmable in increments of 100 nanoseconds from 0 (or no delay) up to 700 nanoseconds.

255 Opt0/1 RegisCtrl

Configures the registration control on port 0 of the feedback option card.

• Set bits 0 “O0 Arm Req” and 16 “01 Arm Req” to arm the registration logic for the next trigger event. The particular latch will be armed and ready to be strobed on the next occurrence of the
trigger input.

• Set bits 1 “O0 DisarmReq” and 17 “01 DisarmReq” to disarm the registration logic for next trigger event.

After the registration is captured, bit 0 “O0 Arm Req” and bit 16 “O1 Arm Req” automatically resets back to 0 after fou nd. Bit 1 “O0 DisarmReq” and bit 17 “O1 DisarmReq” are only needed to disarm
a registration latch that has not been found yet. Setting bits 1 and 17 will clear the bits 0 and 6. Setting bits 0 and 6 sets bits 0 “Opt0 Armed” and bit 16 “Opt1 Armed” and clears bits 1 “Opt0 Found”
and bit 17 “Opt1 Found” of parameter 256 [Opt0/1 RegisStat].

).

Linkable

Read-Write

Data Type

).

256 Opt0/1 RegisStat

Indicates the registration control status on port 0 of the feedback option card.

• Bit 0 “Opt0 Armed” indicates the registration latch is armed.

• Bit 1 “Opt0 Found” indicates the registration event has triggered the latch.

• Rising edge of 'Arm request' will set the 'Armed' status bit.

• Rising edge of 'Disarm request' will clear the 'Armed' status bit.

257 Opt 0 Regis Ltch

Displays the registration data of the feedback option card port 0. The registration data is the position reference
counter value latched by the external strobes. The strobe signa l used to trig ger the latch is configurab le by the Par

254 [Opt0/1 RegisCnfg].

258 Opt 1 Regis Ltch

Displays the registration data of the feedback option card port 0. The registration data is the position reference
counter value latched by the external strobes. The strobe signal used to trigger the latch is configurable by Par

254 [Opt0/1 RegisCnfg].

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 55

Default:
Min/Max:0-/[phone]

Default:
Min/Max:0-/[phone]

RO 32-bit

Integer

RO 32-bit

Integer

Chapter 2 Programming and Parameters

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

SmplRate bt2

SmplRate bt1

SmplRate bt0

Reserved

Reserved

Reserved

SW Reset

Direction

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxxxxxxxxxxxx000xxx00xxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Table 259A: FIR Filter Settings

Bit 12 11 10 Taps

0001

0012

0104

0118

10016

10132

11064

111127

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Time Ou t Err

MsgChksum Er

PwrUpDiag Er

Power Sup Er

Open Wire

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxxxxxxxxxxxx00000xxxxxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

259 Stegmann0 Cnfg

Configures the Stegmann Hi-Resolution Encoder Feedback Option.

• Bit 5 “Direction” determines counting direction. If clear, direction is forward or up. If set, the direction is reverse or down.

• Bits 10 “SmplRate bt0” -12 “Smpl Rate bt2” configure the Finite Impulse Response (FIR) Filter (see Table 259A: FIR Filter Settings
Refer to the Speed/Position Feedback section of the PowerFlex® 700S with Phase II Control Reference Manual, publication PFLEX-RM003 for details.

Notes: Bit 11 “SmplRate bt1” is set to 0 = False by default for firmware version 1.11 and is set to 1 = True by default for firmware version 2.003. This parameter was changed to non-linkable for
firmware version 3.001.

). This setting reduces the effect of noisy feedback on the system.

Linkable

Read-Write

Data Type

260 Stegmann0 Status

Indicates faults on the Stegmann Hi-Resolution Encoder Feedback Option.

• Bit 8 “Open Wire” indicates an open wire fault.
The feedback option card checks for a pre-determined constant value. If this value is not within tolerances, an open wire fault is declared. A quadrature check also is done. If an error occurs during
the check, the ope wire check is aborted. If 3 quadrature errors occur in succession, the open wire check will complete and the constant value checked again. If this value is not within tolerances,
the fault is declared.

• Bit 9 “PowerSup Er” indicates the failure of the power supply.

• Bit 10 “PwrUpDiag Er” indicates the option board failed its power-up diagnostic test.
The pattern on the FPGA must be identical to the pattern written from the DSP, or the board status test will fail.

• Bit 11 “MsgChksum Er” indicates a message checksum fault.
The check sum associated with the Heidenhain encoder must be correct and acknowledged by the feedback option c ard.

• Bit 12 “Time Out Err” indicates a RS -485 time-out fault.
This check requires information to be sent from the encoder to the feedback option card within a specified time. Typical times are about 10 clock cycles before an error is detected. This check is
done only at power-up.

261 Steg&Hiedn TPSel

Selects data displayed by Par 262 [Steg&Hiedn TPDta].

• Hh0 Edge Time - Latency counter value, not used for Hi-Resolution Feedback Option.

• Hh0 dEdge - Change in edge counts for one 500 microsecond update. At constant speed, this value should be
constant.

• Hh0 dTime - Change in update time. This value should be constant, 500 microseconds.

• Hh0 EPR - This value should be 1,048,576 counts per revolution-this is a constant value.

• Hh0 nMax - This is a scaled value of 2.

• Hho Delta2Err - Derivative of value 2.

262 Steg&Hiedn TPDta

Displays data selected by Par 260 [Stegmann0 Status].

56 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Options:

Default:
Min/Max:0-/+32768

0 =

“Zero”

0 =

“Zero” 10 = “Reser ved”

1 =

“St0 EdgeTime” 11 = “Hh0 EdgeTime”

2 =

“St0 dEdge” 12 = “Hh0 dEdge”

3 =

“St0 dTime” 13 = “ Hh0 dTime”

4 =

“St0 EPR” 14 = “Hh0 EPR”

5 =

“St0 EdgeMode” 15 = “Hh0 EdgeMode”

6 =

“St0 nMax” 16 = “Hh0 nMax”

7 =

“St0 Delta2Er” 17 = “Hh0 Delta2Er”

8 =

“Reserved”

9 =

“Reserved”

RO 16-bit

Integer

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

SmplRate bt2

SmplRate bt1

SmplRate bt0

Reserved

Reserved

VM Direction

SW Reset

Direction

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxxxxxxxxxxxx011xx000xxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Table 263A: Sample Rate Bit Settings

Bit 12 11 10 Exponent Value ‘n’ Filter Sample Size = 2

n

0000 1

0011 2

0102 4

0113 8 (Default)

1004 16

1015 32

1106 64

1 1 1 7 127

Options

Reserved

Reserved

Reserved

RefPoint Alm

Reserved

LghtCtrl Alm

Tem pr tr A lm

FrqExced Alm

Reserved

Reserved

Over Current

Undr Voltage

Over Voltage

PstvValue Er

Sig Amplitud

LightSrc Er

FW VersionEr

Bootup Error

PPR Error

Time Out Err

MsgChecksum Er

PowerU pDiag E r

PowerS up Er

Volt ageLv lEr

Open Wire

Quadrate Er

Sig Amplitud

Reserved

Reserved

Reserved

Emul Enc Out

VM Enc Out

Default xxx0x000xx 00000000000000000xxx00

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

263 Heidenhain0 Cnfg

Configures the Heidenhain Encoder Feedback Option.

• Bit 5 “Direction” determines the counting direction. Set to “0” to count up or forward. Set to “1” to count in reverse or down.

• Bit 6 “SW Reset” setting this bit to “1” resets and restarts the option card.

• Bit 7 “VM Direction” determines the direction of the encoder pulse output from the Heidenhain option card when bit 6 “VrtlMasterEn” of Par 266
“0”, the direction of the e ncoder pulse output is the same as Par 1155

• Bits 10 -12 form a 3 bit moving average filter sampling rate. (See Table 263A: Sample Rate Bit Settings

Notes: This parameter was added for firmware version 2.003. This parameter was changed to non-linkable for firmware version 3.001. Added bit 7 for firmware version 4.001.

[Heidn VM Pos Ref], and the reverse of Par 1155 when this bit is set, = “1”.

).

[Heidn Encdr Type] is set. When this bit is off, =

Linkable

Read-Write

Data Type

264 Heidenhain0 Stat

Indicates fault and alarm statuses on the Heidendhain encoder feedback option card and Endat communication.

• Bit 0 “VM Enc Out” when set, indicates that the encoder output from the Heidenhain option card is the virtual encoder position determined by Par 1155

• Bit 1 “Emul Enc Out” when set, indicates that the encoder output from the Heidenhain option card is the emulated encoder position determined by the connected Heidenhain encoder.

• Bit 5 “Sig Amplitud” indicates that the signal a mplitude is insufficient or too large.

• Bit 6 “Quadrate Er” indicates that there is a signal quadrature error.

• Bit 7 “Open Wire” indicates an open wire fault.

• Bit 8 “VoltageLvlEr” indicates that the operating voltage is too high or too low.

• Bit 9 “PowerSup Er” indicates the failure of the power supply.

• Bit 10 “PowerUpDiag Er” indicates the option board failed its power-up diagnostic test.
The pattern on the FPGA must be identical to the pattern written from the DSP, or the board status test will fail.

• Bit 11 “MsgChecksum Er” indicates a message checksum fault.
The check sum associated with the Endat communication device must be correct and acknowledged by the feedback option card.

• Bit 12 “Time Out Err” indicates an Endat time-out fault.

• Bit 13 “PPR Error” indicates an encoder PPR setting mismatch fault.

• Bit 14 “Bootup Error” indicates an Endat boot-up fault.

• Bit 15 “FW VersionEr” indicates that the firmware version of the encoder does not match the firmware version of the Heidenhain option card in the drive.

• Bit 16 “LightSrc Er” indicates an Endat light source fault.

• Bit 17 “Sig Amplitud” indicates an Endat signal amplitude fault.

• Bit 18 “PstvValue Er” indicates an Endat positive value fault.

• Bit 19 “Over Voltage” indicates an Endat over voltage fault.

• Bit 20 “Undr Voltage” indicates an Endat under voltage fault.

• Bit 21 “Over Current” indicates an Endat over current fault.

• Bit 24 “FrqExced Alm” indicates an Endat frequency exceeded alarm.

• Bit 25 “Temprtr Alm” indicates an Endat temperature exceeded alarm.

• Bit 26 “LghtCtrl Alm” indicates an Endat limit of light control alarm.

• Bit 28 “RefPoint Alm” indicates an Endat reference point alarm.

Notes: This parameter was added for firmware version 2.003. Bit 14 was changed from “Endat BootEr” to “Bootup Error” and bit 15 “FW VersionErr” is new for firmware version 3.001. Bits 0 and 1
were added for firmware version 4.001.

265 Heidn Mkr Offset

Configures marker offset values for the Heidenhain Encoder Feedback Option. The marker offset is specified
within one revolution.
Note: This parameter was added for firmware version 2.003.

Default:
Min/Max:

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 57

0.0000

0.0000/4294967295

[Heidn VM Pos Ref].

Y

RW 32-bit

Integer

Chapter 2 Programming and Parameters

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Vrtl Master En

Endat24bitSl

Reserved

Reserved

Multi Turn

Not EnDat

Reserved

Default xxxxxxxxx00xx01x

Bit 1514131211109876543210

0 = False
1 = True

No. Name

Values

Description

266 Heidn Encdr Type

Configures the encoder type manually if the Endat type is not used.

• Bit 0 “Reserved” Automatically set after power-up. Do not change.

• Bit 1 “Not EnDat” Enables/Disables EnDat serial communications. Serial comm unications must be turned on for permanent magnet motors or if absolute position is
required. With EnDat serial communications enabled, bit 2 “Multi Turn” and the value of parameter 267 [Heidn Encdr PPR] will be automatically set on power-up.

• Bit 2 “Multi Turn” set to “1” (True) if the encoder supports mutli-turn absolute position. This bit is set automatically if bit 1 “Not EnDat” is set to “0” (False).

• Bit 5 “Endat24bitSl” when this bit is on, the Heidenhain encoder works as Endat / Single turn / 24 bits. When this bit is off, the Heidenhain encoder works as Endat / Single
turn / 20 bits.

• Bit 6 “Vrtl MasterEn” when set, indicates that the Virtual Master encoder function of the Heidenhain option card is active. The Virtual Master function is available with v3.00
or later of the Heidenhain option card.

Notes: This parameter was added for firmware version 2.003. Bit 1 “Not Endat” was changed to “0” (false) and bit 2 “Multi Turn” was changed to “1” (true) for firmware version

2.004. Bit 1 “Not Endat” was changed to “1” (true), bit 2 “Multi Turn” was changed to “0” (False), and bit 6 “Endat24bitSl” was added for firmware version 3.001. Added bit 6 for

firmware version 4.001.

267 Heidn Encdr PPR

Set this value equal to the Heidenhain encoder PPR (e.g., 2048). This value is automatically set when bit 1
“NotEnDat” of parameter 266 [Heidn Encdr Type] is set to “0” (False).
Note: This parameter was added for firmware version 2.003. Changed the minimum value from “10” to “1” for
firmware version 4.001.

Default:
Min/Max:
Units:

2048
1/100000
PPR

Linkable

Y

Read-Write

Data Type

RW 16-bit

Integer

RW 32-bit

Integer

58 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

SmplRate bt2

SmplRate bt1

SmplRate bt0

Reserved

Reserved

Reserved

Reserved

Resolver Dir

Energize

Resolution 1

Resolution 0

Reserved

Cable Tune

Default xxxxxxxxxxxxxxxxxxx010xxxx0101x0

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Table 268D: FIR Filter Settings

Bit121110Taps

0001

0012

0104

0118

10016

10132

11064

111127

Table 268A: Resolution Settings

Table 268B: Resolution and Least Significant Bits Used

Table 268C: Resolution and Resolver Tracking Speed

Bit 32Resolution

0 0 10 b it resolution

0 1 12 bit resolution (default setting)

1 0 14 b it resolution

1 1 16 b it resolution

Resolution LSB Not Used Parameter 250 Increments by

16 bit All bits used 1

14 bit 2 LSB not used 4

12 bit 4 LSB not used 8

10 bit 6 LSB not used 64

Resolution

Maximum
Carrier Freq.

Tracking Speed
for X1 Resol ver

Tracking Speed
for X2 Resol ver

Tracking Speed
for X5 Resolver

10 bit 34 kHz 55 K-rpm 27.5 K-rpm 11 K-rpm

12 bit 24kHz 13.8 K-rpm 6.9 K-rpm 2.76 K-rpm

14 bit 14kHz 3480 rpm 1740 rpm 696 rpm

16 bit 10 kHz 900 rpm 450 rpm 180 rpm

Options

Reserved

Reserved

Reserved

Reserved

Select OK

Diag Fail

Power S upply

Open Wire

Reserved

Reserved

Reserved

Energized

-Cable Comp

-Mtr Turning

-Tune R esult

-Cable Tune

Default xxxx0000xxx00000

Bit 1514131211109876543210

0 = False
1 = True

No. Name

Values

Description

268 Resolver0 Cnfg

Configures options for the resolver option card port 0.

• Setting bit 0 “Cable Tune” enables the cable tuning test, resetting the bit to zero disables the test. Refer to the section on Resolver Cable Tuning Tests in publication PFLEX-RM003, Reference
Manual - PowerFlex 700S Drives with Phase II Control for more information.

• Bit 1 “Tune Param” has been disabled.

• Bits 2 “Resolution 0” and 3 “Resolution 1” select the resolver resolution (see Table 268A: Resolution Settings

250 [FB Opt0 Posit]. It does not affect the number of counts created per resolver revolution (see Table 268B: Resolution and Least Significant Bits Used). Also, the resolution sets a limit on the

maximum tracking speed (see Table 268C: Resolution and Resolver Tracking Speed

• Setting bit 4 “Energize” energizes the resolver, resetting the bit to zero de-energizes the resolver.

• Bit 5 “Resolver Dir” determines counting direction. If clear, direction is forward or up. If set, the direction is reverse or down.

• Bit 9 “Edge Time” configures the method of sampling used by the Velocity Position Loop (VPL). Setting the bit chooses "Edge to Edge" sampling, while resetting the bit to zero chooses "Simple
Difference" sampling. "Simple Difference" sampling calculates speed by examining the difference between pulse counts over a fixed sample time. "Edge to Edge" sampling adjusts the sample
time to synchronize with the position count updates from the daughter card - improving the accuracy of the speed calculation.

• Bits 10 “SmplRate bt0” through 12 “SmplRate bt2” configure the Finite Impulse Response (FIR) Filter (see Table 268D: FIR Filter Settings
system. Refer to the Speed/Position Feedback section of the PowerFlex® 700S with Phase II Control Reference Manual, publication PFLEX-RM003 for details.

Note: Bit 11 “SmplRate bt0” is set to 0 = False by default for firmware version 1.11 and bit 11 “SmplRate1” is set to 1 = True by default for firmware version 2.003.

).

). This determines the number of significant bits that are calculated in the value of Par

). This setting reduces the effect of noisy feedback on the

Linkable

Read-Write

Data Type

269 Resolver0 Status

Indicates status of the resolver option card port 0.

•Bit 0 “-Cable Tune”

• Bit 1 “-Tune Result” indicates the tuning Parameter type. When set, it indicates the tuning is using the parameter database. When cleared, it indicates the tuning is using derived data.

• Bit 2 “-Mtr Turning” indicates that the motor is turning.

• Bit 4 “Energized” indicates the resolver is energized.

• Bit 8 “Open Wire” indicates a problem with the cable (open circuit).

• Bit 9 “Power Supply” indicates problem with the option card's power supply.

• Bit 10 “Diag Fail” indicates the option card has failed its power-up diagnostics.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 59

Chapter 2 Programming and Parameters

No. Name

Description

270 Reslvr0 TP Sel

Enter or write a value to select Fault data displayed in Par 271 [Reslvr0 TP Data].

271 Reslvr0 TP Data

Displays the data selected by Par 270 [Reslvr0 TP Sel].

272 Reslvr0 SpdRatio

Specifies the speed ratio for the resolver option card port 0. The speed ratio comes from the following formula.
Speed ratio = electrical revolutions / mechanical revolutions = pole count / 2.
Note: Option 0 = “Zero” was added for firmware version 2.004.

273 Reslvr0 Carrier

Specifies the resolver carrier frequency for the resolver option card port 0.

274 Reslvr0 In Volts

Specifies the resolver input voltage for the resolver option card port 0.

275 Rslvr0 XfrmRatio

Specifies the resolver transform ratio for the resolver option card port 0.

276 Reslvr0 CableBal

Specifies the resolver cable balance for the resolver option card port 0.

277 Reslvr0 Type Sel

Specifies used resolver.
The values for options 5 & 12 were changed to “Reserved” for firmware version 2.004. Added options 15 and 16
for firmware version 4.001 but are not functional (for future use).

Values

Default:
Options:

Default:
Min/Max:0-/[phone]

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:00/255

Default:
Options:

0 =

“Zero”

0 =

“Zero” 4 = “R0 EPR”

1 =

“R0 Edge Time” 5 = “R0 Edge Mode”

2 =

“R0 dEdge” 6 = “R0 nMax”

3 =

“R0 dTime” 7 = “R0 Delta2Err”

1 =

2 poles (x1)

0 =

“Zero” 3 = 6 Poles (x3)

1 =

2 Poles (x1) 4 = 8 Poles (x4)

2 =

4 Poles (x2) 5 = 10 Poles(x5)

0
0/10000
Hz

0.0000

0.0000/31.0810
V

0.0000

0.0000/4.0950

0 =

“Disabled”

0 =

“Disabled” 9 = “1326Ax 460v”

1 =

“T2014/2087x1” 10 = “Rese rved”

2 =

“T2014/2087x2” 11 = “Rese rved”

3 =

“T2014/2087x5” 12 = “Rese rved”

4 =

“MPL 460v” 13 = “Reser ved”

5 =

“Reserved” 14 = “AmciR11XC107”

6 =

“Siemens 1FT6” 15 = “PowerTec R1”

7 =

“PrkrHn ZX600” 16 = “PowerTec R2”

8 =

“Reserved”

Linkable

Read-Write

RO 32-bit

RO 32-bit

RO Real

RO Real

RO Real

Data Type

Integer

Integer

60 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

ATTENTION: Enabling the Sleep-Wake function can cause unexpected machin e operation during the Wake mode. Equipment damage
and/or personal injury can result if parameter 278 [Sleep-Wake Mode] is used in an inappropriate application. Do Not use this function
without considering the information below and in Sleep-Wake Mode on page 171

. In addition, all applicable local, national and

international codes, standards, regulations or industry guidelines must be considered.

Conditions Required to Start Drive

(1)(2)(3)

(1) When power is cycled, if all of the above conditions are present after power is restored, restart will occur.
(2) If all of the above conditions are present when [Sleep -Wake Mode] is “enabled,” the drive will start.
(3) The active speed reference is determined as explained in “Reference Selection” in the PowerFlex 700S AC Drives Phase II Control Reference Manual, publication PFLEX-RM003

. The Sleep-Wake function and the speed

reference may be assigne d to the same in put.
(4) Command must be issued from HIM, TB or network.
(5) Run Command must be cycled.
(6) Signal does not need to be greater than wake level.

Input After Power-Up After a Drive Fault After a Stop Command

Reset by Stop-CF, HIM or TB Reset by Clear Faults (TB) HIM or TB

Stop Stop Closed

Wake S igna l

Stop Closed
Wake S igna l
New Start or Run Cmd.

(4)

Stop Closed
Wake S igna l

Stop Closed
Direct Mode
Analog Sig. > Sleep Level

(6)

Invert Mode
Analog Sig. < Sleep Level

(6)

New Start or Run Cmd.

(4)

Enable Enable Closed

Wake S igna l

(4)

Enable Closed
Wake S igna l
New Start or Run Cmd.

(4)

Enable Closed
Wake S igna l

Enable Closed
Direct Mode
Analog Sig. > Sleep Level

(6)

Invert Mode
Analog Sig. < Sleep Level

(6)

New Start or Run Cmd.

(4)

Run New Run Cmd.

(5)

Wake S igna l

New Run Cmd.

(5)

Wake S igna l

New Run Cmd.

(5)

Wake S igna l

New Run Cmd.

(5)

Wake Sig nal

No. Name

Description

278 Sleep-Wake Mode

Enables/disables the Sleep-Wake function.
Important: When enabled, the following conditions must be met:

• A proper value must be programmed for parameters 280 [Wake Level] and 282 [Sleep Level].

• A speed reference must be selected in parameter 27 [Speed Ref A Sel].

• At least one of the following must be programmed (and input closed) in [Dig Inx Sel]; “Enable,” “Stop=CF,”
“Run.”

