Rockwell Automation 20G-750 User Manual
Reference Manual
PowerFlex 750-Series AC Drives
Catalog Numbers 20F, 20G, 21G
Original Instructions
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, 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 lists the topics added to this revision.
Top ic Pag e
Adjusta ble Voltage 17
Droop Feature 53
Owners 70
Process PID Loop 76
PTC Motor Thermistor Input 152
Alarms 155
Current Limi t 156
Drive Overload 158
Faul ts 162
Motor Overload 168
Pass word 173
Reflected Wave 179
Security 185
Shear Pin 188
Slip Compensation 192
Carrier (PWM) Frequency 196
Flux Braking 216
High Resolution Feedback 220
Inertia Adaption 221
Load Observer 225
Motor Control Modes 226
Motor Types 235
Torque Reference 262
Speed Torque Position 266
This table lists other changes made to this revision.
Top ic Pag e
Studio 5000™ Logix Designer application is the rebranding of RSLogix™ 5000
software
Block diagrams updated to firmware revision 9.xxx. 375
Block diagrams added:
Position Control – Spindle Orient
11-Series Inputs and Outputs – Digital
11-Series Inputs and Outputs – Analog
11-Series Inputs and Outputs – ATEX
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 3
14
395
410
411
412
Summary of Changes
Notes:
4 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Overview
Table of Contents
Preface
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
What Is Not in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Allen-Bradley Drives Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Product Certification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Manual Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Chapter 1
Drive Configuration
Accel/Decel Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Adjustable Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Auto Restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Auto/Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Automatic Device Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Auxiliary Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Bus Regulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Configurable Human Interface Module Removal . . . . . . . . . . . . . . . . . . . 52
Droop Feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Duty Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Feedback Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Flying Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Hand-Off-Auto. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Masks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Owners. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Process PID Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Reset Parameters to Factory Defaults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Sleep/Wake Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Start Permissives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Stop Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Voltage Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Feedback and I/O
Chapter 2
Analog Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Analog Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
PTC Motor Thermistor Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 5
Table of Contents
Chapter 3
Diagnostics and Protection
Motor Control
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Current Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
DC Bus Voltage/Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Drive Overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Input Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Motor Overload. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Overspeed Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Real Time Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Reflected Wave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Shear Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Slip Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Slip Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Chapter 4
Carrier (PWM) Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Dynamic Braking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Flux Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
Flux Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
Flux Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
High Resolution Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Inertia Adaption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Inertia Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
Motor Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Motor Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Notch Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Regen Power Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Speed Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Speed Regulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Torque Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Speed Torque Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
Chapter 5
Drive Features
6 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Energy Savings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
High Speed Trending. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Position Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Chapter 6
Table of Contents
Integrated Motion on the EtherNet/
IP Network Applications for
PowerFlex 755 AC Drives
Additional Resources for Integrated Motion on the
EtherNet/IP Network Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Coarse Update Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Control Modes for PowerFlex 755 Drives Operating on the Integrated
Motion on the EtherNet/IP Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Drive Nonvolatile (NV) Memory for Permanent Magnet Motor
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Dual Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Dual-Port EtherNet/IP Option Module (ETAP) . . . . . . . . . . . . . . . . . . 315
Hardware Over Travel Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
Integrated Motion on EtherNet/IP Instance to PowerFlex 755 Drive
Parameter Cross-Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Motor Brake Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Network Topologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
PowerFlex 755 and Kinetix 7000 Drive Overload
Rating Comparison for Permanent Magnet Motor Operation. . . . . . . 345
PowerFlex 755 Drive Option Module
Configuration and Restrictions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Regenerative/Braking Resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Safe Speed Monitor Option Module (20-750-S1) Configuration . . . . 350
Speed Limited Adjustable Torque (SLAT) . . . . . . . . . . . . . . . . . . . . . . . . 353
Supported Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
System Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
Using an Incremental Encoder with an MPx Motor . . . . . . . . . . . . . . . . 372
PowerFlex 755 Integrated Motion on the
EtherNet/IP Network Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Appendix A
Index
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 7
Table of Contents
8 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Overview
The purpose of this manual is to provide detailed information including
operation, parameter descriptions, and programming.
Preface
Who Should Use This Manual
What Is Not in This Manual
Additional Resources
This manual is intended for qualified personnel. You must be able to program
and operate Adjustable Frequency AC Drive devices. In addition, you must have
an understanding of the parameter settings and functions.
The purpose of this manual is to provide detailed drive information including
operation, parameter descriptions and programming.
The following table lists publications that provide information about PowerFlex
750-Series drives.