Note: This parameter was added with firmware version 5.002.

Values

Default:
Options:

0 =
0 =

1 =
2 =

“Disabled”
“Disabled”

“Direct”
“Invert”

Linkable

Read-Write

Data Type

279 Sleep-Wake Ref

Selects the source of the input controlling the Sleep-Wake function.
Note: This parameter was added with firmware version 5.002.

280 Wake Level

Defines the analog input level (at or above) that will start the drive.

281 Wake Time

282 Sleep Level

283 Sleep Time

Note: This parameter was added with firmware version 5.002.

Defines the amount of time that the value of [Wake Level] must be present before a Start is issued.
Note: This parameter was added with firmware version 5.002.

Defines the analog input level (at or below) that will stop the drive.
Note: This parameter was added with firmware version 5.002.

Defines the amount of time that the value of [Sleep Level] must be present before a Stop is issued.
Note: This parameter was added with firmware version 5.002.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 61

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

“An alo g I n 2”

2 =

“An alo g I n 1”

1 =

“An alo g I n 2”

2 =

6.000 mA, 6.000V
[Sleep Level]/20.000 mA, 10.000V

0.001 mA / 0.001V

0.0 s

0.0/1000.0 s

0.1 s

5.000 mA / 5.000V

4.000 mA, 0.000V / [Wake Level]

0.001 mA / 0.001V

0.0 s

0.0/1000.0 s

0.1 s

RW Real

RW Real

RW Real

RW Real

Chapter 2 Programming and Parameters

Options

unused 3

unused 2

unused 1

Level Cnf lct

Not Running

Start Latch

Stop Latch

Digin Cnflct

State 2

State 1

State 0

Mode 1

Mode 0

Analog Ref 1

Analog Ref 0

Enable

Default xxx0000000000000

Bit 1514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

Table 284A: Sleep-Wake Mode Active State

Bit 7 6 5 Active Mode

0 0 0 Drive is powering up

0 0 1 Drive is asleep

0 1 0 Drive is waiting

011Drive is awake

Options

Reserved

Reserved

Reserved

Op1SmplRt b3

Op1SmplRt b2

Op1SmplRt b1

Reserved

Reserved

Reserved

Stahl Linear

Direction

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxx011xxx00xxxxx

Bit 1514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

Table 285A: Sample Rate Bit Settings

Bit 12 11 10 Exponent Value ‘n’ Filter Sample Size = 2

n

0000 1

0011 2

0102 4

0113 8 (Default)

1004 16

1015 32

1106 64

1 1 1 7 127

No. Name

Description

284 Sleep Control

Status of the Sleep-Wake function.

• Bit 0 “Enable” when set, Sleep-Wake mode is enabled.

• Bit 1 “Analog Ref 0” when set, indicates that analog input 1 is used for Sleep mode control.

• Bit 2 “Analog Ref 1” when set, indicates that analog input 2 is used for Sleep mode control.

• Bit 3 “Mode 0” when set, direct control is used.

• Bit 4 “Mode 1” when set, inverted control is used.

• Bits 5…7 “State x” ind icate the Sleep-Wake mode state that is currently active. See Table 284A: Sleep-Wake Mode Active State below.

• Bit 8 “Digin Cnflct” w hen set indicates that a digital input conflict exists. See Par Par 278

• Bit 9 “Stop Latch” when set, a Stop command is being issued from the sleep mode.

• Bit 10 “Start Latch” Not used.

• Bit 11 “Not Running” when set, the drive is not running.

• Bit 12 “Level Cnflct” when set, the value of Par 280
[Sleep Level] is greater than the value of [Wake Level].

Note: This parameter was added with firmware version 5.002.

[Wake Level] or Par 282 [Sleep Level] is outside the Min/Max range of the assigned analog input (mA or V). Or, if in direct mode, the value of

[Sleep-Wake Mode] for details on digital input programming for the Sleep-Wake function.

Values

Linkable

Read-Write

Data Type

285 Linear1 Config

Used to configure a linear encoder when a Multi Device Inter face (MDI) feedback card is installed.
Note: This parameter was added for firmware version 2.003.

• Bit 5 “Direction” - Setting this bit to “1” inverts the count (up/down) direction of the linear feedbac k position Par 252 [FB Opt1 Posit]. If [FB Opt1 Posit] has been counting up for forward feedback
sensor travel then setting this bit will cause [FB Opt1 Posit] to count down. The opposite behavior will occur when the sensor moves in the other direction.

• Bit 6 “Stahl Linear” - Setting this bit to “1” indicates to the MDI card that a Stahl type linear device is being used. It this bit is set to “0” then a Temposonics linear device is being used.

• Bits 10 - 12 form a 3 bit moving average filter sampling rate. See Table 285A: Sample Rate Bit Settings

62 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

.

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Open Wire

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxxxxxxxxxxxxxxxx0xxxxxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

No Position

Reserved

ROM error

EPROM error

RAM error

Read Head

Fault Optics

Reserved

Reserved

Reserved

Reserved

ErrBits16-31

Out of Range

Alarm Optics

No Data Read

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxx0x00000xxxx0000xxxxxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Description

286 Linear1 Status

Indicates faults on the Multi Device Interface (MDI).
Bit 8 “Open Wire” indicates an open wire fault.

287 Linear1 TP Sel

Enter or write a value to select Linear Feedback data displayed in Par 288 [Linear1 TP Data].

• Value 0 - Zero displays a value of zero.

• Value 1 - L1 Edge Time displays the change displays the latency or edge time (the time since the last update of
[FB Opt1 Posit]).

Par 252

• Value 2 - L1 dEdge displays the change in Par 252 [FB Opt1 Posit] since the last feedback sample.

• Value 3 - L1 DTime displays the change in time since the last feedback sample Note the sample rate is 10,000

counts per second (10 Mhz).

• Value 4 - L1 EPR displays the change in edges per motor revolution. This number is the same value in Par 290

[Linear1 CPR].

• Value 5 - Edge Mode should always display a zero (0).

• Value 6 - L1 nMax displays the numerator term for speed calculation. This number divided by change in time

(TP3) is the calculated per unit speed for the linear feedback sensor.

288 Linear1 TP Data

Displays the data selected by Par 287 [Linear1 TP Sel].

289 Lin1 Update Rate

Sets the sample rate for the linear channel on the Multi Device Interface (MDI) feedback option.

290 Linear1 CPR

Specifies the change in Par 252 [FB Opt1 Posit] for one revolution of the motor shaft. This value is used to scale
the calculated speed, based on the change in feedback position. Units are count per motor revolution (CPR).

291 Lin1Stahl Status

Displays the status of the Stahl linear encoder. The Stahl linear encoder works with the MDI option card.

• Bit 8 “No Data Read” indicates that no data can be read from the encoder

•Bit 9 “Alarm Optics” displays an alarm when fiber optics require cleaning

• Bit 10 “Out of Range” indicates that the encoder read count is at the maximum value (524,287)

• Bit 11 “ErrBits16-31” displays a diagnostic error code (refer to bits 16-31)

• Bit 16 “Fault Optics” indicates that the read head for fiber optic cable must be cleaned or replaced

• Bit 17 “Read Head” indicates that the fiber optic cable read head must be checked, aligned or replaced

• Bit 18 “RAM error” indicates that the fiber optic cable read head must be replaced

• Bit19 “EPROM error” indicates that there is an error with the communication module, replace read head.

• Bit 20 “ROM error” indicates, rep lace read head.

• Bit 22 “No Position” Cycle power to Stahl read head.

Values

Default:
Options:

Default:
Min/Max:0-/+32768

Default:
Options:

Default:
Min/Max:
Units:

0 =
0 =

1 =
2 =
3 =

2 =
0 =

1 =
2 =
3 =
4 =
5 =
6 =
7 =

1000
10/100000
CPR

“Zero”
“Zero” 4 = “L1 EPR”

“L1 Edg e Time” 5 = “L1 Edge M ode”
“L1 dEdge” 6 = “L1 nMax”
“L1 dTime” 7 = “L1 Delta2Err”

“1.0 msec”
“8.0 msec” 8 = “4.0 msec”

“0.5 msec” 9 = “4.5 msec”
“1.0 msec” 10 = “5.0 msec”
“1.5 msec” 11 = “5.5 msec”
“2.0 msec” 12 = ”6.0 msec”
“2.5 msec” 13 = “6.5 msec”
“3.0 msec” 14 = “7.0 msec”
“3.5 msec” 15 = “7.5 msec”

Linkable

Read-Write

RO 16-bit

RW 32-bit

Data Type

Integer

Integer

296 Motor Freq Ref

Currently not used.
Note: This parameter was added for firmware version 2.003.

297 Output Curr Disp

Displays measured RMS motor current with a resolution of 1/10 amperes.

298 Elapsed Run Time

Displays the total time that the drive has been running (inverter power devices active) with a resolution of 1/10

hour. This parameter is saved in power EE non-volatile memory. The value in this parameter can be changed

(written to) by the user.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 63

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

0.00

-/+500.00
Hz

0.0

0.0/9999.9
A
x 10

0.0

0.0/429496736.0
hr
x 10

RO Real

RO 32-bit

Integer

RW 32-bit

Integer

Chapter 2 Programming and Parameters

Options

Power L imit

Tor que Li mi t

-0 Curr Enbl

-0 Trq Enbl

Bus Reg Lim

-Trq Cu rLim

Regen PwrLim

-Trq L imit

SpdReg Open

-DriveProtCL

-DriveProtOL

-Current Lim

-Iq Calc

0 Iq from -

-MCS Ws Lim

-MCS Iq Lim

Current Lim

Speed Limit

+0 Curr Enbl

+0 Trq Enbl

Atun Trq Lim

+Trq CurLim

Mtrng PwrLim

+Trq Limit

+SpdReg Open

+DriveProtCL

+DriveProtOL

+Current Lim

+Iq Calc

0 Iq from +

+MCS Ws Lim

+MCS Iq Lim

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

299 Elapsed MWHrs

Displays the total energy the drive has consumed or produced. Calculated from the absolute magnitude of the
product of motor speed and motor torque (power), accumulated over time. This value will increase in both regen
and motoring modes of operation. This parameter value can be changed (written to) by the user.

300 Motor Spd Fdbk

Displays measured motor speed information from the selected feedback device.

301 Motor Speed Ref

Displays the speed reference value, after the limit function. This is the input to the error calculator and speed
regulator.

302 Spd Reg PI Out

Displays the output of the speed regulator. This is the input to torque control. A value of 1.0 represents base
torque of the motor.

303 Motor Torque Ref

Displ ays the referen ce value of mo tor torque. The a ctual value of the motor torque is within 5% of this value.

304 Limit Status

Displays the limit status of conditions that may be limiting the current ref erence or torqu e reference.

• Bit 0 “+MCS Iq Lim” indicates that torque producing current is at its positive limit.

• Bit 1 “+MCS Ws Lim” indicates that flux producing torque is at its positive limit.

• Bit 2 “0 Ia from +” indicates that torque producing current is limited to zero from the positive direction - refer to Par 35 3

• Bit 3 “+Iq Calc” indicates the calculation for torque producing current has reached its positive limit.

• Bit 4 “+Current Lim” indicates that the current reference has reached the positive Motor Current Limit set by Par 356 [Mtr Current Lim].

• Bit 5 “+DriveProtOL” indicates that the current reference has reached the positive current limit set by the Open Loop Inverter Overload, shown in Par 343

• Bit 6 “+DriveProtCL” indicates that the current reference has reached the positive current limit set by the Closed Loop Inverter Overload, shown in Par 344 [OL ClsLp CurrLim].

• Bit 8 “+Torq Limit” indicates that the torque reference has reached the Positive Torque Limit set by Par 1 25

• Bit 9 “Mtrng PwrLim” indicates that the torque reference is being limited by the Motoring Power Limit set by Par 12 7 [Mtring Power Lim].

• Bit 10 “+Torq CurLim” in dicates that current refere nce has reached the Actual Torque Producing Current Limit set by Par 353 [Iq Actual Lim].

• Bit 11 “Atune Tq Lim” indicates that the torque reference is being limited by Par 129

• Bit 12 “+0 Torq Ena” indic ates that the torq ue reference is l imited to zero b ecause Par 1 57 [Logic Ctrl State] bit 9 “Torq Ref En” is off.

• Bit 13 “+0 Curr Ena” indicates that the current reference is limited to zero because Par 157 [Logic Ctrl State] bit 11 “CurrRef En” is off.

• Bit 14 “Speed Limit” i ndicates the collective status of all speed limitations.

• Bit 15 “Current Lim” indicates the collective status of all current limitations

• Bit 16 “-MCS Iq Lim” indicates that torque producing current is at its negative limit.

• Bit 17 “-MCS Ws Lim” indicates that flux producing torque is at its negative limit.

• Bit 18 “0 Ia from -” indicates that torque producing current is limited to zero from the negative direction - refer to Par 353

• Bit 19 “-Iq Calc’ indicates the calculation for torque producing current has reached its negative limit.

• Bit 20 “-Current Lim” indicates that the current reference has reached the negative Motor Current Limit set by Par 356

• Bit 21 “-DriveProtOL” indicates that the current reference has reached the negative current limit set by the Open Loop Inverter Overload, shown in Par 343 [OL OpnLp CurrLim].

• Bit 22 “-DriveProtCL” indicates that the current reference has reached the negative current limit set by the Closed Loop Inverter Overload, shown in Par 344 [OL ClsLp CurrLim].

• Bit 24 “-Torq Limit” indicates that the to rque reference has reached the Negative Torque Limit set by Par 126

• Bit 25 “Regen PwrLim” indicates that the torque reference is being limited by the Regenerative Power Limit set by Par 128 [Regen Power Lim].

• Bit 26 “-Torq CurLim” ind icates that c urrent refere nce has reached the Actual Torque Producing Current Limit set by Par 353 [Iq Actual Lim].

• Bit 27 “Bus Reg Tq Lim” indicates the bus voltage regulator is active and limiting the regenerative torque.

• Bit 28 “-0 Torq Ena” indic ates that the to rque reference i s limited to zero because Par 157

• Bit 29 “-0 Curr Ena” indicates that the current reference is limited to zero because Par 157 [Logic Ctrl State] bit 11 “CurrRef En” is off.

• Bit 30 “Torque Limit” indicates the collective status of all torque limitations.

• Bit 31 “Power Limit” indicates the collective status of all power limitations.

[Atune Trq Ref ].

[Logic Ctrl State] bit 9 “Torq Ref En” is off.

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

[Torque Pos Limit].

[Torque Neg Limit].

0.0

0.0/429496736.0
MWhr
x 10

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+14112.0000
rpm

[Motor NP RPM] = 1.0 P.U.

Par 4

0.0000

-/+8.0000 P.U.
P. U .

0.0000

-/+8.0000 P.U.
P. U .

[Iq Actual Lim].

[Iq Actual Lim].

[Mtr Current Lim].

[OL OpnLp CurrLim].

Linkable

Read-Write

RW 32-bit

RO Real

RO Real

RO Real

RO Real

Data Type

Integer

305 Mtr Trq Curr Ref

Displays the torque current reference present at the output of the current rate limiter. 100% is equal to 1 per unit
(P.U.) rated motor torque.

306 DC Bus Voltage

Displays measured bus voltage.
Note: The maximum value was increased from 1000.0000 to 1170.0000 for firmware version 3.001.

307 Output Voltage

Displays RMS line-to-line fundamental motor voltage. This data is averaged and updated every 50 milliseconds.

308 Output Current

Displays measured RMS motor current.

64 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

0.0000

-/+8.0000 P.U.
P. U .

0.0000

0.0000/1170.0000
V

0.00

0.00/3000.00
V

0.00

0.00/10000.00
A

RO Real

RO Real

RO Real

RO Real

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Rx Data Enbl

Reset Req'd

Reserved

SOB Present

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Rx Active

Tx Ac tive

In Sync

Encdr1 Prsnt

Encdr0 Prsnt

FB Opt Prsnt

Default xxxxxxxxxxxxxxxx00x0xxxxxx000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

PWM Asynchro

Precharge Er

MC Firmware

PWM Short

VPL/MC Comm

OverCurrent

Ground Fault

Trans Desat

Bus OverVolt

MC Commissn

Over Freq

Inertia Test

DSP Error

DSP Mem Err

Ext Fault In

Inv OL Trip

Inv OL Pend

Inv TempTrip

Inv TempPend

Motor Stall

Mtr OL Pend

Mtr OL Trip

Power Lo ss

SLink Comm

SLink HW

Ctrl EE Mem

FB Opt1 Loss

FB Opt0 Loss

Encdr1 Loss

Encdr0 Loss

SpdRef Decel

Abs OverSpd

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Description

309 % Motor Flux

Displays the motor flux in % of nominal.

310 Output Freq

Displays the motor stator frequency.

311 Output Power

Motor Power is the calculated product of the torque reference and motor speed feedback. A 125ms filter is
applied to this result. Positive values indicate motoring power; negative values indicate regenerative power.
Note: The units were changed from kW to Hp for firmware version 2.003.

312 MotorFluxCurr FB

Displays the measured per unit motor flux producing current.

313 Heatsink Temp

Displays the measured temperature of the drive's heatsink.

314 VPL Firmware Rev

Displays the major and minor revision levels of the drive's Velocity Position Loop (VPL) software.
Notes: The default value was changed from 1.11 to 2.003 for firmware version 2.003. The default value was
changed from 2.003 to 3.001 for firmware version 3.001. Changed all values to three dec imal places for firmware
version 4.001.

315 VPL Build Number

Displays the build number of the drive's Velocity Position Loop (VPL) software.
Note: The default value was changed from 8001 to 1 for firmware version 2.003.

316 SynchLink Status

Indicates status of SynchLink functions.

• Bit 0 “FB Opt Prsnt” indicates the presence of an optional feedback daughter card.

• Bit 1 “Encdr0 Prsnt” indicates the presence of encoder 0.

• Bit 2 “Encdr1 Prsnt” indicates the presence of encoder 1.

• Bit 3 “In Sync” indicates SynchLink communications is synchronized.

• Bit 4 “Tx Active” indicates TX frames are being transmitted downstream from this node.

• Bit 5 “Rx Active” indicates RX frames are being received from nodes upstream.

• Bit 15 “Rx Data Enbl” indicates received data is being updated.

Note: Bit 8 “Open Wire” was changed to “Reserved”, and bit 12 “SOB Present” and bit 14 “Reset Req’d” were added for firmware 2.004.
Refer to the SynchLink System Design Guide, publication 1756-TD008, for more information.

Values

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Scale:

Default:
Min/Max:11/10000

0.0

0.0/100.0
%
100 = 4096

0.00

-/+250.00
Hz

0.00

-/+9999.00
Hp

0.0000

0.0000/1.0000
P. U .

0.0000

-30.0000/200.0000
°C

1.003

0.001/99.999
000

Linkable

Read-Write

RO 16-bit

RO Real

RO Real

RO Real

RO Real

RO 16-bit

RO 16-bit

Data Type

Integer

Integer

Integer

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

317 SL System Time

Displays the SynchLink system time counter.

318 Posit Spd Output

Final output of the position regulator.

319 Selected Trq Ref

Displays the actual selected torque reference value after Par 110 [Speed/TorqueMode].

320 Exception Event1

Indicates the presence of certain drive anomalies. In some cases, you may configure the drive's response to these events by entering values in the parameters of the fault/alarm configuration group
of the utility file.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 65

0
0/1048575
μs

0.0000

-/+14112.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

0.0

-/+8.0 P.U.
P. U .

RO 32-bit

Integer

RO Real

RO Real

Chapter 2 Programming and Parameters

Options

Lgx LinkChng

Lgx Closed

Lgx Timeout

Lgx OutOfRun

NetLoss DPI6

NetLoss DPI5

NetLoss DPI4

NetLoss DPI3

NetLoss DPI2

NetLoss DPI1

DPI Loss P6

DPI Loss P5

DPI Loss P4

DPI Loss P3

DPI Loss P2

DPI Loss P1

No Ctrl Devc

NonCnfgAlarm

Interp Synch

EnableHealth

NonCnfgAlarm

VoltFdbkLoss

BusUnderVolt

RidethruTime

Slink Mult

PowerE E Cksm

BrakeOL Trip

PSC Sys Flt2

PSC Sys Flt1

Ctrl EE Cksm

MC Command

+/- 12v Pwr

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

AnlgIn3 Loss

AnlgIn2 Loss

AnlgIn1 Loss

NonCnfgAlarm

Reserved

Reserved

Reserved

Reserved

NonCnfgAlarm

Reserved

NonCnfgAlarm

Posi t Err

-Hrd OvrTrvl

+Hrd OvrTrvl

-Sft OvrTrvl

+Sft OvrTrvl

Reserved

NonCnfgAlarm

NonCnfgAlarm

NonCnfgAlarm

NonCnfgAlarm

HH PwrBdTemp

HH PwrEE Er

HHPrChrgCntc

HH PwrBd Prc

HH Drv Ovrld

HH FanFdbkLs

HH BusWtchDg

HH BusCRC Er

HH BusLinkLs

HH BusComDly

HH InPhaseLs

Default 0000xxxx0x000000x000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

PWM Asynchro

Precharge Er

MC Firmware

PWM Short

VPL/MC Comm

OverCurrent

Ground Fault

Trans Desat

Bus OverVolt

MC Commissn

Over Freq

Inertia Test

DSP Error

DSP Mem Err

Ext Fault In

Inv OL Trip

Inv OL Pend

Inv OTmpTrip

Inv OTmpPend

Motor Stall

Mtr OL Pend

Mtr OL Trip

Power Lo ss

SLink Comm

SLink HW

Ctrl EE Mem

FB Opt1 Loss

FB Opt0 Loss

Encdr1 Loss

Encdr0 Loss

SpdRef Decel

Abs OverSpd

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

Lgx LinkChng

Lgx Close d

Lgx Timeout

Lgx OutO fRun

NetLoss DPI6

NetLoss DPI5

NetLoss DPI4

NetLoss DPI3

NetLoss DPI2

NetLoss DPI1

DPI Loss P6

DPI Loss P5

DPI Loss P4

DPI Loss P3

DPI Loss P2

DPI Loss P1

No Ctrl Devc

NonCnfgAlarm

Interp Synch

EnableHealth

NonCnfgAlarm

VoltFdbkLoss

BusUnderVolt

RidethruTime

Slink Mult

PowerEE Cksm

BrakeOL Trip

PSC Sys Flt2

PSC Sys Flt1

Ctrl EE Cksm

MC Command

+/- 12v Pwr

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

AnlgIn3 Loss

AnlgIn2 Loss

AnlgIn1 Loss

NonCnfgAlarm

Reserved

Reserved

Reserved

Reserved

NonCnfgAlarm

Reserved

NonCnfgAlarm

Posi t Err

-Hrd OvrTrvl

+Hrd OvrTrvl

-Sft OvrTrvl

+Sft OvrTrvl

Reserved

NonCnfgAlarm

NonCnfgAlarm

NonCnfgAlarm

NonCnfgAlarm

HH PwrBdTemp

HH PwrEE Er

HHPrChrgCntc

HH PwrBd Prc

HH Drv Ovrld

HH FanFdbkLs

HH BusWtchDg

HH BusCRC Er

HH BusLinkLs

HH BusComDly

HH InPhaseLs

Default 0000xxxx0x000000x000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

321 Exception Event2

Indicates the presence of certain drive anomalies. Configure the drive's response to these events by entering values in the parameters of the fault/alarm configuration group of the utility file.
Note: Changed bit 14 to “NonCnfgAlarm” for firmware version 3.003.

322 Exception Event3

Indicates the presence of certain drive anomalies. Configure the drive's response to these events by entering values in the parameters of the fault/alarm configuration group of the utility file.

• Bit 11 “HH HW Ver” is sed to indicate a High Horsepower hardware version fault.

• Bit 12 “HH CurUnblnc” is used to indicate a High Horsepower output current unbalanced fault.

• Bit 13 “HH VltUnblnc” is used to indicate a High Horsepower Bus voltage unbalanced fault.

• Bit 29 “AnlgIn1 Loss” is used to indicate an Analog Input 1 loss fault.

• Bit 30 “AnlgIn2 Loss” is used to indicate an Analog Input 2 loss fault.

• Bit 31 “AnlgIn3 Loss” is used to indicate an Analog Input 3 loss fault.
Notes: Bits 16, 20 and 23 were added for firmware version 2.004. Bits 11, 12, 13, 29, 30 and 31 were added for firmware version 3.001. Changed bits 11, 12, 13, 21, and 28 to “NonCnfgAlarm” for
firmware version 3.003. Bit 14 “NonCnfgAlarm” was added for firmware version 3.004.

Linkable

Read-Write

Data Type

323 Fault Status 1

Indicates the occurrence of exception events that have been configured as fault conditions. These events are from Par 320 [Exception Event1].

324 Fault Status 2

Indicates the occurrence of exception events that have been configured as fault conditions. These events are from Par 321 [Exception Event2]
Note: Changed bit 14 to “NonCnfgAlarm” for firmware version 3.003.

325 Fault Status 3

Indicates the occurrence of exception events that have been configured as fault conditions. These events are from Par 322 [Exception Event3].

• Bit 11 “HH HW Ver” is sed to indicate a High Horsepower hardware version fault.

• Bit 12 “HH CurUnblnc” is used to indicate a High Horsepower output current unbalanced fault.

• Bit 13 “HH VltUnblnc” is used to indicate a High Horsepower Bus voltage unbalanced fault.

• Bit 29 “AnlgIn1 Loss” is used to indicate an Analog Input 1 loss fault.

• Bit 30 “AnlgIn2 Loss” is used to indicate an Analog Input 2 loss fault.

• Bit 31 “AnlgIn3 Loss” is used to indicate an Analog Input 3 loss fault.
Notes: Bits 16, 20 and 23 were added for firmware version 2.004. Bits 11, 12, 13, 29, 30 and 31 were added for firmware version 3.001. Changed bit 21 to “D rive Homing” and bit 28 to “+/- 12v Pwr”
for firmware version 3.003. Bit 14 “NonCnfgAlarm” was added for firmware version 3.004.

66 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

NonCnfg Fault

Precharge Er

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

Inertia Test

NonCnfg Fault

NonCnfg Fault

Ext Fault In

Inv OL Trip

Inv OL Pend

Non Cnfg Fault

Inv TempPend

Motor Stall

Mtr OL Pend

Mtr OL Trip

NonCnfgFault

SLink Comm

NonCnfgFault

NonCnfgFault

FB Opt 1 Loss

FB Opt0 Loss

Encdr1 Loss

Encdr0 Loss

NonCnfgFault

NonCnfgFault

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

Lgx LinkChng

Lgx Close d

Lgx Timeout

Lgx OutO fRun

NetLoss DPI6

NetLoss DPI5

NetLoss DPI4

NetLoss DPI3

NetLoss DPI2

NetLoss DPI1

DPI Loss P6

DPI Loss P5

DPI Loss P4

DPI Loss P3

DPI Loss P2

DPI Loss P1

NonCnfg Fault

MC CML Fail

Interp Synch

EnableHealth

Runtime Data

VoltFdbkLoss

BusUnderVolt

NonCnfg Fault

Slink Mult

NonCnfg Fault

BrakeOL Trip

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

MC Command

NonCnfg Fault

Default 00000000000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

+/- 12v Pwr

RideThruAlrm

Reserved

Reserved

Drv Waking

Stahl Optics

Reserved

Drive Homing

Posit Err

-Hrd OvrTrvl

+Hrd OvrTrvl

-Sft OvrTrvl

+Sft OvrTrvl

Reserved

HH Bus Data

HH VltUnblnc

HH CurrUnblnc

HH HW Ver

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

NonCnfg Fault

HH InPhaseLs

Default 00000xx000000000x000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

326 Alarm Status 1

Indicates the occurrence of exception events that have been configured as alarm conditions. These events are from Par 320 [Exception Event1].

327 Alarm Status 2

Indicates the occurrence of exception events that have been configured as alarm conditions. These events are from Par 321 [Exception Event2]
Note: Changed bit 14 to “NonCnfgAlarm” for firmware version 3.003.

328 Alarm Status 3

Indicates the occurrence of exception events that have been configured as alarm conditions. These events are from Par 322 [Exception Event3].

• Bit 11 “HH HW Ver” indicates a non-configurable High Horsepower hardware version fault.

• Bit 12 “HH CurUnblnc” indicates a non-configurable High Horsepower output current unbalanced fault.

• Bit 13 “HH VltUnblnc” indicates a non-configurable High Horsepower Bus voltage unbalanced fault.

• Bit 14 “HH Bus Data” indicates when Communication Bus data are mismatched between left side unit and right side unit.

• Bit 21 “Drive Homing” when the drive is in “Drive Homing” mode (parameter Par 740

drive moves to a home position automatically.

• Bit 24 “Drv Waking” when set, the drive is in wake mode and could start at any time.

• Bit 28 “+/- 12v Pwr” i dentifies when the12V dc control voltage is outside the tolerance range. The positive voltage power exceeds +15.50 V dc and the negative voltage power exceeds -15.50V

DC.

• Bit 29 “AnlgIn1 Loss” indicates a non-configurable Analog Input 1 loss fault.

• Bit 30 “AnlgIn2 Loss” indicates a non-configurable Analog Input 2 loss fault.

• Bit 31 “AnlgIn3 Loss” indicates a non-configurable Analog Input 3 loss fault.

Notes: Bits 16, 20 and 23 were added for firmware version 2.004. Bits 11, 12, 13, 29, 30 and 31 were added for firmware version 3.001. Changed bit 21 to “Drive Homing” and bit 28 to “+/- 12v Pwr”
for firmware version 3.003. Bit 14 “HH Bus Data” was added for firmware version 3.004. Bit 24 “Drv Waking” and 27 “RideThruAlrm” were added for firmware version 5.002.

[Position Control] bit 24 “Find Home” or bit 27 “Return Home” is set to “1”) this alarm is triggered and the

Linkable

Read-Write

Data Type

329 Fault TP Sel

Enter or write a value to sele ct Fault data displayed in Par 330 [Fault TP Data].

• 24 “ElpsSec.mSec” = Elap sed time in seconds and milliseconds since the last power up

• 25 “ElpsMin.Sec” = Elapsed time in minutes and seconds since the last power up

• 26 “ElpsHour.Min” = Elapsed time in hours and minutes since the last power up

• 27 “ElpsDay.Hour” = Elapsed time in days and hours since the last power up

Note: 'Values 24 - 27 were added for firmware version 4.002.

330 Fault TP Data

Displays the data selected by Par 329 [Fault TP Sel].

331 LstFaultStopMode

Displays the action taken by the drive during the last fault. When a fault occurs, an action is taken as a result of
that fault.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 67

Default:
Options:

Default:
Min/Max:0-/[phone]

Default:
Options:

0 =

“Zero”

0 =

“Zero” 14 = “MtrStallTime”

1 =

“Abs OverSpd” 15 = “MC Handshake”

2 =

“EE Pwr State” 16 = “VPL Handshak”

3 =

“Inv DataStat” 17 = “MC Diag”

4 =

“Run Time Err” 18 = “PwrLossState”

5 =

“LowBus Thres” 19 = “12 volt loss”

6 =

“LowBus Detct” 20 = “PwrEE Chksum”

7 =

“PwrLosBusVlt” 21 = “Db Read Cnt1”

8 =

“MCPLosBusVlt” 22 = “Db Rea d Cnt2”

9 =

“MC Flt Reset” 23 = “Db Read Cnt3”

10 =

“Ext Flt Stat” 24 = “ElpsSec.mSec”

11 =

“VPL TaskErr” 25 = “Elps Min.Sec”

12 =

“Mtr OL Input” 26 = “ElpsHour.Min”

13 =

“Mtr OL Outpt” 27 = “ElpsDay.Hour”

0 =

“Ignore”

0 =

“Ignore” 3 = “Flt RampStop“

1 =

“Al arm ” 4 = “F ltC urL imS top ”

2 =

“FltCoastStop”

RO Real

Chapter 2 Programming and Parameters

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Latch Err2

HW Disable2

Pwr Suply2

Asym DcLink2

Ovr Volt2

Ovr Current2

Dsat Phs W2

Dsat Phs V2

Dsat Phs U2

Cnv NotStart

Cnv NotLogin

Reserved

Reserved

Reserved

Reserved

Reserved

Latch Err1

HW Disable1

Pwr Suply1

Asym DcLink1

Ovr Volt1

Ovr Current1

Dsat Phs W1

Dsat Phs V1

Dsat Phs U1

Default xxxxxxx00000000000xxxxx000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Latch Err2

HW Disable2

Pwr Suply2

Asym DcLink2

Ovr Volt2

Ovr Current2

Dsat Phs W2

Dsat Phs V2

Dsat Phs U2

Cnv NotStart

Cnv NotLogin

Reserved

Reserved

Reserved

Reserved

Reserved

Latch Err1

HW Disable1

Pwr Suply1

Asym DcLink1

Ovr Volt1

Ovr Current1

Dsat Phs W1

Dsat Phs V1

Dsat Phs U1

Default xxxxxxx00000000000xxxxx000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Description

332 700L EventStatus

Indicates the presence of certain drive anomalies for PowerFlex 700L (LiquiFlo) drive.

• Bit 0 “Dsat Phs U1” indicates that the primary s tructure detected a Dsat on phase U.

• Bit 1 “Dsat Phs V1” indicates that the primary structure detected a Dsat on phase V.

• Bit 2 “Dsat Phs W” indicates that the primary structure detected a Dsat on phase W.

• Bit 3 “Ovr Current1” indicates that the primary struc ture detected an over current.

• Bit 4 “Ovr Volt1” indicates that the primary structure detected an over voltage.

• Bit 5 “Asym DcLink1” indicates that the primary structure detected an unbalanced DC Link.

• Bit 6 “Pwr Suply1” indicates that the primary structure detected a power supply failure.

• Bit 7 “HW Disable1” indicates that the primary structure detec ted a hardware disable.

• Bit 8 “Latch Err1” indicates that the primary structure fault was generated but no indicating bit was set.

• Bit 14 “Cnv NotLogin” the converter was expected but none logged in.

• Bit 15 “Cnv NotStart” the converter was commanded to start but did not become active.

• Bit 16 “Dsat Phs U2” the second structure detected a Dsat on phase U.

• Bit 17 “Dsat Phs V2” the second structure detected a Dsat on phase V.

• Bit 18 “Dsat Phs W2” the second structure detected a Dsat on phase W.

• Bit 19 “Ovr Current2” the second structure detected an over current.

• Bit 20 “Ovr Volt2” the second structure detected an over voltage.

• Bit 21 “Asym DcLink2” the second structure detected an unbalanced DC Link.

• Bit 22 “Pwr Suply2” the second structure detec ted a power supply failure.

• Bit 23 “HW Disable2” the second structure detected a hardware disable.

• Bit 24 “Latch Err2” the second structure fault was generated but no indicating bit was set.
Note: This parameter was added for firmware version 2.003.

Values

Linkable

Read-Write

Data Type

333 700L FaultStatus

Indicates the occurrence of exception events that have been configured as fault conditions for PowerFlex 700L (LiquiFlo) drive.

• Bit 0 “Dsat Phs U1” indicates that the primary s tructure detected a Dsat on phase U.

• Bit 1 “Dsat Phs V1” indicates that the primary structure detected a Dsat on phase V.

• Bit 2 “Dsat Phs W” indicates that the primary structure detected a Dsat on phase W.

• Bit 3 “Ovr Current1” indicates that the primary struc ture detected an over current.

• Bit 4 “Ovr Volt1” indicates that the primary structure detected an over voltage.

• Bit 5 “Asym DcLink1” indicates that the primary structure detected an unbalanced DC Link.

• Bit 6 “Pwr Suply1” indicates that the primary structure detected a power supply failure.

• Bit 7 “HW Disable1” indicates that the primary structure detec ted a hardware disable.

• Bit 8 “Latch Err1” indicates that the primary structure fault was generated but no indicating bit was set.

• Bit 14 “Cnv NotLogin” indicates that the converter expected but none logged in.

• Bit 15 “Cnv NotStart” indicates that the converter commanded to start but did not become active.

• Bit 16 “Dsat Phs U2” indicates that the second structure detected a Dsat on phase U.

• Bit 17 “Dsat Phs V2” indicates that the second structure detected a Dsat on phase V.

• Bit 18 “Dsat Phs W2” indicates that the second structure detected a Dsat on phase W.

• Bit 19 “Ovr Current2” indicates that the second structure detected an over current.

• Bit 20 “Ovr Volt2” indicates that the second structure detected an over voltage.

• Bit 21 “Asym DcLink2” indicates that the second structure detected an unbalanced DC Link.

• Bit 22 “Pwr Suply2” indicates that the second structure detected a power supply failure.

• Bit 23 “HW Disable2” indicates that the second structure detected a hardware disable.

• Bit 24 “Latch Err2” indicates that the second structure fault was generated but no indicating bit was set.
Note: This parameter was added for firmware version 2.003.

68 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

Reserved

Reserved

Reserved

Reserved

Reserved

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

NonCnfgFault

Default xxxxxxx00000000000xxxxx000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Description

334 700L AlarmStatus

Indicates the occurrence of exception events that have been configured as alarm conditions for PowerFlex 700L (LiquiFlo) drive.

• Bit 0 “NonCnfgFault” Not configured as alarm.

• Bit 1 “NonCnfgFault” Not configured as alarm.

• Bit 2 “NonCnfgFault” Not configured as alarm.

• Bit 3 “NonCnfgFault” Not configured as alarm.

• Bit 4 “NonCnfgFault” Not configured as alarm.

• Bit 5 “NonCnfgFault” Not configured as alarm.

• Bit 6 “NonCnfgFault” Not configured as alarm.

• Bit 7 “NonCnfgFault” Not configured as alarm.

• Bit 8 “NonCnfgFault” Not configured as alarm.

• Bit 14 “NonCnfgFault” Not configured as alarm.

• Bit 15 “NonCnfgFault” Not configured as alarm.

• Bit 16 “NonCnfgFault” Not configured as alarm.

• Bit 17 “NonCnfgFault” Not configured as alarm.

• Bit 18 “NonCnfgFault” Not configured as alarm.

• Bit 19 “NonCnfgFault” Not configured as alarm.

• Bit 20 “NonCnfgFault” Not configured as alarm.

• Bit 21 “NonCnfgFault” Not configured as alarm.

• Bit 22 “NonCnfgFault” Not configured as alarm.

• Bit 23 “NonCnfgFault” Not configured as alarm.

• Bit 24 “NonCnfgFault” Not configured as alarm.

Note: This parameter was added for firmware version 2.003.

Values

Linkable

Read-Write

Data Type

335 Abs OverSpd Lim

Sets an incremental speed above Par 76 [Fwd Speed Limit] and below Par 75 [Rev Speed Limit] that is allowable
before the drive indicates its speed is out of range.

336 Motor OL Factor

Sets the minimum level of current that causes a motor overload trip under continuous operation. Current levels
below this value will not result in an overload trip. For example, a service factor of 1.15 implies continuous
operation up to 115% of nameplate motor current.

337 Mtr I2T Curr Min

Sets the minimum current threshold for the motor overload (I2T) function. The value indicates minimum current
at the minimum speed, Par 338 [Mtr I2T Spd Min], and these are the first current/speed breakpoint. From this
point the current threshold is linear to the value specified by Par 336 [Motor OL Factor].

338 Mtr I2T Spd Min

Sets the minimum speed for the motor overload (I2T) function. The value indicates minimum speed below the
minimum current threshold Par 337
point the current threshold is linear to the value specified by the motor service factor Par 336
Set this parameter to the minimum value for the motor overload t rip to vary in time at low speeds. For more
information, please see Motor Overload on page 166

339 Mtr I2T Calibrat

Sets the current calibration level for the motor overload (I2T) function. The value indicates the current level that
the drive will fault at this current in 60 seconds.

340 Mtr I2T Trp ThrH

Displays the trip threshold current for the motor overload (I2T) function. The value depends on the motor speed,
and is calculated from the minimum current Par 337
Min] and the motor service factor Par 33 6 [Motor OL Factor].

341 Mtr I2T Count

The accumulator for Motor Overload detection (Motor I2T function). When the motor runs at the over rated motor
current, the accumulator s tarts counting up. If the motor runs at bel ow rated motor current, the accumulator
counts down. If the value of this parameter exceeds 0.5, the “Motor OLoad Pend” alarm (fault 12) occurs. If the
value of this parameter exceeds 1.0, the “Motor OLoad Trip” fault (fault 11) occurs. The value of this parameter is
saved in non-volatile memory after power-down if Par 15 3
bit 20 of Par 153 [Control Options] clears the value of this parameter.

Note: This parameter was added for firmware version 3.001.

[Mtr I2T Curr Min], and these are the first current/speed breakpoint. From this

.

[Mtr I2T Curr Min], the minimum speed Par 338 [Mtr I2 T Spd

[Control Options], bit 20 “Motor OL Ret” is on. Toggling

[Motor OL Factor].

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:

352.8000

0.0000/1750.0000
rpm

Par 4 [Motor NP RPM] = 1.0 P.U.

1.1500

1.0000/2.0000
P. U .

0.5000

0.0500/2.0000
P. U .

1.0000

0.0500/1.0000
P. U .

2.0000

1.1000/4.0000
P. U .

1.1500

0.0500/2.0000
P. U .

0.0

0.0/1.5

RW Real

RW Real

RW Real

RW Real

RW Real

RO Real

RO Real

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 69

Chapter 2 Programming and Parameters

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Jnc OverTemp

IT Foldback

IT Pending

IT Trip

HS Pending

HS OverTemp

NTC Open

NTC Shorted

Default xxxxxxxx00000000

Bit 1514131211109876543210

0 = False
1 = True

No. Name

Values

Description

343 OL OpnLp CurrLim

Displays the current limit set by the Open Loop Inverter Overload (OL) function. This function sets this c urrent limit
based on stator current feedback and the current ratings of the drive - continuous and short term (three-second
rating). Typically the drive will have a sixty-second rating of 110% of continuous current and a three-second
rating at 150% of the continuous. Under normal operating conditions, the open loop function sets this current
limit to the short term (three-second) rating. If the function detects an overload, it lowers the limit to the
continuous level. After a period of time (typically one to three minutes), the function returns the limit to the short
term rating.

344 OL ClsLp CurrLim

Displays the current limit set by the Closed Loop Inverter Overload (OL) function. This function will set a current
limit level based on the values in Par 355
of the drive. Under normal operating conditions, the function typically sets the limit at 250% of the continuous
drive rating. If the function determines that the power device junction temperature is approaching maximum, it
will reduce this limit to the level required to prevent additional heating of the inverter. This level could be as low
as the continuous rating of the drive. If the inverter temperature decreases, the function will raise the limit to a
higher level. Disable this protection by setting bit 13 “OL ClsLpDsbl” of Par 153

345 Drive OL JnctTmp

Displays the calculated junction temperature of the power semiconductors in the inverter. The calculation uses the
values of Par 313
power EE memory. If this value exceeds the maximum junction temperature (visible in Par 3 48
when Par 34 7 [Drive OL TP Sel] option 12 “fJunTmprMax” is selected), two faults occur: Inverter Overtemperature
Fault (fault code 15), and Junction Overtemperature Fault - indicated by bit 7 “Jnc OverTemp” of Par 346 [Drive OL
Status].

346 Drive OL Status

Indicates the status of various overload (OL) conditions.

• Bit 0 “NTC Shorted” indicates the Negative Temperature Coefficient (NTC) device has a short circuit.

• Bit 1 “NTC Open” indicates the NTC has an open circuit.

• Bit 2 “HS OverTemp” indicates heatsink temperature is above 105 °C for ratings 1.1…11.0 A, 115 °C for 14…34 A, 100 °C for 40…52 A.

• Bit 3 “HS Pending” indicates heatsink temperature is above 95C for ratings 1.1…11 A, 105 °C for 14…34 A, 90 °C for 40…52 A.

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

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

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

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

[Heatsink Temp], Par 355 [Iq Ref Limited], and inver ter thermal characteristics contained in the

[Iq Ref Limited], Par 31 3 [Heatsink Temp] and the thermal characteristics

[Control Options].

[Drive OL TP Data]

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

8.0000

0.0000/8.0000
P. U .

8.0000

0.0000/8.0000
P. U .

0.0000

-50.0000/300.0000
°C

Linkable

Read-Write

RO Real

RO Real

RO Real

Data Type

347 Drive OL TP Sel

Enter or write a value to select the drive overload data displayed in Par 348 [Drive OL TP Data].
Note: Value 44 “HH PwrBdTemp” was added for firmware version 2.004. Added values 45 “IGBT CndLoss”, 46 “IGBT
SwtLoss” and 47 “Fwd CndLoss” for firmware version 3.003.

348 Drive OL TP Data

Displays the value selected by Par 347 [Drive OL TP Sel].

350 Iq Actual Ref

Displays the value of motor current reference that is present at the output of the divide by flux calculation.

Default:
Options:

Default:
Min/Max:

Default:
Min/Max:
Units:

0 =

“Zero”

0 =

“Zero” 24 = “fIgbtWatts”

1 =

“fAbsIsCurr” 25 = “iIgbtPerMod”

2 =

“fDelta” 26 = “f FdThres”

3 =

“fAbsIqCurr” 2 7 = “fFdSlope”

4 =

“fOL_l” 28 = “fFdJu nCase”

5 =

“fOL_m” 29 = “fFdWatts”

6 =

“fOL_k ” 3 0 = “f MaxHsDegc ”

7 =

“fOL_g” 31 = “fC sImp”

8 =

“fOL_in tg” 32 = “fC sFltr”

9 =

“fCL_in tg” 3 3 = “fP wmHz”

10 =

“fInvOLCl im” 34 = “fEl ecHz”

11 =

“fJuncD egc” 35 = “f ModIdex”

12 =

“fJunTmprMax” 36 = “fBoost”

13 =

“f60sPUCur” 37 = “fTotalWatts”

14 =

“f60sAmp” 38 = “fHSDegc ”

15 =

“f3sPUCur ” 39 = “iAdconv ”

16 =

“f3sAmp” 40 = “Jct Temp”

17 =

“fRatioInvMtr” 41 = “Jct Tmp HiHp”

18 =

“fRatioMtrInv” 42 = “Jct Tmp Fwd“

19 =

“iConvertStat” 43 = ”HH Loss Intg”

20 =

“fIgbtThres” 44 = “HH PwrBdTemp”

21 =

“fIgbtSlope” 45 = “IGBT CndLoss”

22 =

“fIgbtEnergy” 46 = “IGBT SwtLoss”

23 =

“fIgbtJuncase” 47 = “Fwd CndLoss”

0.0000

-/+2200000000.0000

0.0000

-/+8.0000 P.U.
P. U .

RO Real

RO Real

70 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

A

A

No. Name

Description

351 Iq Ref Trim

Provides an external source to command, trim or offset the internal motor current reference. This value is summed
with Par 350

352 Is Actual Lim

Displays the largest allowable stator motor current. The range of allowable motor current is limited by the
maximum drive current. Scaling is in per unit motor current.

353 Iq Actual Lim

Displays the largest allowable torque producing (Iq) motor current. The range of allowable Iq motor current is
limited by the maximum drive current and is adjusted by the motor flux current. Scaling is in per unit Iq motor
current.

354 Iq Rate Limit

Enter the maximum rate of change for Current Reference, in per unit current / sec. Par 90 [Spd Reg BW] will be
limited to 2/3 of this value.

355 Iq Ref Limited

Displays the current reference output of the rate limiter.

356 Mtr Current Lim

Sets the largest allowable motor stator current. The online maximum value of this parameter is Par 2 [Motor NP
FLA]. The online minimum value is 105% of the current indicated in Par 488

357 Curr Ref TP Sel

Enter or write a value to select current reference data displayed in Par 3 58 [Curr Ref TP Data].
Note: Added values 20…52 for firmware version 3.003. Added value 53 for firmware version 4.001.

358 Curr Ref TP Data

Sets the limit value for the motor torque producing current.

359 Motor Flux Est

The Q-axis motor voltage is divided by the motor frequency while fi eld weakening is active. This value is used to
convert the torque command to a motor current (Iqs) command.

360 Min Flux

Sets the smallest level of flux used to convert Par 303 [Motor Torque Ref] to a current reference above base speed.
Note: Changed the minimum value from “0.2500” to “0.1000” for firmware version 4.001.

361 Flx LpassFilt BW

Sets the bandwidth of the low pass filter that adjusts the response of the flux estimate used in the torque to
current conversion. Since the field time constant varies between motors, a better control response may be
obtained by adjusting the filter time constant. Normally this parameter is not changed unless a significant
disturbance occurs as the motor enters field weakening AND Par 360

362 Current Limit Gain

Sets the responsiveness of the current limit. This parameter should not be changed by the user.
Note: This parameter was added for firmware version 2.003.

363 Ki Current Limit

Current Limit Integral gain. This gain is applied to the current limit error signal to eliminate steady state current
limit error. A larger value increases overshoot during a step of motor current/load. This parameter should not be
changed by the user.
Note: This parameter was added for firmware version 2.003.

[Iq Actl Ref] before the current limit is applied. Scaling is in per unit motor cu rrent.

[Flux Current].

[Min Flux] is less than 1 per unit.

Values

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:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:

0.0000

-/+8.0000 P.U.
P. U .

1.0000

0.0000/8.0000
P. U .

1.0000

0.0000/8.0000
P. U .

1000.0000

5.0000/10000.0000
/s

0.0000

-/+8.0000 P.U.
P. U .

1.5000

0.0000/Calculated
P. U .

0 =

“Zero”

0 =

“Zero” 27 = “Rated Vds”

1 =

“Iq Sum” 28 = “Rated Vqs”

2 =

“Iq Lim In” 29 = “RatedLamdVds”

3 =

“Iq Lim Out” 30 = “RatedLamdIds”

4 =

“Iq Rate Stat” 31 = “RatedLamd ds”

5 =

“IqLmOutNoFil” 32 = “RatedLamd qs”

6 =

“MtrCrLimStat” 33 = “Iqs”

7 =

“Lim'dMtrCrLm” 34 = “Ids”

8 =

“Iq Act Limit” 35 = “Vqs”

9 =

“Iq Cal Gain” 36 = “Vds”

10 =

“Min Lim Stat” 37 = “ We”

11 =

“Iq Prescale” 38 = “Torque”

12 =

“IqtoIs Stat” 39 = “Torque Filtr”

13 =

‘Flux Status” 40 = “Lamda Ids”

14 =

“Flux LPF Out” 41 = “Lamda Iqs”

15 =

“Is Per Unit” 42 = “Lamda Vds”

16 =

“Iq Actl +Lim” 43 = “Lamda Vqs”

17 =

“Iq Actl -Lim” 44 = “Lamda ds”

18 =

“Flx Filt Hld” 45 = “Lamda qs”

19 =

“Inverse Flux” 46 = “Lamda ds Flt”

20 =

“Impedance P.U.” 47 = “Lamda qs Flt”

21 =

“ImpedanceOhm” 48 = “Torque Ref”

22 =

“Rated We” 49 = “Iq Reference”

23 =

“Leak Induct” 50 = “1/Motor Pole”

24 =

“Rated Torque” 51 = “1/Rated Iqs”

25 =

“Rated Ids” 52 = “1/Rated Torq”

26 =

“Rated Iqs” 53 = “Rs Temp Coef”

0.0000

-/+8.0000 P.U.
P. U .

0.0000

-/+8.0000 P.U.
P. U .

0.2500

0.1000/1.0000
P. U .

12.0000

0.5000/100.0000
rad/s

250
0/10000

1500
0/10000

Linkable

Y

Y

Y

Y

Y

Read-Write

Data Type

RW Real

RO Real

RO Real

RW Real

RO Real

RW Real

RO Real

RO Real

RW Real

RW Real

RW 16-bit

Integer

RW 16-bit

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 71

Chapter 2 Programming and Parameters

A

No. Name

Description

364 Kd Current Limit

Current Limit Derivative gain. This gain is applied to the sensed motor current to anticipate a current limit
condition. A larger value reduces overshoot of the current relative to the current limit value. This parameter should
not be changed by the user.
Note: This parameter was added for firmware version 2.003.

365

Fdbk LsCnfg Pri

366

Fdbk LsCnfg Alt

367

Fdbk LsCnfgPosit

Enter a value to configure the drive's response to an Encoder 0/1 Loss exception event.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

368 Cnv NotLogin Cfg

Configures the 700L drive’s response when the active convertor is not logged-in via a DPI port.
Note: This parameter was added for firmware version 3.001.

369 Brake OL Cnfg

Enter a value to configure the drive's response to a Brake Overload (OL) Trip exception event. This event is
triggered when a Dynamic Brake (DB) overload condition occurs.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

370 HiHp InPhsLs Cfg

Selector for the input phase loss configuration.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit in
response to this event.

Notes: The default value was changed from 1 “Alarm” to 3 “Flt RampStop” for firmware version 3.001. The default
value was changed from 3 to 2 for firmware version 4.002.

371 Mtr OL Trip Cnfg

Enter a value to configure the drive's response to a Motor Overload (OL) Trip exception event.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

372 Mtr OL Pend Cnfg

Enter a value to configure the drive's response to a Motor Overload (OL) Pending exception event.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

373 Motor Stall Time

Enter a value to specify the time delay between when the drive detects a Motor Stall condition and when it
declares the exception event.

374 Motor Stall Cnfg

Enter a value to configure the drive's response to a Motor Stall exception event.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

Values

Default:
Min/Max:

Default:
Default:
Default:
Options:

Default:
Options:

Default:
Options:

Default
Options:

Default
Options:

Default
Options:

Default:
Min/Max:
Units:

Default
Options:

500
0/10000

2 =

“FltCoastStop”

1 =

“Al ar m”

1 =

“Al ar m”

1 =

“Al ar m”

2 =

“FltCoastStop”

“FltCoastStop”

2 =

“Ignore””

0 =

“Al ar m”

1 =

“FltCoastStop”

2 =

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1.0000

0.1000/3000.0000
s

0 =

“Ignore”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

Linkable

Y

Read-Write

Data Type

RW 16-bit

Integer

RW Real

72 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

No. Name

Description

375 Inv OT Pend Cnfg

Enter a value to configure the drive's response to a Inverter Over-Temperature (OT) Pending exception event. This
event is triggered when the Inverter Negative Temperature Coefficient (NTC) function detects the heat-sink
temperature reaches to the overload warning level.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

376 Inv OL Pend Cnfg

Enter a value to configure the drive's response to an Inverter Overload (OL) Pending exception event. This event is
triggered when one of the Inverter Protection Current-Over-Time functions (Open Loop or Closed Loop) detects
current and temperature at warning levels.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

377 Inv OL Trip Cnfg

Enter a value to configure the drive's response to an Inverter Overload (OL) Trip exception event. This event is
triggered when one of the Inverter Protection Current-Over-Time functions (Open Loop or Closed Loop) detects
current and temperature at a fault level.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

378 Interp Flt Cnfg

Enter a value to configure the drive's response to a position interpolator exception event. If the interpolator loses
the synchronization pulse or is out of synch, this event occurs.

379 Ext Flt/Alm Cnfg

Enter a value to configure the dr ive's response to an External Input exception event. The event is triggered by a
digital input that is configured for auxiliary fault or auxiliary aux fault by se lecting 3 “Ext Fault” or 38 “ExtFault
Inv” in Par 825

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in

381 PreChrg Err Cnfg

Enter a value to configure the drive's response to a Precharge Error exception event.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to

382 MC Cmd Lim Cnfg

Enter a value to configure the dr ive's response to a Motor-Controller (MC) Command Limitation exception event.
This event is triggered when the motor-controller detects limit of the command values used in the motor­controller, and returns the exception event to the Velocity Position Loop (VPL).

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to

[DigIn 1 Sel], Par 826 [DigIn 2 Sel] or Par 827 [D igIn 3 Sel].

this event.

this event.

response to this event.

this event

this event.

Values

Default
Options:

Default
Options:

Default:
Options:

Default:
Options:

Default
Options:

Default:
Options:

Default:
Options:

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

1 =

“Al ar m”

0 =

“Ignore” 3 = “Flt RampStop”

1 =

“Alarm” 4 = “FltCurLimStp”

2 =

“FltCoastStop”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

2 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

“Al ar m”

2 =

“Ignore”

0 =

“Al ar m”

1 =

“FltCoastStop”

2 =

Linkable

Read-Write

Data Type

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 73

Chapter 2 Programming and Parameters

ATT EN TI ON : Risk of injury or equipment damage exists. Par 383 [SL CommLoss Data] lets you determine the action of the

drive if communications are disrupted. By default this parameter causes the drive to hold the data in its last state. You can
set this parameter so that the drive resets the data to zero. Precautions should be taken to ensure that the setting of this
parameter does not create hazards of injury or equipment damage.

ATT EN TI ON : Risk of injury or equipment damage exists. Par 384 [SL CommLoss Cnfg] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

ATTENTION: Risk of injury or equipment damage exists. Par 385 [Lgx CommLossData] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive to hold the data in its last state. You can
set this parameter so that the drive resets the data to zero. Precautions should be taken to ensure that the setting of this
parameter does not create hazards of injury or equipment damage.

ATTENTION: Risk of injury or equipment damage exists. Par 386 [Lgx OutOfRunCnfg] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

No. Name

Description

383 SL CommLoss Data

Enter a value to determine what is done with the data received from SynchLink when a communication loss
occurs. Refer to Par 902

• 0 - Zero Data Resets data to zero.

• 1 - Last State Holds data in its last state.

384 SL CommLoss Cnfg

Enter a value to configures the drive's response to SynchLink communication loss.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

[SL Error Status] for possible causes of communication loss.

Values

Default:
Options:

Default
Options:

1 =

“Last State”

0 =

“Zero Data”

1 =

“Last State”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

Linkable

Read-Write

Data Type

385 Lgx CommLossData

Enter a value to configure what the drive does with the data received from the DriveLogix controller when the
connection is closed or times out.

• 0 - Zero Data Resets data to zero.

• 1 - Last State Holds data in its last state.

386 Lgx OutOfRunCnfg

Enter a value to configure the drive's response to the DriveLogix processor being in a “Non-Run” mode. Non-Run
modes include Program, Remote-Program and Faulted.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

Default:
Options:

Default
Options:

1 =

“Last State”

0 =

“Zero Data”

1 =

“Last State”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

74 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

ATT EN TI ON : Risk of injury or equipment damage exists. Par 387 [Lgx Timeout Cnfg] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

ATT EN TI ON : Risk of injur y or equipment damage exists. Par 388 [Lgx Closed Cnfg] lets you determine the action of the drive
if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

ATTENTION: Risk of injury or equipment damage exists. Par 389 [Lgx LinkChngCnfg] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

No. Name

Description

387 Lgx Timeout Cnfg

Enter a value to configure the drive's response to a “Controller-to-Drive” connection timeout, as detected by the
drive.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

388 Lgx Closed Cnfg

Enter a value to configure the drive's response to the controller closing the “Controller-to-Drive” connection.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

Values

Default
Options:

Default
Options:

2 =
0 =

1 =
2 =
3 =
4 =

2 =
0 =

1 =
2 =
3 =
4 =

“FltCoastStop”
“Ignore”

“Al ar m”
“FltCoastStop”
“Flt RampStop”
“FltCurLimStp”

“FltCoastStop”
“Ignore”

“Al ar m”
“FltCoastStop”
“Flt RampStop”
“FltCurLimStp”

Linkable

Read-Write

Data Type

389 Lgx LinkChngCnfg

Enter a value to configure the drive's respon se to “Controller-to-Drive” default links being removed. A default link
is a link automatically set up when a communication format is selected for the Controller to Drive connecti on.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

Default
Options:

2 =
0 =

1 =
2 =
3 =
4 =

“FltCoastStop”
“Ignore”

“Al ar m”
“FltCoastStop”
“Flt RampStop”
“FltCurLimStp”

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 75

Chapter 2 Programming and Parameters

ATT EN TI ON : Risk of injur y or equipment damage exists. Par 390 [SL MultErr Cnfg] lets you determine the action of the drive

if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

ATTENTION: Risk of injury or equipment damage exists. Par 391 [DPI CommLoss Cfg] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

ATT EN TI ON : Risk of injury or equipment damage exists. Par 392 [NetLoss DPI Cnfg] lets you determine the action of the
drive if communications are disrupted. By default this parameter causes the drive fault and coast to a stop. You can set this
parameter so that the drive continues to run. Precautions should be taken to ensure that the setting of this parameter does
not create hazards of injury or equipment damage.

No. Name

Description

390 SL MultErr Cnfg

Enter a value to configure the Drive Module's response to a SynchLink Multiplier error. Refer to Par 927 [SL Mult
State] for possible causes for multiplier errors.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

391 DPI CommLoss Cfg

Enter a value to configure the drive's response to the failure of a DPI port.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

Values

Default
Options:

Default
Options:

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

Linkable

Read-Write

Data Type

392 NetLoss DPI Cnfg

Enter a value to configure the drive's response to a communication fault from a network card at a DPI port.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

393 BusUndervoltCnfg

Enter a value to configure the drive's response to the DC Bus voltage falling below the minimum value.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

394 VoltFdbkLossCnfg

Enter a value to configure the drive's response to a communication error between Motor Control (MC) and the
motor voltage feedback board.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

76 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default
Options:

Default
Options:

Default:
Options:

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

2 =

“FltCoastStop”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

Programming and Parameters Chapter 2

A

No. Name

Description

395 +Sft OvrTrvlCnfg

Enter a value to configure the drive’s response to a positive software positioning over travel condition.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

396 -Sft OvrTrvlCnfg

Enter a value to configure the drive’s response to a negative software positioning over travel condition.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

397 +Hrd OvrTrvlCnfg

Enter a value to configure the drive’s response to a positive hardware positioning over travel condition.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

398 -Hrd OvrTrvlCnfg

Enter a value to configure the drive’s response to a negative hardware positioning over travel condition.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

399 Position ErrCnfg

Enter a value to configure the drive’s response to a position error condition.

• 0 - Ignore configures the drive to continue running, as normal, when this event occurs.

• 1 - Alarm configures the drive to continue running and set the appropriate alarm bit when this event occurs.

• 2 - FltCoastStop configures the drive to perform a coast stop and set the appropriate fault bit, in response to
this event.

• 3 - Flt RampStop configures the drive to perform a ramp stop and set the appropriate fault bit, in response to
this event.

• 4 - FltCurLimStp configures the drive to perform a current-limit stop and set the appropriate fault bit, in
response to this event.

400 Rated Amps

Current rating of the inverter. The drive automatically sets this at power up.
Notes: The maximum value was changed for firmware version 2.003. The maximum value was changed from

2500.0000 to 3000.0000 for firmware version 4.002.

401 Rated Volts

Nameplate voltage rating of the inverter. The drive automatically sets this at power up.

402 PWM Frequency

Carrier frequency for the PWM output of the drive. Drive derating may occur at higher carrier frequencies. For
derating information, refer to the PowerFlex Reference Manual. Default is dependant on power structure of the
drive.
Note: This parameter was changed for firmware version 3.004 to not allow changes while the drive is running.

403 Voltage Class

Sets the drive configuration for high or low voltage class (for example, 400…480V AC drive). Allows choice of
configuration and affects many drive parameters including drive rated current, voltage, power, over loads and
maximum PWM carrier frequency.
Note: This parameter was changed for firmware version 3.004 to allow the drive to produce an output voltage
limited by Par 53 1
Voltage], and DC bus voltage utilization limit, Par 50 0

404 Dead Time

The time delay between turning off and turning on an upper device and a lower device in the power structure.
This parameter is set at power up and is not user adjustable.

[Maximum Voltage] (or maximum voltage defined by the DC bus voltage level, Par 306 [DC Bus

[Bus Util Limit]).

Values

Default
Options:

Default
Options:

Default
Options:

Default
Options:

Default
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:

Min/Max:
Units:

Default:
Options:

Default:
Min/Max:
Units:

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

1 =

“Al ar m”

0 =

“Ignore”

1 =

“Al ar m”

2 =

“FltCoastStop”

3 =

“Flt RampStop”

4 =

“FltCurLimStp”

22.0000

0.1000/3000.0000
A

480
75/750
V

2.0000 (Fr 5, 6, 9 & Up)

4.0000 (Fr 1-4)

1.0000/15.0000 (10.0000 Fr 5, 6, 9 & Up)
kHz

“High Voltage”

3 =

“Low Voltage”

2 =

“High Voltage”

3 =

5.0000

2.0000/100.0000
μs

Linkable

Read-Write

RO Real

RO 16-bit

RW Real

RO Real

Data Type

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 77

Chapter 2 Programming and Parameters

A

0.221 480Vac 2×× 150 Vdc=

0.615 480Vac 2×× 418 Vdc=

No. Name

Description

405 Dead Time Comp

The amount of voltage correction used to compensate for the loss of voltage during dead time. Do not adjust.
Contact factor y for alternative settings.

406 Power Loss Mode

Enter a value to configure the drive's response to a loss of input power, as sensed by an input voltage below the
value specified in Par 408

• Enter a value of “0” to make the drive fault and coast to a stop (supply no current to the motor) after the
amount of time specified in Par 4 07 [Power Loss Time] has expired.

• Enter a value of “2” to make the drive fault and continue "normal" operation after the amount of time
specified in Par 407 [Power Loss Time] has expired.

• Enter a value of “5” to make the drive provide only motor flux current during the power loss time.

407 Power Loss Time

Sets the amount of time that the drive will remain in a ride through condition before a fault is detected.

408 Power Loss Level

Sets the percentage of the bus voltage at which ride-through begins and modulation ends. When the bus voltage
falls below this level and Par 406
will be displayed on the HIM and the drive prepares for an automatic restart. Enter a percentag e of the bus voltage
derived from the high voltage setting for the voltage class. For example: On a 400-480V drive,

Note: The definition was updated to include the bit settings for parameter 406 for firmware version 4.002.

409 Line Undervolts

Controls the level of bus voltage that is needed to complete precharge and sets the level for undervoltage alarm/
fault detection. Enter a percentage of the bus voltage derived from the value in Par 4 01 [Rated Volts].
For example: on a 480V drive,

[Power Loss Level].

[Power Loss Mode] is set to 0 “Coast” or 5 “Flux Only”, an alarm (F92 “Ride Thru”)

Values

Default:
Min/Max:
Units:

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

0
0/200
%

0 =

“Coast”

0 =

“Coast” 3 = “Reser ved”

1 =

“Reserved” 4 = “Reserved”

2 =

“Continue” 5 = “Flux Only”

2.0000

0.0000/60.0000
s

22.1
15/95
%
0

61.5000

10.0000/90.0000
%

Linkable

Read-Write

RW 16-bit

RW Real

RW 16-bit

RW Real

Data Type

Integer

Integer

410 PreChrg TimeOut

Sets the time duration of precharge. If bus voltage does not stabilize within this amount of time, a Precharge Error
exception event occurs.

411 PreChrg Control

Must equal 1 to allow drive to exit precharge and begin to run. Link this parameter to a controller o utput word to
coordinate the precharge of multiple drives.

Default:
Min/Max:
Units:

Default:
Options:

30.0000

10.0000/180.0000
s

1 =

“Enbl PrChrg”

0 =

“Hold PrChrg”

1 =

“Enbl PrChrg”

RW Real

78 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options:

0 = Zero 19 = Bus VltScale 38 = IGBT Rated A 61 = Convt Type 80 = HH1 P/B ID 99 = HH2 P/B ID

1 = Volt Class 20 = Sml PS Watts 39 = IGBT V Thres 62 = DC Bus Induc 81 = HH1 S/W ID 100 = HH2 S/W ID

2 = Assy Rev 21 = Sml PS Min V 40 = IGBT Slope R 63 = AC Inp Induc 82 = HH1 P/B Rev 101 = HH2 P/B Rev

3 = ASA S/N 22 = Lrg PS Watts 41 = I GBT Sw Engy 64 = Precharg Res 83 = HH1 S/W Rev 102 = HH2 S/W Rev

4 = Manuf Year 23 = Lrg PS Min V 44 = IGBT CS Tres 65 = PrechThrm Tc 84 = HH1 Extr Data 103 = HH2 ExtrData

5 = Manuf Month 24 = Inv Rated Kw 45 = IGBT CS Tc 66 = Mtr NP Units 8 5 = HH1 VoltIndx 104 = HH2 VoltIndx

6 = Manuf Day 25 = Inv Rated V 46 = Diode V Thrs 67 = Mtr NP Power 86 = HH1 SizeIndx 105 = HH2 SizeIndx

7 = Tst ProcStat 26 = Inv Rated A 47 = Diode SlopeR 68 = Mtr NP Volts 87 = HH1 Option 106 = HH2 Option

8 = Life PwrCycl 2 7 = Inv 1min Amp 48 = Diode JC Tr 6 9 = Mtr NP Amps 88 = HH1 HrdPrdct 107 = HH2 HrdPrdct

9 = Life Pwrup 28 = inv 3sec Amp 49 = Diode JC Tc 70 = Mtr NP Freq 89 = HH1 H/W Mdfy 108 = HH2 H/W Mdfy

10 = Life RunTime 29 = SW OverC Amp 50 = GBT Tjmax 71 = Mtr NP RPM 90 = HH1 1V/Amp 109 = HH2 1V/Amp

11 = Kw Accum 30 = D C Bus Cap 51 = HS Max DegC 7 2 = Mtr IR Vdrop 91 = HH1 2s/Amp 110 = HH2 2s/Amp

12 = Mw Hrs Accum 3 1 = Min PWM Khz 52 = DB IGBT Amp 73 = Mtr Id Ref 92 = HH1 Scale 111 = HH2 Scale

13 = Inv High Vlt 32 = Max PWM Khz 53 = DB ohms 74 = HH1 Data Rev 93 = HH2 Data Rev

14 = Reserved 33 = Dfl PWM Khz 54 = DB E Jo/degC 75 = HH1 D ev Type 94 = HH2 Dev Type

15 = Fan/Pwr Cntl 34 = PWM Dead us 55 = DB EB C/Watt 76 = HH1 Serial # 95 = HH2 Serial #

16 = Temp Sensor 35 = Drive Frame 56 = DB B Jo/degC 77 = HH1 Test Date 96 = HH2 Te stDate

17 = Phs AmpScale 36 = IGBTs per Pk 57 = DB BA C/Watt 78 = HH1 Vcn Code 97 = HH2 Vcn Code

18 = Gnd AmpScale 37 = GBT Rated V 60 = DB Ambt Tmax 79 = HH1 CrsCncID 98 = HH2 CrsCncID

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Bus Reg En

Bus Ref High

Brake Extern

Brake Enable

Default xxxxxxxxxxxx1100

Bit 1514131211109876543210

0 = False
1 = True

111 2× 480 VDC=×

No. Name

Description

412 Power EE TP Sel

Enter or write a value to select drive power EEPROM data displayed in Par 41 3 [Power EE TP Data]. The default is 0 “Zero”.
Note: Options 74 - 92 were changed and options 93 - 111 were added for firmware version 3.001.

Values

Linkable

Read-Write

Data Type

413 Power EE TP Data

Displays the data selected by Par 412 [Power EE TP Sel].

414 Brake/Bus Cnfg

Configures the brake and bus operation of the drive.

• Set bit 0 “Brake Enable” to enable the operation of the internal brake transistor.

• Set bit 1 “Brake Extern” to configure the brake to use an external resistor.

• Set bit 2 “Bus Ref High” to select the “h igh” voltage setting as the turn-on point for the Bus Voltage Regulator. With the “high” setting brake operation starts when bus voltage reaches the value

• Set bit 3 “Bus Reg En” to enable the Bus Voltage Regulator. The output of the Bus Voltage Regulator is summed with Par 128

Notes: This parameter was c hanged to non-linkable and bits 5 and 6 were added for future use - not active for use with firmware version 3.001. Remove bits 5 and 6 for firmware version 4.001 - not
used.

415 BusReg/Brake Ref

Sets the “turn-on” voltage for the bus regulator and brakes. Enter a percentage of the high voltage setting for
the voltage class. For example, on a 400…480V AC drive,

Note: The minimum value for frame 5 and up, 600V AC input drives was changed from 110.5000 to 100.0000
for firmware version 4.002.

(1) The minimum value is 100.0000 for frame 5 and up, 600V AC input drives.

416 Brake PulseWatts

Limits the power delivered to the external Dynamic Brake (DB) resistor for one second, without exceeding the
rated element temperature. You may change the value of this parameter only if you have selected an external
DB resistor (set bit 1 “Brake Extern” of Par 414
vendor, you can approximate it with this equation: Par 416
Weight equals the weight of resistor wire element in pounds (not the entire weight of the resistor). Another
equation you can use is: Par 416 [Brake PulseWatts] = Time Constant x Brake Watts; where Time Constant
equals the amount of time to reach 63% of its rated temperature while the maximum power is applied, and
Brake Watts is the peak power rating of the resistor.
Note: The maximum value was changed from 1000000.0000 to 1000000000.0000 for firmware version 3.001.

[BusReg/Brake Ref ], and Bus Voltage Regulator operation starts when bus voltage reaches the value of Par 415 [BusReg/Brake Ref ] plus 4.5%. With the “low” setting, the bus

of Par 415
regulator turns on first at the value set by Par 415 [BusReg/Brake Ref] and then the dynam ic braking turns on when there are any transients above the value set in Par 415 [BusReg/Brake Ref].

effec t, reduces rege nerative torqu e references wh en the bus vo ltage is too h igh.

[Brake/Bus Cnfg]. If this rating is not available from the resistor

[Brake PulseWatts] = 75,000 x Weight, where

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 79

Default:
Min/Max:0-/[phone]

[Regen Power Lim] and fed into the Power Limit Calculator. It, in

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

111.0000

(1)

/117.8000

110.5000
%

2000.0000

1.0000/1000000000.0000
W

RO Real

RW Real

RW Real

Chapter 2 Programming and Parameters

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Para llel D rv

PF 700L

Hi Pwr Strct

Lo Pwr Strct

Default xxxxxxxxxxxx0000

Bit 1514131211109876543210

0 = False
1 = True

A

A

A

A

A

AAA

No. Name

Description

417 Brake Watts

Sets the continuous rated power reference for the Dynamic Brake (DB). You may change the value of this
parameter only if you have selected and external DB resistor (set bit 1 “Brake Extern” of Par 414
Cnfg].
Note: The maximum value was changed from 5000.0000 to 500000.0000 for firmware version 3.001.

418 Brake TP Sel

Enter or write a value to select the drive brake data displayed in Par 41 9 [Brake TP Data].

419 Brake TP Data

Displays the data selected by Par 418 [Brake TP Sel].

420 Pwr Strct Mode

Displays the power structure used in the drive. This is an identifier to the firmware for power structure control.

• Bit 0 “Lo Pwr Strct” = PowerFlex 700S Frame 1 to 6

• Bit 1 “Hi Pwr Strct” = PowerFlex 700S above Frame 6

• Bit 3 “Parallel Drv” = PowerFlex 700S Frame 12

Note: Bit 3 “Parallel Drv” was added for firmware version 3.001.

[Brake/Bus

Values

Default:
Min/Max:
Units:

Default:
Options:

Default:
Min/Max:

100.0000

0.0000/500000.0000
W

0 =

“Zero”

0 =

“Zero” 10 = “Data State”

1 =

“Duty Cycle” 11 = “MC BrakeEnbl”

2 =

“Power Actual” 12 = “1/rdb”

3 =

“Max BodyTemp” 1 3 = “1/th_e b”

4 =

“Max ElemTemp” 14 = “1/ce”

5 =

“BodyTemp Act” 15 = “tamax”

6 =

“ElemTemp Act” 16 = “1/th_ba”

7 =

“BTmpTripStat” 17 = “1/cb”

8 =

“ETmpTripStat” 18 = “DB IGBT Amp”

9 =

“Int DB Ohms”

0.0000

-/+2200000000.0000

Linkable

RW Real

RO Real

Read-Write

Data Type

421 Iqs Integ Freq

Sets the break frequency of the torque producing (q-axis) current regulator. This and Par 422 [Iqs Reg P Gain]
determine the integral gain for the q-axis current regulator. Set by the autotune procedure. Do not change
this value.

422 Iqs Reg P Gain

Sets the proportional gain of the torque producing (q-axis) current regulator. Set by the autotune procedure.
Do not change this value.

423 Iqs Rate Limit

Sets the limit of the rate of change for the torque producing (q-axis) current regulator. Do not change this
parameter. Use Par 35 5 [Iq Rate Limited] to control the q- axis current rate limit.

424 Flux Ratio Ref

Active only in the Field O riented Control (FOC) 2 motor control mode (when Par 485 [Motor Ctrl Mode] equals
1 - “FOC 2”). Provides a scaling factor for the flux producing (d-axis) current reference.

• When ac tive (Par 511

Reference = Par 48 8 [Flux Current] x Par 424 [Flux Ratio Ref ].

• When inactive (Par 511 [FVC2 Mode Config], bit 28 “FlxRatRef Use” is cleared) Flux Producing (d-axis)

Current Reference = Par 488 [Flux Current] below base speed and Flux Producing (d-axis) Current
Reference = Par 488 [Flux Current] x motor base speed/motor speed above base speed.

425 Flux Rate Limit

Sets the limit for the maximum rate of change for flux producing (d-axis) current.

426 Flux Satur Coef

This represents the amount of flux current required to compensate for the flux saturation effect of the motor.
Active only for FOC 2 motor control mode.

427 PM Mtr CEMF Comp

Provides CEMF compensation for the torque producing (q-axis) current in the permanent magnet motor
mode.

428 IReg IGain Fctr

Adjustment for current regulator integral frequency factor (gain).

[FVC2 Mode Config], bit 28 “FlxRatRef Use” is set), Flux Producing (d-axis) Current

Default:
Min/Max:
Units:

Default:
Min/Max:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:11/20

10
0/32767
rad/s

1.0

0.0/100.0
x 10

800.0

0.0/800.0
%/ms
x 10

99.99

12.50/399.99
%
100 = 32767

1.0

0.0/195.3
%/ms
x 10

0.0

0.0/51.3
%
x 10

0
0/100
%

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

80 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

A

A

A

A

A

A

A

A

A

A

A

A

A

A

A

A

A

A

A

No. Name

Description

429 Ids Integ Freq

Sets the break frequency of the flux producing (d-axis) current regulator. This and Par 430 [Ids Reg P Gain]
determine the integral gain for the d-axis current regulator. Set by the autotune procedure. Do not change
this value.

430 Ids Reg P Gain

Sets the proportional gain of the flux producing (d-axis) current regulator. Set by the autotune procedure. Do
not change this value.

431 Test Current Ref

Sets the current reference used for Motor Control (MC) Test Mode.

432 Test Freq Ref

Sets the frequency reference used for Motor Control (MC) Test Mode.
Note: The default value was changed for firmware version 2.003.

433 Test Freq Rate

Sets the rate of change of frequency reference used for Motor Control (MC) Test Mode.

434 Mtr Vds Base

Displays the motor flux producing (d-axis) voltage command when running at nameplate motor speed and
load. This value is determined during the auto-tune procedure. Do not change this value. Used only in FOC
modes.

435 Mtr Vqs Base

Displays the motor torque producing (q-axis) voltage command when running at nameplate motor speed and
load. This value is determined during the auto-tune procedure. Do not change this value. Used only in FOC
modes.

437 Vqs Max

Displays the maximum torque producing (q-axis) voltage allowed on the motor. Adaptation is disabled below
this voltage. This value is determined during the auto-tune procedure. Do not change this value. Used only in
FOC modes.

438 Vds Max

Displays the maximum flux producing (d-axis) voltage allowed on the motor. Adaptation is disabled below
this voltage. This value is determined during the auto-tune procedure. Do not change this value. Used only in
FOC modes.

439 Vqs Min

Displays the minimum torque producing (q-axis) voltage required for motor control adaptation. This value is
determined during the auto-tune procedure. Do not change this value. Used only in FOC modes.

440 Vds Min

Displays the minimum flux producing (d-axis) voltage required for motor control adaptation. Adaptation is
disabled below this voltage. This value is determined during the auto-tune procedure. Do not change this
value.

441 Vds Fdbk Filt

Displays measured filtered motor flux producing (d-axis) voltage.

Values

Default:
Min/Max:
Units:

Default:
Min/Max:
Scale:

Units:
Default:
Min/Max:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max0-8192/0

Default:
Min/Max:00/8192

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:0-/+32767

10
0/32767
rad/s

1.0

0.0/100.0
x 10

%

50.0

0.0/799.9
x 10

1.0

-/+799.9
%
x 10

5.0

0.0/1000.0
%/s
x 10

7971
0/32767

5793
0/32767

246

-/+32767

246

-/+32767

Linkable

Read-Write

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RO 16-bit

RO 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RO 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

442 Vqs Fdbk Filt

Displays measured filtered motor torque producing (q-axis) voltage.

443 Flux Reg P Gain1

Sets the Proportional (P) gain for the flux regulator. Do not change this value.

444 Flux Reg I Gain

Sets the Integral (I) gain for the flux regulator. Do not change this value.

445 Slip Gain Max

Displays the maximum slip frequency allowed in the motor control. The scaling is in hertz x 256. This value is
determined during the auto-tune procedure. Do not change this value.

446 Slip Gain Min

Displays the minimum slip frequency allowed in the motor control. The scaling is in hertz x 256. This value is
determined during the auto-tune procedure. Do not change this value.

447 Slip Reg P Gain

Sets the Proportional (P) gain for the slip regulator. Do not change this value.

448 Slip Reg I Gain

Sets the Integral (I) gain for the slip regulator. Do not change this value.

Default:
Min/Max:0-/+32767

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:350/32767

Default:
Min/Max:

150
0/32767

350
0/32767

300
100/10000
%

50
0/100
%

100
0/32767

RO 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 81

Chapter 2 Programming and Parameters

A

A

A

A

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Neg Parametr

Not Rotating

Not Rotating

Reserved

Reserved

WP-VNOn-Wcur

WP-UNOn-U,W

VP-WNOn-Wcur

VP-UNOn-Ucur

UP-WNOn-U,W

UP-VNOn-Ucur

Ground Fault

Ground Fault

UP,VPdevShr t

UP,WPdevShr t

VP,WPdevShr t

UN,VNdevShrt

UN,WNdevShrt

VN,WNdevShrt

Vbus Range

Default xxxxxxxxxxxx000xx000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Negative Wr

Reserved

Reserved

WP-VNOn-Vvw

WPUN-Vuv,Vvw

VP-WNOn-Vvw

VP-UNOn-Vuv

UPWN-Vuv,Vvw

UP-VNOn-Vuv

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

SensOfstRnge

Default xxxxxxxxxxxxxx0xx000000xxxxxxxx0

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

449 SrLss FreqReg Ki

Sets the integral gain of the Frequency Regulator, which estimates motor speed when sensorless feedback is
selected. Do not change this value.

450 SrLss FreqReg Kp

Sets the proportional gain of the Frequency Regulator, which estimates motor speed when sensorless
feedback is selected. Do not change this value.

453 Iu Offset

Sets the current offset correction for the phase U current. This value is set automatically when the drive is not
running and Motor Control (MC) is not faulted. Do not change this value.

454 Iw Offset

Sets the current offset correction for the flux producing (d-axis) current regulator. This value is set
automatically when the drive is not running and Motor Control (MC) is not faulted. Do not change this value.

456 MC Build Number

Displays the build number of the drive's Motor Control (MC) software.

457 MC Firmware Rev

Displays the major and minor revision levels of the drive's Motor Control (MC) software. Changed all values to
three decimal places for firmware version 4.001.

459 IdsCompCoeff Mot

Defines the flux producing current (Ids) command compensation coefficient used during motoring. When this
parameter is set to 1024 the amount of compensation, which is proportional to torque producing current (Iqs)
command, is 100% of the rated flux current at 1 P.U. of Iqs command when the torque producing voltage
(Vqs) regulator is off and Par 510
compensation will be applied when Par 510 [FVC Mode Config], bit 7 = “0”.
Notes: Refer to “Ids Compensation Coefficient Set Up” in the PowerFlex 700S with Phase II Control Reference
Manual, publication PFLEX-RM003

4.001.

460 IdsCompCoeff Reg

Defines the flux producing current (Ids) command compensation coefficient used during regeneration. When
this parameter is set to 1024 the amount of compensation, which is proportional to torque producing current
(Iqs) command, is 100% of the rated flux current at 1 P.U. of Iqs command when the Vqs regulator is off and

[FVC Mode Config], bit 7 “Ids Comp En” = “1”. No Ids command compensation will be applied when

Par 51 0

Par 510 [FVC Mode Config], bit 7 = “0”.
Notes: Refer to “Ids Compensation Coefficient Set Up” in the PowerFlex 700S with Phase II Control Reference
Manual, publication PFLEX-RM003

4.001.

461 SlipReg Off Iqs

Defines the torque producing current (Iqs) reference level below which the slip regulator turns off, when the
slip regulator turn off point is defined as ((Par 461 / 10) + 5) % of the rated Iqs reference. The slip regulator
turn on point is defined as ((Par 461 / 10) + 10) % of the rated Iqs reference with the condition of the Vqs
regulator is turned on.
Note: This parameter was added for firmware version 4.001.

462 VqsReg Off Freq

Defines the output frequency level below which the Vqs regulator turns off, when the Vqs regulator turn off
point is defined as (Par 462 / 10) % of the rated motor frequency. The Vqs regulator turn on point is defined as
((Par 462 / 10) + 2) % of the rated motor frequency.
Note: This parameter was added for firmware version 4.001.

463 MC Diag Error 1

Displays the first diagnostic error encountered by the Motor Control (MC). Errors appear in this parameter in the order in which they occurred.
Note: Bits 7 & 8 have been changed to “Ground Fault” for firmware version 2.004.

[FVC Mode Config], bit 7 “Ids Comp En” = “1”. No Ids command

, for more information. This parameter was added for firmware version

, for more information. This parameter was added for firmware version

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:0-/+32767

Default:
Min/Max:0-/+32767

Default:
Min/Max:00/65535

Default:
Min/Max:
Scale:

Default:
Min/Max:0+/-32767

Default:
Min/Max:0+/-32767

Default:
Min/Max:

Default:
Min/Max:

250
0/32767

350
0/32767

0.000

0.000/655.350
x 10

200
+/-32767

150
0/1000

Linkable

Read-Write

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RO 16-bit

RO 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

464 MC Diag Error 2

Displays the second diagnostic error encountered by the Motor Control (MC). Errors appear in this parameter in the order in which they occurred.

82 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

IFlux Range

Reserved

Reserved

Reserved

CurrSensor W

Reserved

CurrSensor V

Reserved

CurrSensor U

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxxxxxxx0xxx0x0x0xxxxxxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

465 MC Diag Error 3

Displays the third diagnostic error encountered by the Motor Control (MC). Errors appear in this parameter in the order in which they occurred.

• Bit 9 “CurrSensor U” - indicates a current sensing fault in the U phase power structure of a frame 12 drive.

• Bit 11 “CurrSensor V” - indicates a current sensing fault in the V phase power structure of a frame 12 drive.

• Bit 13 “CurrSensor W” - indicates a current sensing fault in the W phase power structure of a frame 12 drive.

• Bit 17 “IFlux Range” - indicates that the Flux current is above 90% of the motor rated current.

Note: Bits 1 - 7, 10, 12 and 18 were changed to “Reserved”, bits 9, 11, 13 and 17 were changed for firmware version 3.001.

Linkable

Read-Write

Data Type

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 83

Chapter 2 Programming and Parameters

A

Options:

0 = MuIqsRef2 43 = FluxR atio4 86 = SlipGainRate 129 = RWVvOut 172 = VqsComp 215 = CurrSnsChck1

1 = SlipRatio 44 = MuFlxRtioRef 87 = FiltSlipGain 130 = RW VwOut 173 = S4096 2.5V 216 = CurrSnsChck3

2 = Ws 45 = RcpFlxRatio1 88 = SlipScale 131 = RWuErr 174 = FreqAdjustFS 217 = CurrSnsChck5

3 = WrEst2 46 = MuIfluxRef 89 = SlipSclShift 132 = RWvErr 175 = Reserved 218 = FrameSize

4 = We 4 7 = MuItestRef 90 = VdsError 133 = RWwErr 176 = FreqIntMonFB 219 = Reserved

5 = VdsCmd 48 = MotVntc 91 = MotorRegen 134 = RW VuOut2 177 = MtrCntrlSel 220 = Reserved

6 = VqsCmd 49 = BaseSlip 92 = VqsSlwRtCLim 135 = RWVvOut2 178 = WeMon 221 = Reserved

7 = VuCmd1 5 0 = VbusFdbk2 93 = MotorVlts 136 = RWVwOut2 179 = BusUtlMtrVlt 222 = PowerMon

8 = VvCmd1 51 = VdsFdbk2 94 = B usUtil 137 = RWPosState 180 = IqsCmd2 223 = RawIwFdbk2

9 = VwCmd1 52 = VqsFdbk2 95 = IdsCompMon 138 = RWNegState 181 = PosErrSum 224 = VqsFbFltrCom

10 = IuFdbk 53 = VdsSpdVltFlt 96 = IqsLimit 139 = BusDropVolts 182 = NegErrSum 225 = VqsErrorComm

11 = IwFdbk 54 = WrEst1 97 = VqsSlwRtCnt 140 = Re coverVolts 183 = Reserved 226 = ReconswFreq

12 = IdsFdbk 55 = MuTestFrqRef 98 = VqsErrMon 141 = DbDuty 184 = VLmtVqsRef 227 = ReconAngleAc

13 = IqsFdbk 56 = TestFrqRef 99 = VqsNoErrCnt 142 = VdsFdbkFltr 185 = VRefVqsRefNm 228 = VsCmdAngleVf

14 = VdsFdbk 57 = FluxFltrN_1 100 = VqsIdsCmd 143 = VqsFdbkFltr 186 = VRefRsIqsNm 229 = ReconFreqInt

15 = VuvFdbk 58 = PrchgDlayCtr 101 = VqsMaxMotor 144 = VbusFdbkFltr 187 = VRefVqsSpdVN 230 = SpeedRef

16 = VvwFdbk 59 = PrchTimOutCr 102 = VqsMaxVbus 145 = VbusMemory 188 = EconoVoltGn 231 = CurFbkIdsFbk

17 = VqsFdbk 60 = PrchPilotCtr 103 = FreqMinFB 146 = VpEnc0VelFbk 189 = F Output Fre 2 32 = CurFbkIqsFbk

18 = IdsCmd 61 = TrqEnableCtr 104 = FreqMaxFB 147 = VpEnc1VelFbk 190 = TrqCreflqsCm 233 = VqsThetaEst

19 = IqsRatio 6 2 = MuTscan1 105 = IdsCmdFilter 148 = VPOpt0VelFbk 191 = Snk Wr 234 = VdsThetaEst

20 = MuIqsRef 63 = ErStatFromCp 106 = DelFreqIntFB 149 = VPO pt1VelFbk 192 = SrLssWrAve 235 = RecnSwitch

21 = IqsCmd 64 = FlxCurRteOut 107 = VqsError 150 = BitSe lect1 193 = CurFbkIqsFbk 236 = VqsFbTransf

22 = We2 65 = ThetaE 108 = SlipBrkErrFB 151 = BitSelec t2 194 = ACRIqsErr 237 = VdsFbTransf

23 = VuTd 66 = SinThetaE1 109 = FastBrkOnFB 152 = SrLssWeEst2 195 = CrefsqIdsCmd 238 = BusLimitVBEr

24 = VvTd 67 = SinThetaE2 110 = FreqOutput 153 = MuIqsRef2 196 = CurFbkIdsFbk 239 = ParDecelRtMC

25 = VwTd 68 = SinThetaE3 111 = AbsFreqOut 154 = EstThetaByMV 197 = VqsCmd700B 240 = ACRIqsRef

26 = VuCmd2 69 = SinThetaE4 112 = TestMark70 155 = ETVdsFbkA 198 = VdsCmc700B 241 = ACRIqsCmd

27 = VvCmd2 70 = SinThetaE5 113 = TestMark71 156 = ETVqsFbkA 199 = VqsRefNom 242 = IqsCmdFltr

28 = VwCmd2 71 = Si nThetaE6 114 = TestMark72 157 = ETVdsFbkS 200 = VqsRsIqsNom 243 = ISpdCmd

29 = Kpwm 72 = ThetaEcor 115 = TestMark73 158 = ETVqsFbkS 201 = VqsSpdVltNom 244 = AccDecRate

30 = Vds_cemf 73 = SinThtaEcor1 116 = TestMark74 159 = ETAtanVqVd 202 = VltLmtVqsRef 245 = RecThetaEx4

31 = Vqs_cemf 74 = SinThtaEcor2 117 = TestMark75 160 = ETByMtrVDfr 203 = IdsFbkDeriv 246 = RecVqsFdbk

32 = VdsCmd2 75 = SinThtaEcor3 118 = TestMark76 161 = VelRef2 204 = VdsRefNom 247 = RecVdsFdbk

33 = VqsCmd2 76 = SinThtaEcor4 119 = TestMark76 162 = VelOutput 205 = VdsRsIdsNom 248 = VdeFilter

34 = IdsIntegral 77 = MuIR ef2B 120 = TestMark78 163 = Flux Up Time 206 = VdsSpdVltNom 249 = VqsFdbkTrans

35 = IqsIntegral 78 = Sp dFdbk 121 = TestMark79 164 = FrameSize 207 = VltLmtVdsRef 250 = VdsFdbkTrans

36 = DcBus 79 = SpdIntegral 122 = TestMark7A 165 = VdTargetMon 208 = IdsFbkDeriv 251 = Excitation

37 = AGnd 80 = SpdPrportnal 123 = TestMark7B 166 = ThetaELiner 209 = VuvFbkOffset 252 = ExciteStatus

38 = Wr2 81 = SpdPI 124 = TestMark7C 167 = PprCntD fcOt 210 = VvwFbkOff set 253 = CommIdsCount

39 = FluxRatio1 82 = SpdRef 125 = TestMark7D 168 = PprCntDfcTh 211 = IuFbkOffset 254 = ThetaEsample

40 = VbusFdbk 83 = SlipGainEst 126 = TestMark7E 169 = LinearPprCnt 212 = IwFbkOf fset 255 Reserved

41 = FluxRatio2 84 = LatchSlipGin 127 = TestMark7F 170 = ActiveFdbk 213 = KSlipNP

42 = FluxRatio3 85 = Ws2 128 = RWVuOut 171 = VdsComp 214 = IUnbalanceSt

A

No. Name

Values

Description

466 MC TP1 Select

Enter a value to select Moto r Control (MC) data displayed in Par 467 [MC TP1 Value] and Par 468 [MC TP1 Bit]. Par 467 [MC TP1 Value] and Par 468 [MC TP1 Bit] are diagnostic tools you can use to
view internal drive parameters.
The default value is option 0 “MuIqsRef2”.
Notes: Options 209 - 212 were added for firmware version 2.004. Options 213 - 254 were added for firmware version 3.001. Changed the following selections for firmware 4.001: 84,86, 87, 88, 89,
90, 91, 92, 95, 97, 98, 99, 103, 104, 105, 106, 108, 109, 110, 111, 163, 16 4, 165, 174, 175, 176, 177, 178, 179, 181, 182, 183. 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 236,
237, 253. Added option 163 “Flux Up Time” for firmware version 4.002.

467 MC TP1 Value

Displays the data selected by Par 46 6 [MC TP1 Select]. This display should only be used if the selected value is
integer data. This parameter is a diagnostic tool you can use to view internal drive parameters.

84 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Min/Max:0-/[phone]

Linkable

Read-Write

RO 32-bit

Data Type

Integer

Programming and Parameters Chapter 2

A

A

A

A

No. Name

Description

468 MC TP1 Bit

Displays the data selected by Par 46 6 [MC TP1 Select]. This display should only be used if the selected value is
bit-enumerated data. Par 468 [MC TP1 Bit] is a diagnostic tool you can use to view internal drive parameters.

469 FVC CEMF Comp

Displays the current regulator feedforward compensation. Do not change this value.

470 Flux Reg P Gain2

Displays the additional proportional gain used at the start of Bus voltage limited field weakening. Do not
change this value.

471 Estimated Torque

Displays the calculated motor shaft torque.
Notes: This parameter was added for firmware version 2.003. The Units and Scale information were added for
firmware version 4.002.

472 PreCharge Delay

Adjusts the delay between the time all other precharge conditions have been met and the time the drive
leaves the precharge state. Can be used to control the sequence of precharge completion in a drive system.
The maximum value of this parameter is calculated as follows:
Par 472 [PreCharge Delay] = Par 41 0

[PreChrg TimeOut] - 1. 0 second.

Values

Default:
Min:
Max:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

00000000000000000000000000000000
00000000000000000000000000000000
11111111111111111111111111111111

0
0/100
%

1000
0/32767

0.0
+/-8.0 P.U.
P. U .

1.0 = 100% of the Motor Torque

2.0

0.0/Calculated
s

Linkable

Read-Write

RO 32-bit

RW 16-bit

RW 16-bit

RO Real

RW 16-bit

Data Type

Boolean

Integer

Integer

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 85

Chapter 2 Programming and Parameters

A

Options:

0 = MuIqsRef2 43 = FluxR atio4 86 = SlipGainRate 129 = RWVvOut 172 = VqsComp 215 = CurrSnsChck1

1 = SlipRatio 44 = MuFlxRtioRef 87 = FiltSlipGain 130 = RW VwOut 173 = S4096 2.5V 216 = CurrSnsChck3

2 = Ws 45 = RcpFlxRatio1 88 = SlipScale 131 = RWuErr 174 = FreqAdjustFS 217 = CurrSnsChck5

3 = WrEst2 46 = MuIfluxRef 89 = SlipSclShift 132 = RWvErr 175 = Reserved 218 = FrameSize

4 = We 4 7 = MuItestRef 90 = VdsError 133 = RWwErr 176 = FreqIntMonFB 219 = Reserved

5 = VdsCmd 48 = MotVntc 91 = MotorRegen 134 = RW VuOut2 177 = MtrCntrlSel 220 = Reserved

6 = VqsCmd 49 = BaseSlip 92 = VqsSlwRtCLim 135 = RWVvOut2 178 = WeMon 221 = Reserved

7 = VuCmd1 5 0 = VbusFdbk2 93 = MotorVlts 136 = RWVwOut2 179 = Reserved 222 = PowerMon

8 = VvCmd1 51 = VdsFdbk2 94 = B usUtil 137 = RWPosState 180 = IqsCmd2 223 = RawIwFdbk2

9 = VwCmd1 52 = VqsFdbk2 95 = IdsCompMon 138 = RWNegState 181 = Reserved 224 = VqsFbFltrCom

10 = IuFdbk 53 = VdsSpdVltFlt 96 = IqsLimit 139 = BusDropVolts 182 = Reserved 225 = VqsErrorComm

11 = IwFdbk 54 = WrEst1 97 = VqsSlwRtCnt 140 = Re coverVolts 183 = Reserved 226 = ReconswFreq

12 = IdsFdbk 55 = MuTestFrqRef 98 = VqsErrMon 141 = DbDuty 184 = VLmtVqsRef 227 = ReconAngleAc

13 = IqsFdbk 56 = TestFrqRef 99 = VqsNoErrCnt 142 = VdsFdbkFltr 185 = VRefVqsRefNm 228 = VsCmdAngleVf

14 = VdsFdbk 57 = FluxFltrN_1 100 = VqsIdsCmd 143 = VqsFdbkFltr 186 = VRefRsIqsNm 229 = ReconFreqInt

15 = VuvFdbk 58 = PrchgDlayCtr 101 = VqsMaxMotor 144 = VbusFdbkFltr 187 = VRefVqsSpdVN 230 = SpeedRef

16 = VvwFdbk 59 = PrchTimOutCr 102 = VqsMaxVbus 145 = VbusMemory 188 = EconoVoltGn 231 = CurFbkIdsFbk

17 = VqsFdbk 60 = PrchPilotCtr 103 = FreqMinFB 146 = VpEnc0VelFbk 189 = F Output Fre 2 32 = CurFbkIqsFbk

18 = IdsCmd 61 = TrqEnableCtr 104 = FreqMaxFB 147 = VpEnc1VelFbk 190 = TrqCreflqsCm 233 = VqsThetaEst

19 = IqsRatio 6 2 = MuTscan1 105 = IdsCmdFilter 148 = VPOpt0VelFbk 191 = Snk Wr 234 = VdsThetaEst

20 = MuIqsRef 63 = ErStatFromCp 106 = DelFreqIntFB 149 = VPO pt1VelFbk 192 = SrLssWrAve 235 = RecnSwitch

21 = IqsCmd 64 = FlxCurRteOut 107 = VqsError 150 = BitSe lect1 193 = CurFbkIqsFbk 236 = VqsFbTransf

22 = We2 65 = ThetaE 108 = SlipBrkErrFB 151 = BitSele ct2 194 = ACRIqsErr 237 = VdsFbTransf

23 = VuTd 66 = SinThetaE1 109 = FastBrkOnFB 152 = SrLssWeEst2 195 = CrefsqIdsCmd 238 = BusLimitVBEr

24 = VvTd 67 = SinThetaE2 110 = FreqOutput 153 = MuIqsRef2 196 = CurFbkIdsFbk 239 = ParDecelRtMC

25 = VwTd 68 = SinThetaE3 111 = AbsFreqOut 154 = EstThetaByMV 197 = VqsCmd700B 240 = ACRIqsRef

26 = VuCmd2 69 = SinThetaE4 112 = TestMark70 155 = ETVdsFbkA 198 = VdsCmc700B 241 = ACRIqsCmd

27 = VvCmd2 70 = SinThetaE5 113 = TestMark71 156 = ETVqsFbkA 199 = VqsRefNom 242 = IqsCmdFltr

28 = VwCmd2 71 = Si nThetaE6 114 = TestMark72 157 = ETVdsFbkS 200 = VqsRsIqsNom 243 = ISpdCmd

29 = Kpwm 72 = ThetaEcor 115 = TestMark73 158 = ETVqsFbkS 201 = VqsSpdVltNom 244 = AccDecRate

30 = Vds_cemf 73 = SinThtaEcor1 116 = TestMark74 159 = ETAtanVqVd 202 = VltLmtVqsRef 245 = RecThetaEx4

31 = Vqs_cemf 74 = SinThtaEcor2 117 = TestMark75 160 = ETByMtrVDfr 203 = IdsFbkDeriv 246 = RecVqsFdbk

32 = VdsCmd2 75 = SinThtaEcor3 118 = TestMark76 161 = VelRef2 204 = VdsRefNom 247 = RecVdsFdbk

33 = VqsCmd2 76 = SinThtaEcor4 119 = TestMark76 162 = VelOutput 205 = VdsRsIdsNom 248 = VdeFilter

34 = IdsIntegral 77 = MuIR ef2B 120 = TestMark78 163 = Flux Up Time 206 = VdsSpdVltNom 249 = VqsFdbkTrans

35 = IqsIntegral 78 = Sp dFdbk 121 = TestMark79 164 = FrameSize 207 = VltLmtVdsRef 250 = VdsFdbkTrans

36 = DcBus 79 = SpdIntegral 122 = TestMark7A 165 = VdTargetMon 208 = IdsFbkDeriv 251 = Excitation

37 = AGnd 80 = SpdPrportnal 123 = TestMark7B 166 = ThetaELiner 209 = VuvFbkOffset 252 = ExciteStatus

38 = Wr2 81 = SpdPI 124 = TestMark7C 167 = PprCntD fcOt 210 = VvwFbkOff set 253 = CommIdsCount

39 = FluxRatio1 82 = SpdRef 125 = TestMark7D 168 = PprCntDfcTh 211 = IuFbkOffset 254 = ThetaEsample

40 = VbusFdbk 83 = SlipGainEst 126 = TestMark7E 169 = LinearPprCnt 212 = IwFbkOf fset 255 Reserved

41 = FluxRatio2 84 = LatchSlipGin 127 = TestMark7F 170 = ActiveFdbk 213 = KSlipNP

42 = FluxRatio3 85 = Ws2 128 = RWVuOut 171 = VdsComp 214 = IUnbalanceSt

A

No. Name

Values

Description

473 MC TP2 Select

Enter a value to select Moto r Control (MC) data displayed in Par 474 [MC TP2 Value] and Par 468 [MC TP1 Bit]. Par 474 [MC TP2 Value], and Par 468 [MC TP1 Bit] are diagnostic tools you can use to
view internal drive parameters. This parameter should not be changed by the user.
The default value is option 0 “MuIqsRef2”.
Note: This parameter was added for firmware version 2.003. Added option 163 “Flux Up Time” for firmware version 4.002.

474 MC TP2 Value

Displays the data selected by Par 47 3 [MC TP2 Select]. This display should only be used if the selected value is
integer data. This parameter is a diagnostic tool you can use to view internal drive parame ters. This parameter
should not be changed by the user.
Note: This parameter was added for firmware version 2.003.

86 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Min/Max:

0.0
+/- 2147483648

Linkable

Read-Write

RO 32-bit

Data Type

Integer

Programming and Parameters Chapter 2

A

Options:

0 = IqsRef2 14 = DcBus 29 = DbDuty 43 = RotorFluxEst 57 = VbusDrop 71 = HH OverLoad

1 = Ws 15 = VbusFdbk 30 = VelFdbkEnc0 44 = Ws2 58 = VdsMax 72 = HH Precharge

2 = We 16 = VbusFdbkFltr 31 = VelFdbkEnc1 45 = BusDropVolts 59 = VbusLow 73 = HH Fan Alarm

3 = We2 17 = VbusMemory 32 = VdsCmd2 46 = RecoverVolts 60 = VbusRising 74 = HH BusComm

4 = VdsCmd 18 = Kpwm 33 = VelFdbkOpt1 47 = TestDtoA0 61 = PreChrgDone 75 = HH HW Incomp

5 = VqsCmd 19 = ThetaE 34 = Reserved 48 = TestDtoA1 62 = FieldWeak 76 = HH GateShort

6 = VdsFdbk 20 = FldWeakActiv 35 = Reserved 49 = TestDtoA2 63 = Reserved

7 = VqsFdbk 21 = MtrFlxPU 36 = Reser ved 50 = TestDtoA3 64 = DynamBrakeOn

8 = l uFdbk 23 = SlipGainFltr 37 = Reser ved 51 = R ideThruActv 65 = Reserved

9 = IwFdbk 24 = SlipVdsCmd 38 = TorqueEst 52 = PreChrgReqVp 66 = MCStatusMon

10 = IdsFdbk 25 = MotorVolts 39 = TorqueEstFlt 53 = Re served 67 = MCStatus1

11 = IqsFdbk 26 = BusUtil 40 = Reserved 54 = Reserved 68 = HH OverCurr

12 = IdsCmd 27 = IqsLimit 41 = PowerCalc 55 = Reserved 69 = HH BusOvrVlt

13 = IqsCmd 28 = VqsIdsCmd 42 = TorqueCmd 56 = TorqTrimActv 70 = HH Tr Desat

A

A

A

A

A

A

A

A

A

A

No. Name

Values

Description

475 MC FaultTPSelect

Enter or write a value to select the Motor Control (MC) Fault Data displayed in Par 476 [MC FaultTP Value]. This parameter should not be changed by the user.
Notes: This parameter was added for firmware version 2.003. The value for option 67 was changed from “HH GateShort” to “MCStatus1” for firmware version 2.004. Values 68 - 76 were added for
firmware version 3.001.

476 MC FaultTP Value

Displays the data selected by Par 475 [MC FaultTPSelect]. This parameter should not be changed by the user.
Note: This parameter was added for firmware version 2.003.

477 Est Theta Delay

Active only in Permanent Magnet motor mode (when Par 485 [Motor Ctrl Mode] equals 2 − “PMag Motor”).
Provides a delay for the function that compares the estimated rotor position and the data from the position
sensor.

478 VPL Mem Password

VPL memory password.
Note: This parameter was added for firmware version 2.003.

479 VPL Mem Address

VPL memory address.
Note: This parameter was added for firmware version 2.003.

480 VPL Mem Data Int

VPL memory data integer.
Note: This parameter was added for firmware version 2.003.

481 VPL Mem Data Flt

VPL memory data filter.
Note: This parameter was added for firmware version 2.003.

482 VPL Mem Data Bit

VPL memory data bit.
Note: This parameter was added for firmware version 2.003.

483 VPL Mem Link Int

VPL memory link integer.
Note: This parameter was added for firmware version 2.003.

484 VPL Mem Link Flt

VPL memory link filter.
Note: This parameter was added for firmware version 2.003.

485 Motor Ctrl Mode

Enter a value to select the operating mode for the Motor Control (MC).

• Value 0 - Field Oriented Control (FOC) is induction motor control with voltage adaptation.

• Value 1 - Field Oriented Control 2 (FOC 2) is induction motor control with temperature adaptation. (This
option is used only for motors manufactured by Reliance Electric - Japan.)

• Value 2 - Permanent Magnet Motor Control (Pmag Motor) is permanent magnet motor operation.

• Value 3 - V/Hz is volts per hertz motor control.

• Value 4 - Test is the test mode.

486 Rated Slip Freq

Displays the control slip frequency, determined from Par 3 [Motor NP Her tz] and Par 4 [Motor NP RPM].
Measured and updated by the autotune procedure. Do not change this value.
Note: Changed the attributes to allow changing this parameter while the drive is running for firmware version

3.001.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 87

Default:
Min/Max:

Units:
Default:
Min/Max:

Default:
Min/Max:0+/-2147483648

Default:
Min/Max:00 - 4294967295

Default:
Min/Max:32+/-2147483648

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max: +/-2147483648

Default:
Min/Max:

Default:
Options:

Default:
Min/Max:
Units:
Scale:

0.0
+/- 2147483648

ms
10
2/1024

1.25 RW Real

1.25 RW 32-bit

1.25000 RO Real

0 =

“FOC”

0 =

“FOC” 3 = “V/Hz”

1 =

“FOC 2” 4 = “ Test”

2 =

“PMag Motor”

0.470

0.000/32.000
Hz
x 1000

Linkable

Read-Write

RO 32-bit

RW 16-bit

RW 32-bit

RW 32-bit

RW 32-bit

RO 32-bit

RW 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Chapter 2 Programming and Parameters

A

A

A

A

A

A

A

A

A

A

A

A

AAA

No. Name

Description

487 Motor NTC Coef

Defines a coefficient used to calculate the rotor temperature from the measured stator temperature. Used only
in Field Oriented Control - 2 (FOC2) mode. See Par Par 485

488 Flux Current

Specifies the magnetizing current that produces rated flux in the motor in a per unit (percent representation).
Measured by the auto-tune procedure. Do not change this value.

489 Flx CurFdbk (Id)

Displays flux producing (d-axis) current feedback.

490 StatorInductance

Displays the sum of the stator and cable inductances of the motor in per unit (percent representation), as
determined by the auto-tune procedure. Scaled to percent of rated motor impedance. Do not change this
value.
Note: the default value was changed from 8192 to 4096 for firmware version 3.001.

491 StatorResistance

Displays the sum of the stator and cable resistances of the motor in per unit (percent representation), as
determined by the auto-tune procedure. Scaled to percent of rated motor impedance. Do not change this
value.

492 Leak Inductance

Displays the sum of the motor stator and rotor leak inductance, and motor cable inductances in per unit
(percent representation), as determined by the auto-tune procedure. Scaled to percent of rated motor
impedance. Do not change this value.

[Motor Ctrl Mode].

Values

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

100
50/200
%

30.00

0.00/75.00
%
x 100

0.0000

-/+8.0000 P.U.
P. U .

100.0

0.00/799.99
%
100 = 4096

1.00

0.00/100.00
%
100 = 8192

20.00

0.00/100.00
%
100 = 8192

Linkable

Read-Write

RW 16-bit

RW 16-bit

RO Real

RW 16-bit

RW 16-bit

RW 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

493 Leak Indc Satur1

Displays the leakage inductance correction for the first overload level as determined by the autotune
procedure.

494 Leak Indc Satur2

Displays the leakage inductance correction for the first overload level as determined by the auto-tune
procedure.

495 Iqs Command

Displays the torque producing (q-axis) current command.

496 Ids Command

Displays the flux producing (d-axis) current command.

497 Vqs Command

Displays the command for initiation of voltage on the torque producing axis (q-axis).

498 Vds Command

Displays the command for initiation of voltage on the flux producing axis (d-axis).

499 Trq CurFdbk (Iq)

Displays torque producing (q-axis) current feedback.

500 Bus Util Limit

Sets the maximum allowed bus voltage utilization for the Motor Control. Do not change this value. Higher
values may result in control instability or over-current faults.

501 Torque En Dly

Sets the delay between the time the drive is enabled and the time the Motor Control applies torque.

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

100.00

25.00/100.00
%

100.00

25.00/100.00
%

0.0

-/+800.0
%
x 10

0.0

-/+800.0
%
x 10

0

-/+200
%
100 = 8192

0

-/+200
%
100 = 8192

0.0000

-/+8.0000
P. U .

90.0

0.0/100.0
%
100 = 8192

100
0/32767
ms
100 = 8192

RW 16-bit

Integer

RW 16-bit

Integer

RO 16-bit

Integer

RO 16-bit

Integer

RO 16-bit

Integer

RO 16-bit

Integer

RO Real

RW 16-bit

Integer

RW 16-bit

Integer

88 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

A

A

A

A

A

A

A

A

ATT EN TI ON : Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

SyncTrans En

SrLss RdThru

VltMinorLpEn

SoftAdptGain

Reserved

Reserved

ManuVltOffst

ManuCurOffst

LwSpdRflctWv

Slip Reg En

SlipGain Est

SlipRsCompEn

SlipPrloadEn

SlipSlewRtEn

ReflWaveComp

BusGain Comp

Ids Comp En

Flux Reg Use

Flux Reg En

SlipTuneDone

Fast Flu xDsb l

Reserved

Reserved

Reserved

Default xxxxxxxx1010xx000110001101100xxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Description

502 Rotor Resistance

Displays rotor resistance, as determined by the auto-tune procedure. Scaled to percent of rated motor
impedance. Do not change this value.

503 Current Reg BW

Sets the bandwidth for the current regulator. Par 40 2 [PWM Frequency] limits the maximum value. Reducing
the value reduces current regulator over-shoot.

504 PM AbsEncd Offst

Determined by auto-tune procedure.

505 PM TestWait Time

Defines the time interval used for the automated measurement of Par 504 [PM AbsEncd Offst] for a Permanent
Magnet (PM) motor.

506 PM Test Idc Ramp

Defines the ramp rate of the Flux Producing (d-axis) current reference that is used for the automated
measurement of Par 504 [PM AbsEncd Offst] for a Permanent Magnet (PM) motor.

507 PM Test FreqRamp

Defines the ramp rate of the frequency reference that is used for the automated measurement of Par 504 [PM
AbsEncd Offst] for a Permanent Magnet (PM) motor.

Values

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:

Default:
Min/Max:00/65535

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

1.00

0.00/100.00
%
100 = 8192

600
100/30000
rad/s

2000
500/5000
ms

0.1

0.0/195.3
%/ms
x 10

0.1

0.0/195.3
%/ms
x 10

Linkable

Read-Write

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

508 PM Test Freq Ref

Defines the frequency reference that is used for the automated measurement of Pa r 504 [PM AbsEncd Offst] for
a Permanent Magnet (PM) motor.

509 PM Test I Ref

Defines the amplitude of the Flux Producing (d-axis) current reference that is used for the automated
measurement of Par 504 [PM AbsEncd Offst] for a Permanent Magnet (PM) motor.

510 FVC Mode Config

Configures Field Oriented Control (FOC) operation.

• Bit 4 “SlipTuneDone” when set, the value in Par 486
system. When the Slip Tune is completed, this bit will be automatically be set and Par 486 will be updated.

• Bit 7 “Ids Comp En” setting this bit runs the Ids test, to establish the initial flux current level for the motor, and the inertia test (even if already run).

• Bit 12 “SlipRsCompEn” when set, the stator resistance will be compensated based on the output of the slip regulator.

• Bit16 “ManuCurOffst” when set, Par 4 53

is not set (default) the phase U and W current feedback offset values are automatically updated when the drive is in a stop condition except during the first 10 seconds of the stop condition.

• Bit17 “ManuVltOffst” when this bit is set, Par 549

• Bit 23 “SyncTrans En” when set (default), the synchronous transfer algorithm using voltage feedback data is active.

Notes: Bit changes were made for firmware version 2.003. Bits 10 and 11 were added for firmware version 3.001. Changed bit 3 from “Reserved” to “FastFluxDsbl” for firmware version 3.003. Added
bits 4, 7, 12, 16, 17 and 23 for firmware version 4.001.

[Rated Slip Freq] is used as the slip gain before the slip regulator becomes active, after power is cycled, or when the drive is reset by the

[Iu Offset] is used as the phase U current feedback offset value and Par 454 [Iw Offset] is used as the phase W current feedback offset value. When this bit

[Vuv Fdb k Offset] i s used as th e UV voltage feedback of fset value a nd Par 55 0 [Vvw Fdbk Offset] is used as the VW voltage feedback off set value.

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

10.0

-/+799.9
%
x 10

30.0

0.0/799.9
%
x 10

RW 16-bit

Integer

RW 16-bit

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 89

Chapter 2 Programming and Parameters

ATT EN TI ON : Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

LnfSnsr Dir

LnfSnsr Use

Reserved

FlxRatRf Use

NTC Active

Reserved

Reserved

CEMF We Use

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

BusGain Comp

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default 00x01xx0xxxxxxxxxxxxxxx1xxxxxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

ATT EN TI ON : Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

LinrSnsr Dir

LinrSnsr Use

Reserved

FlxRatRf Use

Reserved

Reserved

Reserved

CEMF We Use

Reserved

Reserved

Reserved

Reserved

PMVltRegUse

PMVltRegEn

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

ReflWaveComp

BusGain Comp

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

PM Cogging

Default 00x0xxx0xxxx11xxxxxxxx11xxxxxxx0

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

ATT EN TI ON : Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

VltMinorLp En

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

ReflWaveComp

BusGain Comp

Reserved

Reserved

Reserved

Reserved

Fast Flu xDs bl

Reserved

Reserved

Reserved

Default xxxxxxxxxx1xxxxxxxxxxx11xxxx1xxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

511 FVC2 Mode Config

Configures Field Oriented Control - 2 (FOC2) operation.
Notes: Bit changes were made for firmware version 2.003. This parameter was changed to non-linkable for firmware version 3.001.

512 PMag Mode Config

Configures Permanent Magnet (PM) operation.

• Bit 0 “PM Cogging” when set, enables torque ripple compensation.

• Bit 9 “ReflWaveComp” when set, Reflected Wave Correction is enabled.

Notes: Bit changes were made for firmware version 2.003. This parameter was changed to non-linkable for firmware version 3.001. Added bit 9 for firmware version 4.001. Bit 0 “PM Cogging” was
added for firmware version 5.002.

Linkable

Read-Write

Data Type

513 V/Hz Mode Config

Configures V/Hz control mode operation.
Notes: This parameter was added for firmware version 2.003. Changed bit 3 from “Reserved” to “FastFluxDsbl” for firmware version 3.003. Bits 8, 9, and 21 were changed to be not changeable while
the drive is running.

90 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

ATTENTION: Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

ReflWave Comp

BusGain Comp

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxxxxxxxxxxxxxxxxx11xxxxxxxx

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

ATTENTION: Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

NoRotateTune

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

NoTimeLimit

FluxCurrTune

Reserved

Default xxxxxx0xxxxxx00x

Bit 1514131211109876543210

0 = False
1 = True

ATTENTION: Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

NoRotateTune

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxx0xxxxxxxxx

Bit 1514131211109876543210

0 = False
1 = True

No. Name

Values

Description

514 Test Mode Config

Configures the Motor Control (MC) test mode.
Note: This parameter was changed to non-linkable for firmware version 3.001.

515 FVC Tune Config

Configures FOC tuning mode.

• Bit 1 “FluxCurrTune” when set, the value in Par 488 [Flux Current] is used as the flux current at the beginning of the magnetic inductance test. When this bit is not set (default), an automatically
calculated (preset) flux current is used as the flux current at the beginning of the magnetic inductance test.

• Bit 2 “NoTimeLimit” when set, the time limit fault detection during the magnetizing inductance test is disabled.

Note: Bits 1 and 2 were added for firmware version 4.001.

Linkable

Read-Write

Data Type

516 FVC2 Tune Config

Configures FOC 2 tuning mode.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 91

Chapter 2 Programming and Parameters

ATTENTION: Do not modify this parameter. Motor/Drive instabilities and damage may result.

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

IndTestA set

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Default xxxxxxx0xxxxxxxx

Bit 1514131211109876543210

0 = False
1 = True

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

PwrDiagFltPt

PM EncOffset

Rot Dir Chk

CommCntEn cls

Comm Count

CommParamCal

CommLmEn cles

Comm Lm Me as

Comm Sigm aLs

Comm Rs Me as

PDgTrWP-VNOn

PDgTrWP-UNOn

PDgTrVP-WNOn

PDgVP-UNOn

PDgUP-WNOn

PDgTrUP-VNOn

PDgTrUNWNOn

PDgTrUPWPOn

Pdiag TrWNO n

Pdiag TrVNOn

Pdiag TrUNO n

Pdiag TrWPO n

Pdiag TrVPOn

Pdiag TrUPO n

Pdg VbusSens

Default xxxxxxx0000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

PwrDiagFltPt

PM EncOffset

Rot Dir Chk

CommCntEn cls

Comm Count

CommParamCal

CommLmEn cles

Comm Lm Me as

Comm Sigm aLs

Comm Rs Me as

PDgTrWP-VNOn

PDgTrWP-UNOn

PDgTrVP-WNOn

PDgVP-UNOn

PDgUP-WNOn

PDgTrUP-VNOn

PDgTrUNWNOn

PDgTrUPWPOn

Pdiag TrWNOn

Pdiag TrVNOn

Pdiag TrUNOn

Pdiag TrWPOn

Pdiag TrVPOn

Pdiag TrUPOn

Pdg VbusSens

Default xxxxxxx0000000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

A

A

A

A

A

No. Name

Description

517 PMag Tune Config

Configures Permanent Magnet Motor tuning mode.

518 MC Diag Status

Indicates the status of the MC diagnostic tests.

519 MC Diag Done

Indicates which MC diagnostic tests are completed.

Values

Linkable

Read-Write

Data Type

520 PM Q Inductance

Indicates the percent-per unit inductance of the motor stator in the torque producing (q-axis).

521 PM D Inductance

Indicates the percent-per unit inductance of the motor stator in the flux producing (d-axis).

522 PM Stator Resist

Indicates the percent-per unit resistance of the motor stator.

523 PM Mtr CEMF Coef

Indicates the coefficient for Counter Electro Motive Force (CEMF) voltage, normalized to base motor speed.

525 Slip Ratio

Used by the Field Oriented Control - 2 (FOC2) mode. Indicates the present operating slip frequency at 100%
Torque Producing Current (Iqs) scaled to hertz x 100.

526 Stator Frequency

Displays stator frequency as a percentage of Par 3 [Motor NP Hertz].

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

Default:
Min/Max:
Units:
Scale:

20.00

0.00/399.99
%
100 = 8192

20.00

0.00/399.99
%
100 = 8192

1.50

0.00/100.00
%
100 = 8192

89.99

0.00/399.99
%
100 = 8192

0.00

0.00/327.67
Hz
x 10

0.0

-/+800.0
%
x 10

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

RO 16-bit

Integer

RO 16-bit

Integer

92 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

A

A

A

A

A

A

A

A

A

A

A

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Bus Volt Lim

Current Lim

Default xxxxxxxxxxxxxx00

Bit 1514131211109876543210

0 = False
1 = True

A

A

No. Name

Description

527 Start/Acc Boost

Sets the voltage boost level for starting and acceleration when “V/Hz” mode is selected.
Note: This parameter was added for firmware version 2.003.

528 Run Boost

Sets the boost level for steady state or deceleration when “V/Hz” mode is selected.
Note: This parameter was added for firmware version 2.003.

529 Break Voltage

Sets the voltage the drive will output at Par 530 [Break Frequency].
Note: This parameter was added for firmware version 2.003.

530 Break Frequency

Sets the frequency the drive will output at Par 5 29 [Break Voltage].
Note: This parameter was added for firmware version 2.003.

531 Maximum Voltage

Sets the highest voltage the drive will output.
Note: This parameter was added for firmware version 2.003.

532 Maximum Freq

Sets the highest frequency the drive will output. This parameter is a function of Par 3 [Motor NP Hertz].
Note: This parameter was added for firmware version 2.003.

533 SlewRateTimeLimt

Defines the time limit in seconds during which torque producing voltage (Vqs) regulator output variations are
limited by each slew rate at the transition where the Vqs regulator turns on. The same time limit is applied at
the transition to the slip regulator when the slip regulator turns on. A value of zero disables the slew rate
function on both the Vqs regulator output and the slip regulator output. Par 553 defines the slew rate for the
slip regulator and Par 586
Notes: This parameter was added for firmware version 3.001. This parameter was renamed from “Flux Gain
Adjust” to “SlewRateTimeLimit”, the default value was changed to “10.0” and the minimum value was
changed to “0.0” for firmware version 4.001.

534 Nth CompOff Freq

The Nth compensation current amplitude is constant (defined by Par 59 5 [Nth Amplitude]) up to this
frequency, then linearly reduced to zero at the frequency of Par 534 + 6.25%.
Note: This parameter was added for firmware version 5.002.

535 Mth CompOff Freq

The Mth compensation current amplitude is constant (defined by Par 59 8 [Mth Amplitude]) up to this
frequency, then linearly reduced to zero at the frequency of Par 535 + 6.25%.
Note: This parameter was added for firmware version 5.002.

537 SrLssAngleStblty

Adjusts the electrical angle to maintain stable motor operation. An increase in the value increases the angle
adjustment.

538 SrLss VoltStblty

Adjusts the voltage to maintain stable motor operation. An increase in the value increases the output voltage
adjustment.

539 SrLss StbltyFilt

The coefficient is used to adjust the bandwidth of a low pass filter. The smaller the value of the coefficient, the
lower the bandwidth of the filter.

540 V/Hz Status

Indicates the limit status of the V/Hz Control Operation.
Note: This parameter was added form firmware version 2.003.

[IdsCmd Slew Rate] defines the slew rate for the Vqs regulator.

Values

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:

Default:
Min/Max:
Scaling:

Default:
Min/Max:
Scaling:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

50.0

0.0/1150.0
VAC

50.0

0.0/1150.0
VAC

1150.0

0.0/6900.0
VAC

150.0

0.0/400.0
Hz

460.0

60.0/690.0
VAC

(Par 3

[Motor NP Hertz] x 2) + 10Hz
Par 3 [Motor NP Hertz] + 10 Hz/420.0
Hz

0.0

0.0/1126.0

819
0/32767

[Motor NP Hertz]

4096/Par 3

819
0/32767

[Motor NP Hertz]

4096/Par 3

51.0

0.0/32767.0

93.0

0.0/32767.0

3250.0

0.0/32767.0

Linkable

Read-Write

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

541 SrLss Angl Comp

Not currently used.
Note: This parameter was added for future use - not active for use with firmware version 2.003 and above.

542 SrLss Volt Comp

Not currently used.
Note: This parameter was added for future use - not active for use with firmware version 2.003 and above.

544 External DB Res

Sets the resistance value of an external dynamic braking resistor. This value is used to determine the power
applied to the resistor and thus calculate its temperature.
Note: This parameter was added for firmware version 4.001.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 93

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:
Units:

0.0
+/- 16384

100.0
+/- 1000.0
V

49.0

0.1/500.0
Ohm

RW 16-bit

Integer

RW 16-bit

Integer

RW Real

Chapter 2 Programming and Parameters

A

A

A

A

A

A

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

DL CF Error

DL CF Format

DL CF Flash

DL Loading

DL OK

DL NotActive

DL Fault

DL ComActive

DL I/O Fault

DL I/O Alarm

DL I/O Activ

DL Battery

DL ForceNtEn

DL Force Act

DL Run Mode

Sync NotSync

Sync InSync

Sts RunInhbt

Sts Alarm

Sts Fault

Sts HW Fault

Sts Ready

Sts Active

Default xxxxxxxxx00000000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

No. Name

Values

Description

545 Bus Reg Ki

Sets the responsiveness of the bus regulator.
Note: This parameter was added for firmware version 2.003.

546 Bus Reg Kp

Proportional gain for the bus regulator. Used to adjust regulator response.
Note: This parameter was added for firmware version 2.003.

547 Bus Reg Kd

Derivative gain for the bus regulator. Used to control regulator overshoot.
Note: This parameter was added for firmware version 2.003.

548 Bus Reg ACR Kp

This proportional gain, in conjunction with Par 545 [Bus Reg Ki], adjusts the output frequency of the drive
during a bus limit or inertia ride through condition. The output frequency is adjusted in response to an error in
the active, or torque producing, current to maintain the active bus limit, or inertia ride through bus reference. A
larger value of gain reduces the dynamic error of the active current.
Note: This parameter was added for firmware version 2.003.

549 Vuv Fdbk Offset

Displays the motor U phase to V phase offset voltage from the voltage feedback circuit. The value of the offset
is a uni-polarity signal. A zero offset is equal to 16384.
Note: This parameter was added for firmware version 3.001.

550 Vvw Fdbk Offset

Displays the motor V phase to W phase offset voltag e from the voltage feedback circuit. The value of the offset
is a uni-polarity signal. A zero offset is equal to 16384.
Note: This parameter was added for firmware version 3.001.

551 CurrFdbk AdjTime

Compensates for current feedback delays in High Horse Power drives (frames 9 and up).
Note: This parameter was added for firmware version 3.001.

552 Slip Preload Val

The Slip Gain value to be pre-loaded if the drive is powered down.
Note: This parameter was added for firmware version 3.001.

553 Slip Slew Rate

Sets the rate at which the Slip Gain Regulator output transitions from the inactive state to the active state.
Notes: This parameter was added for firmware version 3.001. The default value was changed from “2.000” to
“0.200” for firmware version 4.001.

554 LED Status

Used to monitor LE D statuses including the ma in controller, SynchLink and DriveLogix5370 from a HIM or an application program (e.g., DriveExplorer™). This feature is only available with DriveLogix
version 15.03 or later.

• Bit 0 “Sts Active” - Drive running, no faults are present.

• Bit 1 “Sts Ready” - Drive ready, but not running & no faults are present.

• Bit 2 “Sts HW Fault” - A non-resettable fault has occurred in the drive.

• Bit 3 “Sts Fault” - A fault has occurred in the drive.

• Bit 4 “Sts Alarm” - A type 1 (user configurable) alarm condition exists, but the drive continues to run.

• Bit 5 “Sts RunInhbt” - A type 2 (non-configurable) alarm condition exists, drive continues to run.

• Bit 6 “Sync InSync” - The module is configured as the time keeper or the module is configured as a follower and synchronization is complete.

• Bit 7 “Sync NotSync” - The follower(s) are not configured with the time keeper.

• Bit 8 “DL Run Mode” - The controller is in “Run” mode.

• Bit 9 “DL Force Act” - I/O forces are active (enabled) but may or may not exist.

• Bit 10 “DL ForceNtEn” - One or more input or output addresses have been forced to an On or Off state, but the forces have not been enabled.

• Bit 11 “DL Battery” - Either the battery is not installed or 95% discharged and should be replaced.

• Bit 12 “DL I/O Activ” - The controller is communicating with all the devices in its I/O configuration.

• Bit 13 “DL I/O Alarm” - One or more devices in the I/O configuration of the controller are not responding.

• Bit 14 “DL I/O Fault” - The controller is not communicating to any devices and is faulted.

• Bit 15 “DL ComActive” - RS-232 activity.

• Bit 16 “DL Fault” - The controller detected a non-recoverable fault, so it cleared the project from memory.

• Bit 17 “DL NotActive” - If the controller is a new, then it requires a firmware update, or if the controller is not new, a major fault occurred.

• Bit 18 “DL OK” - Controller is OK.

• Bit 19 “DL Loading” - The controller is storing or loading a project to or from nonvolatile memory.

• Bit 20 “DL CF Flash” - The controller is reading from or writing to the CompactFlash™ card.

• Bit 21 “DL CF Format” - The CompactFlash memor y is not initialized.

• Bit 22 “DL CF Error” - CompactFlash card does not have a valid file system.
Note: This parameter was added for firmware version 3.001.

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:

Default:
Min/Max:
Units:

Default:
Min/Max:

Default:
Min/Max:
Units:

450.0

0.0/100000

1500.0

0.0/10000.0

1000.0

0.0/10000.0

225.0

0.0/100000

16384.0

15764.0/17004.0

16384.0

15764.0/17004.0

0.0

0.0/50.0
μs

120.0

0.0/8192.0

0.200

0.010/16.383
μs

Linkable

Read-Write

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 32-bit

RW Real

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

94 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

Options

Min Vqs

MaxDCBus Vqs

MaxMotor Vqs

Max Vds

Min Vds

SrLssWsLimit

Slip Limit

Regen

Iqs Limit

FldWeakening

MC FW Group2

Reserved

Reserved

Vqs R eg Act

FluxRatioRef

Command L im

DC Bus Low

MC Test Mode

PreChrg Req

PWM En

PreChrg Done

Flux En

Tor que En

Change Dir

MC CommisFlt

MC CommisRun

MC Fault

MC Ready

BaseBlockReq

Tor qu e Ru n Re q

Flux Run Req

MC En Req

Default 00000000000xx 0000000000000000000

Bit 313029282726252423222120191817161514131211109876543210

0 = False
1 = True

Options

Auto Output

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

In 4 Real

In 3 Real

In 2 Real

In 1 Real

Enbl Collect

Default 0xxxxxxxxxx00000

Bit 1514131211109876543210

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Complete

Triggered

Reserved

Default xxxxxxxxxxxxxxxxxxxxxxxxxxxxx00x

Bit 313029282726252423222120191817161514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

No. Name

Values

Description

555 MC Status

Indicates the status of the Motor Control (MC) Processor and related functions.
Note: Changed bit 18 from “Reserved” to “Vqs Reg Act” for firmware version 3.003.

556 Trend Control

Set bits to configure the Data Trend function:

• Bit 0 “Enbl Collect” - Trend data collection begins on the rising edge of this bit and continues until either this bit is set low or the trend data has been completely collected. This bit should be
cleared following either the 'Triggered' status or 'Complete' status in order to complete the trend sequence. This bit can also be cleared at any time to force the trend data sampling to stop and
set the 'Complete' status bit.

• Setting bit 1 “In1 Real” - specifies the Real data type for Trend Input 1. The source for Real data is Par 571
data is Par 57 0

• Setting bit 2 “In2 Real” - specifies the Real data type for Trend Input 2. The source for Real data is Par 575
data is Par 57 4

• Setting bit 3 “In3 Real” - specifies the Real data type for Trend Input 3. The source for Real data is Par 579 [Trend In3 Real]. Clearing the bit specifies the Integer data type. The source for Integer
data is Par 57 8 [Trend In3 DInt].

• Setting bit 4 “In4 Real” - specifies the Real data type for Trend Input 4. The source for Real data is Par 583
data is Par 58 2 [Trend In4 DInt].

• Setting bit 15 “Auto Output” causes the trend output parameters to automatically cycle through the entire trend buffer at the rate specified in Pa r 559 [Trend Rate]. Typically, you link the output
to an analog output for display on an oscilloscope.

• Auto output is accomplished by writing to Par 569

[Trend In1 DInt].

[Trend In2 DInt].

[TrendBuffPointer]. Clearing this bit requires manual selection of Par 569 [TrendBuffPointer] to view the trend buffer contents.

[Trend In1 Real]. Clearing the bit specifies the Integer data type. The source for Integer

[Trend In2 Real]. Clearing the bit specifies the Integer data type. The source for Integer

[Trend In4 Real]. Clearing the bit specifies the Integer data type. The source for Integer

Linkable

Read-Write

Data Type

557 Trend Status

Bits indicate the status of the Data Trend function:

• Bit 1 “Triggered” indicates a Trend Trigge r event has been detected. This bit will clear in response to the rise of Par 556 [Trend Control], bit 0 “Enbl Collec t”.

• Bit 2 “Complete” indicates all the post trigger data samples have been gathered and the trend buffers are full. It will also be set if the Par 556 [Trend Control], bit 0 “Enbl Collect” is cleared before

the trigger occurs. The trend data outputs will be updated from the contents of the trend buffer data when this bit is set. Par 556 [Trend Control], bit 0 “Enbl Collect” can be cleared after this bit
is set without affecting the trend data buffer contents. This bit will clear in response to the rise of Par 556 [Trend Control], bit 0 “Enbl Collect”. The trend outputs will be forced to zero while this bit
is clear.

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 95

Chapter 2 Programming and Parameters

No. Name

Description

558 Trend State

Value indicates the state of the Data Trend function.

• Value 0 - Wait Enable indicates the trend function is ready and waiting to begin data collection. Setting bit
0 “Enbl Collect” of Par 556
[TrendBuffPointer] and the Trend Output Parameters are active.

• Value 1 - First Scan indicates the Trend function is executing the first pass through the trend sample buffer.
This takes 512 ms. (0.5 ms x 1024 samples). When it enters this state, the Trend function clears bit 1
“Triggered” and 2 “Complete” bits of Par 55 7
refreshes the data. Also while in this state, the function forces the Trend Output parameters to zero. When
done, it enters the Pre-trigger state.

• Value 2 - Pre-trigger indicates the Trend function is sampling the trend inputs and storing them in
memory, at a rate determined by Par 55 9
event occurs or bit 0 “Enbl Collect” of Par 556
function forces the Trend Output parameters to zero. If the trigger event occurs, the function sets bit 1
“Triggered” of Par 557
556 [Trend Control] is cleared, the function sets bit 2 “Complete” of Par 557 [Trend Status] and returns to
the Wait Enable state.

• Value 3 - Post-trigger indicates the Trend function is continuing to sample and save the trend inputs until
the buffer is full. While in this state, the function forces the Trend Output parameters to zero value. When
the buffer is full, the function sets bit 2 “Complete” of Par 557
state.

• Value 4 - Wait Disable indicates the Trend function is complete and waiting for bit 0 “Enbl Collect” of Par

556 [Trend Control] to be cleared. When this is done, the trend function returns to the Wait Enable state.

While in the Wait Disable state, Par 569

559 Trend Rate

Sets the sample time for both trend input and output updates.

560 Trend Tri gA DInt

Provides the integer input for the A trigger function. This integer is converted to a real number and su mmed
with Par 561
then a trend trigger will occur.

561 Trend Tri gA Real

Provides the real input for the A trigger function. This real number is summed with Par 560 [Trend TrigA Int].

[Trend TrigA Rea l]. The resul t is compared with the Trigger B sum. If the A sum exceeds the B sum,

The result is compared with the Trigger B sum. If the A sum exceeds the B sum, then a trend trigger will occur.

562 Trend TrigB DInt

Provides the integer input for the B trigger function. This integer is converted to a real num ber and summed
with Par 563
then a trend trigger will occur.

563 Trend Tri gB Real

Provides the real input for the B trigger function. This real number is summed with Par 562 [Trend TrigB Int].

[Trend TrigB Re al]. The resu lt is compare d with the Trigger A sum. If the A sum exceeds the B sum,

The result is compared with the Trigger A sum. If the A sum exceeds the B sum, then a trend trigger will occur.

564 Trend Tri g Data

This is the logic input for the Trend Trigger Function. A trigger will occur on the rise of the specified bit in this
word. The bit will be specified by Par 565

565 Trend Tri g Bit

Specifies the bit in Par 5 64 [Trend Trig Data] that will cause a Trend Trigger to occur. Positive numbers specify
rising edges and negative numbers specify falling edges.

566 Trend PreSamples

Specifies the number pre-trigger samples in the trend buffer. Pre-trigger samples are the samples that occur
before the trigger and remain in the buffer. The remainder of the trend buffer will contain post-trigger
samples.

567 Trend Mark DInt

Marks the start of data for trend buffers that are using integer data. The Trend Marker can be used to provide a
scope trigger signal for the Auto Output function.

568 Trend Mark Real

Marks the start of data for trend buffers that are using real data. The Trend Marker can be used to provide a
scope trigger signal for the Auto Output function.

569 TrendBuffPointer

Selects the trend buffer element to be displayed in the Trend Output Parameters when the trend function is
inac tive (n ot coll ecting data sa mples) . A zero va lue poi nts to the element that corresponds to the trigger event.
Negative values point to pre-trigger data. Positive values point to post-trigger data. When the Auto Output
function is running, this parameter will automatically sequence through it's full range, at a rate set by Par 559
[Trend Rate].

570 Trend In1 DInt

Provides integer input to the Trend 1. The Trending function samples this parameter for Trend Buffer 1, if bit 1
“In 1 Real” is cleared.

[Trend Control] will cause data collection to begin. In this state, Par 569

[Trend Status]. While in this state, the Trend function

[Trend Rate]. Sampling continues until either the trend trigger

[Trend Control] is cleared. While in this state, the Trend

[Trend Status] and enters the Post-trigger state. If bit 0 “Enbl Collect” of Parameter

[Trend Status] and enters the Wait Disable

[TrendBuffPointer] and the Trend Output Parameters are active.

[Trend Trig Bit].

Values

Default:
Options:

Default:
Min/Max:
Units:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min:
Max:

Default:
Min/Max:0-32/31

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/+1023

Default:
Min/Max:0-/[phone]

0 =

“Wait Enable”

0 =

“Wait Enable”

1 =

“First Scan”

2 =

“Pre-trigger”

3 =

“Post-trigger”

4 =

“Wait Disable”

Enbl Collect

Val 0

Wait Enable

Val 1

First Scan

Enbl Collect

0.5000

0.5000/1000.0000
ms

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

00000000000000000000000000000000
00000000000000000000000000000000
11111111111111111111111111111111

511
0/1022

0.0000

-/+2200000000.0000

Done

Enbl Collect

Val 2

Pre-Trigger

Val 4

Wait Disable

Val 3

Post-Trigger

Trigger Event

Buffer Full

Linkable

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Y

Read-Write

Data Type

RW Real

RW 32-bit

Integer

RW Real

RW 32-bit

Integer

RW Real

RW 32-bit

Boolean

RW 16-bit

Integer

RW 16-bit

Integer

RW 32-bit

Integer

RW Real

RW 16-bit

Integer

RW 32-bit

Integer

96 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Programming and Parameters Chapter 2

A

No. Name

Description

571 Trend In1 Real

Provides real input to the Trend 1. The Trending function samples this parameter for Trend Buffer 1, if bit 1 “In 1
Real” is set.

572 Trend Out1 DInt

Displays the output for Trend Buffer 1, if the buffer is using integer data. This will equal the value of the
element, in Trend Buffer 1, specified by Par 569

573 Trend Out1 Real

Displays the output for Trend Buffer 1, if the buffer is using real data. This will equal the value of the element,
in Trend Buffer 1, specified by Par 569

574 Trend In2 DInt

Provides integer input to the Trend 2. The Trending function samples this parameter for Trend Buffer 2, if bit 2
“In 2 Real” is cleared.

575 Trend In2 Real

Provides real input to the Trend 2. The Trending function samples this parameter for Trend Buffer 2, if bit 2 “In 2
Real” is set.

576 Trend Out2 DInt

Displays the output for Trend Buffer 2, if the buffer is using integer data. This will equal the value of the
element, in Trend Buffer 2, specified by Par 569

577 Trend Out2 Real

Displays the output for Trend Buffer 2, if the buffer is using real data. This will equal the value of the element,
in Trend Buffer 2, specified by Par 569

578 Trend In3 DInt

Provides integer input to the Trend 3. The Trending function samples this parameter for Trend Buffer 3, if bit 3
“In 3 Real” is cleared.

579 Trend In3 Real

Provides real input to the Trend 3. The Trending function samples this parameter for Trend Buffer 3, if bit 3 “In 3
Real” is set.

580 Trend Out3 DInt

Displays the output for Trend Buffer 3, if the buffer is using integer data. This will equal the value of the
element, in Trend Buffer 3, specified by Par 569 [TrendBuffPointer].

581 Trend Out3 Real

Displays the output for Trend Buffer 3, if the buffer is using real data. This will equal the value of the element,
in Trend Buffer 3, specified by Par 569

582 Trend In4 DInt

Provides integer input to the Trend 4. The Trending function samples this parameter for Trend Buffer 4, if bit 4
“In 4 Real” is cleared.

583 Trend In4 Real

Provides real input to the Trend 4. The Trending function samples this parameter for Trend Buffer 4, if bit 4 “In 4
Real” is set.

584 Trend Out4 DInt

Displays the output for Trend Buffer 4, if the buffer is using integer data. This will equal the value of the
element, in Trend Buffer 4, specified by Par 569

585 Trend Out4 Real

Displays the output for Trend Buffer 4, if the buffer is using real data. This will equal the value of the element,
in Trend Buffer 4, specified by Par 569 [TrendBuffPointer].

586 IdsCmd Slew Rate

Defines the slew rate for the torque producing voltage (Vqs) regulator. The output variation is limited by one
count every Par 586 / 16 sec.
Notes: This value should not be changed. This parameter was added for firmware version 4.001.

587 SlipReg Err Lmt

Defines the error level at which the slip regulator input becomes active. When the error level reaches the value
specified in this parameter and the error count condition (specified in Pa r 589 [Err Count Lmt]) is met, the drive
control will transition from the slew rate limit mode to normal operation of the slip regulator.
Notes: This value should not be changed. This parameter was added for firmware version 4.001.

588 VqsReg Err Lmt

Defines the error level at which the Flux Producing Voltage (Vqs) regulator input becomes active. When the
error level reaches the value specified in this parameter and the error count condition (specified in Par 589
Count Lmt]) is met, the drive control will transition from the slew rate limit mode to normal operation of the
Vqs r egul ator.
Notes: This value should not be changed. This parameter was added for firmware version 4.001.

589 Err Count Lmt

Defines the control loop counts limit, where the counter counts up if the error level of the Vqs regulator input is
equal to the error level during Flux Producing Current (Ids) command Slew Rate operation. When the counter
exceeds the value of this parameter then the normal Vqs regulator operation becomes active. The same limit of
control loop counts is applied to the Slip Slew Rate operation, where the counter counts up if the error level of
the Slip regulator input is equal to the error level during Slip Slew Rate operation. When the counter exceeds
the value of this parameter then the normal Slip regulator operation becomes active.
Notes: This value should not be changed. This parameter was added for firmware version 4.001.

[TrendBuffPointer].

[TrendBuffPointer].

[TrendBuffPointer].

[TrendBuffPointer].

[TrendBuffPointer].

[TrendBuffPointer].

Values

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:

Default:
Min/Max:0-/[phone]

Default:
Min/Max:0-/+2200000000.0000

Default:
Min/Max:
Units:

Default:
Min/Max:0+/-32767

Default:
Min/Max:0+/-32767

[Err

Default:
Min/Max:0+/-32767

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

0.0000

-/+2200000000.0000

5.000

0.000/16.383
s

Linkable

Y

Y

Y

Y

Y

Y

Y

Read-Write

Data Type

RW Real

RO 32-bit

Integer

RO Real

RW 32-bit

Integer

RW Real

RO 32-bit

Integer

RO Real

RW 32-bit

Integer

RW Real

RO 32-bit

Integer

RO Real

RW 32-bit

Integer

RW Real

RO 32-bit

Integer

RO Real

RW Real

RW 16-bit

Integer

RW 16-bit

Integer

RW 16-bit

Integer

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 97

Chapter 2 Programming and Parameters

A

A

A

A

A

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

DL 20 Real

DL 19 Real

DL 18 Real

DL 17 Real

DL 16 Real

DL 15 Real

DL 14 Real

DL 13 Real

DL 12 Real

DL 11 Real

DL 10 Real

DL 09 Real

DL 08 Real

DL 07 Real

DL 06 Real

DL 05 Real

DL 04 Real

DL 03 Real

DL 02 Real

DL 01 Real

DL 00 Real

Default xx xx xxxxxxx000000000000000000000

Bit 313029282726252423222120191817161514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

DL 20 Real

DL 19 Real

DL 18 Real

DL 17 Real

DL 16 Real

DL 15 Real

DL 14 Real

DL 13 Real

DL 12 Real

DL 11 Real

DL 10 Real

DL 09 Real

DL 08 Real

DL 07 Real

DL 06 Real

DL 05 Real

DL 04 Real

DL 03 Real

DL 02 Real

DL 01 Real

DL 00 Real

Default xx xx xxxxxxx000000000000000000000

Bit 313029282726252423222120191817161514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

No. Name

Description

590 RsTempCoefAdjust

The value specified in this parameter adjusts the temperature compensation coefficient which is calculated
based on the Slip regulator output. A value of 4096 in this parameter doubles the compensation coefficient.
Notes: This value should not be changed. This parameter was added for firmware version 4.001.

591 RsTmpCoefAdjstEn

A value of “1” in this parameter enables the temperature compensation function in flux and torque estimate
calculation, where the temperature information is based on the Slip regulator output. A value of “0” in this
parameter disables the temperature compensation function.
Notes: This value should not be changed. This parameter was added for firmware version 4.001.

592 VqsReg On Hystr

For Future U se.
Note: This parameter was added for firmware version 4.001.

593 SlipReg On Hystr

For Future U se.
Note: This parameter was added for firmware version 4.001.

594 Nth Torq Compen

Defines harmonic frequency as <n> times mechanical frequency.
Note: This parameter was added for firmware version 5.002.

595 Nth Amplitude

Defines the compensation current amplitude for the Nth harmonic component.
Note: This parameter was added for firmware version 5.002.

596 Nth Phase Shift

Defines the phase shift for the Nth harmonic component.
Note: This parameter was added for firmware version 5.002.

597 Mth Torq Compen

Defines harmonic frequency as <m> times mechanical frequenc y.
Note: This parameter was added for firmware version 5.002.

598 Mth Amplitude

Defines the compensation current amplitude for the Mth harmonic component.
Note: This parameter was added for firmware version 5.002.

599 Mth Phase Shift

Defines the phase shift for the Mth harmonic component.
Note: This parameter was added for firmware version 5.002.

600 Lgx Comm Format

Indicates the Controller to Drive communication format.
Note: Option values 1…15 and 20…31 are “Reserved”

Values

Default:
Min/Max:0+/-32767

Default:
Min/Max:0+/-32767

Default:
Min/Max:0+/-32767

Default:
Min/Max:0-/+32767

Default:
Min/Max:00/1000

Default:
Min/Max:
Scaling:

Default:
Min/Max:
Scaling:

Default:
Min/Max:00/1000

Default:
Min/Max:
Scaling:

Default:
Min/Max:
Scaling:

Default:
Options:

0
0/4096
4096/Par 2 [Motor NP FLA]

0

-/+16384
16384/360 deg

0
0/4096
4096/Par 2 [Motor NP FLA]

0

-/+16384
16384/360 deg

16 =
0 =

16 =
17 =

“Speed Ctrl”
“Not Used” 18 = “UserDefin 1”

“Speed Ctrl” 19 = “Motion”
“PositionCtrl” 32 = “CustmUserDef ”

Linkable

Read-Write

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

RW 16-bit

Data Type

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

Integer

601 From DL DataType

Sets the type of data for each word communicated from DriveLogix™ to the PowerFlex 700S drive. Setting a bit High will configure the associated word as a Real data type and setting the bit Low will
configure it for Integer data type.

FromDriveLogix00

602

to

to

622

FromDriveLogix20

These parameters display the input values communicated from the DriveLogix controller to the PowerFlex 700S
drive.

625 To DL DataType

Sets the data type for each word communicated from the PowerFlex 700S drive to DriveLogix. Setting a bit High will configure the associated word as a Real data type and setting the bit Low will
configure it for Integer data type.

98 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013

Default:
Min/Max: 0-/+32 (dependant on Par 601 [From DL

DataType])

RO 32-bit

Integer

Programming and Parameters Chapter 2

Options

DPI D2 Real

DPI D1 Real

DPI C2 Real

DPI C1 Real

DPI B2 Real

DPI B1 Real

DPI A2 Real

DPI A1 Real

Default 00000000

Bit 76543210

0 = False
1 = True

Options

DPI D2 Real

DPI D1 Real

DPI C2 Real

DPI C1 Real

DPI B2 Real

DPI B1 Real

DPI A2 Real

DPI A1 Real

Default 00000000

Bit 76543210

0 = False
1 = True

Options

DriveLogix

Reserved

Int DPI Comm

Reserved

Aux DPI Conn

Ext DPI Conn

Local HI M

Ter mi nal Bl k

Default 111x 1111

Bit 76543210

0 = False
1 = True

No. Name

Value s

Description

626

To DriveLogix00

to

to

646

To DriveLogix20

These parameters display the output values communicated from the PowerFlex 700S drive to the DriveLogix
controller.

650 DPI In DataType

Sets the data type for each word communicated from an external controller to the PowerFlex 700S drive via a DPI communication module. Setting a bit high will configure the associated word as a
Real data type and setting the bit low will configure it for Integer data type.

651

DPI Data In A1

652

DPI Data In A2

653

DPI Data In B1

654

DPI Data In B2

655

DPI Data In C1

656

DPI Data In C2

657

DPI Data In D1

658

DPI Data In D2

These parameters display the input values communicated from DPI communication modules to the PowerFlex
700S drive.

659 DPI Out DataType

Sets the data type for each word communicated from the PowerFlex 700S drive to an external controller via a DPI communication module. Setting a bit high will configure the associated word as a
Real data type and setting the bit low will configure it for Integer data type.

Default:
Min/Max:0-/+32 (dependant on Par 6 25

Default:
Min/Max:0-/+32 (dependant on Par 65 0

DataType])

[To DL DataType])

[DPI In

Linkable

RO Set by Par

Y

RO 32-bit

Read-Write

Data Type

625

Integer

660

DPI Data Out A1

661

DPI Data Out A2

662

DPI Data Out B1

663

DPI Data Out B2

664

DPI Data Out C1

665

DPI Data Out C2

666

DPI Data Out D1

667

DPI Data Out D2

These parameters display the output values communicated from the PowerFlex 700S drive to DPI communication
modules.

669 Write Mask

Enables/disables write access (parameters, links, etc.) for DPI ports. Changes to this parameter only become effective when power is c ycled, the drive is reset or bit 15 “Security” of Par 712 [Write
Mask Act], transitions from “1” to “0.”
Note: This parameter was added for firmware version 3.001.

Default:
Min/Max:0-/+32 (dependant on Par 65 9

DataType])

[DPI Out

RW Set by Par

Y

659

Rockwell Automation Publication 20D-PM001C-EN-P - July 2013 99

Chapter 2 Programming and Parameters

Options

DriveLogix

Reserved

Int DPI Conn

Reserved

Aux DPI Conn

Ext DPI Conn

Local HI M

Ter mi nal Bl k

Default 11111111

Bit 76543210

0 = False
1 = True

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Hrd Ovr Trvl

Sft Ovr Trvl

Polar ity Neg

Default xxxxxxxxxxxxx000

Bit 1514131211109876543210

0 = False
1 = True

A

Options

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

AxisShtdwnC1

Reserved

Reserved

Chng Ref

Reserved

Reserved

Course Updt

CST Updt Err

-Hrd OvrTrvl

+Hrd OvrTrvl

-Sft OvrTrvl

+Sft OvrTrvl

Reserved

Reserved

Reserved

Posit Lock

AxisShutdown

Drv Enable

Motn Action

Default xxxxxxxxxxxxx0xx0xx000000xxx0000

Bit 313029282726252423222120191817161514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

A

Options

ChngCmdRefC1

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Abrt Evnt C1

Abrt Home C1

Reserved

Shutdown C1

Reserved

ChngCmdRefC0

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

Abrt Evnt C0

Abrt Home C0

Reserved

Shutdown C0

Reserved

Default 0xxxxxxxxxx00x0x0xxxxxxxxxx00x0x

Bit 313029282726252423222120191817161514131211109 8 7 6 5 4 3 2 1 0

0 = False
1 = True

No. Name

Description

Logic Mask

670

Determines which adapters can control the drive.

Start Mask

671

Controls which adapters can issue start commands.

672

Jog Mask

Controls which adapters can issue jog commands.

673

Direction Mask

Controls which adapters can issue forward/reverse direction commands.

674

Fault Clr Mask

Controls which adapters can clear a fault.

677

Stop Owner

Indicates which adapter are currently issuing a valid stop command.

678

Start Owner

Indicates which adapter are currently issuing a valid start command.

679

Jog Owner

Indicates which adapter are currently issuing a valid jog command.

680

Direction Owner

Indicates which adapter is currently has exclusive control of direction changes.

681

Fault Clr Owner

Indicates which adapter is currently clearing a fault.

684 MotnUpdatePeriod

The servo update period for the servo axis (drive).

685 Motn CoarseMulti

Number of Par 684 [MotnUpdatePeriod] comprising one Course Update Period from the Motion Period.

686 Motn Config

Configuration bits pertaining to Motion-related functions for the Servo axis.

Value s

Default:
Min/Max:
Unit:

Default:
Min/Max:42/16

2000
1/999999
μs

Linkable

Read-Write

RO 32-bit

RO 32-bit

Data Type

Integer

Integer

687 Motn Axis Status

Status bits pertaining to Motion-related functions for the Servo axis.

688 Motn AxisControl

Command request bits from the Motion Planner both the Servo and Feedback Only axis.

100 Rockwell Automation Publication 20D-PM001C-EN-P - July 2013