Resource Description
PowerFlex 750-Series Drive Installation Instruction, 750-
IN001
PowerFlex 750-Series AC Drives Programming Manual,
publication 750-PM001
PowerFlex 750-Series AC Drives Technical Data,
publication 750-TD001
PowerFlex 20-HIM-A6 / -C6S HIM (Human Interface
Module) User Manual, publication 20HIM-UM001
PowerFlex 750-Series AC Drives Hardware Service Manual
- Frame 8 and Larger, publication 750-TG001
PowerFlex 755 Drive Embedded EtherNet/IP Adapter User
Manual, publication 750COM-UM001
PowerFlex 750-Series Drive DeviceNet Option Module User
Manual, publication 750COM-UM002
PowerFlex 7-Class Network Communication Adapter User
Manuals, publications 750COM-UMxxx
Provides the basic steps required to install a PowerFlex®
750-Series AC drive.
Provides detailed information on:
• I/O, control, and feedback options
• Parameters and programming
• Faults, alarms, and troubleshooting
Provides detailed information on:
• Drive specifications
• Option specifications
• Fuse and circuit breaker ratings
Provides detailed information on HIM components,
operation, features.
Provides detailed information on:
• Preventive maintenance
• Component testing
• Hardware replacement procedures
These publications provide detailed information on
configuring, using, and troubleshooting PowerFlex
750-Series communication option modules and adapters.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 9
Preface
Resource Description
PowerFlex 750-Series Safe Torque Off User Manual,
publication 750-UM002
Safe Speed Monitor Option Module for PowerFlex
750-Series AC Drives Safety Reference Manual, publication
750-RM001
Wiring and Grounding Guidelines for Pulse Width
Modulated (PWM) AC Drives, publication DRIVES-IN001
PowerFlex AC Drives in Common Bus Configurations,
publication DRIVES-AT002
Safety Guidelines for the Application, Installation and
Maintenance of Solid State Control, publication SGI-1.1
A Global Reference Guide for Reading Schematic
Diagrams, publication 100-2.10
Guarding Against Electrostatic Damage, publication 8000-
4.5.2
Product Certifications website, http://ab.com
These publications provide detailed information on
installation, set up, and operation of the 750-Series safety
option modules.
Provides basic information needed to properly wire and
ground PWM AC drives.
Provides basic information needed to properly wire and
ground common bus PWM AC drives.
Provides general guidelines for the application,
installation, and maintenance of solid-state control.
Provides a simple cross-reference of common schematic/
wiring diagram symbols used throughout various parts of
the world.
Provides practices for guarding against Electrostatic
damage (ESD)
Provides declarations of conformity, certific ates, and other
certification details.
The following publications provide necessary information when applying the
Logix Processors.
Resource Description
Logix5000 Controllers Common Procedures, publication
1756-PM001
Logix5000 Controllers General Instructions, publication
1756-RM003
Logix5000 Controllers Process Control and Drives
Instructions, publication 1756-RM006
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.
The following publications provide information that is useful when planning and
installing communication networks.
Resource Description
ContolNet Coax Tap Installation Instructions, publication
1786-5.7
ContolNet Fiber Media Planning and Installation Guide,
publication CNET-IN001
Provides procedures and specifications for the installation
of ControlNet coaxial taps.
Provides basic information for fiber cable planning and
installation.
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 750-RM002B-EN-P - September 2013
Preface
Allen-Bradley Drives Technical Support
Product Certification
Manual Conventions
Use one of the following methods to contact Automation and Control Technical
Support.
Online Email Telephone
www.ab.com/support/abdrives support@drives.ra.rockwell.com 262-512-8176
Title Online
Rockwell Automation Technical
Support
http://support.rockwellautomation.com/knowledgebase
Product Certifications and Declarations of Conformity are available on the
internet at www.rockwellautomation.com/products/certification
.
• In this manual we refer to PowerFlex 750-Series Adjustable Frequency AC
Drives as: drive, PowerFlex 750, PowerFlex 750 drive or PowerFlex 750
AC drive.
• Specific drives within the PowerFlex 750-Series can be referred to as:
– PowerFlex 753, PowerFlex 753 drive or PowerFlex 753 AC drive
– PowerFlex 755, PowerFlex 755 drive or PowerFlex 755 AC drive
• To help differentiate parameter names and LCD display text from other
text, the following conventions are used:
– Parameter Names appear in [brackets] after the Parameter Number.
For example: P308 [Direction Mode].
– Display text appears in “quotes.” For example: “Enabled.”
• The following words are used throughout the manual to describe an
action.
Word Meani ng
Can Possible, able to do something
Cannot Not possible, not able to do something
May Permitted, allowed
Must Unavoidable, you must do this
Shall Required and necessary
Should Recommended
Should Not Not recommended
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 11
Preface
General Precautions
Qualified Personnel
ATT EN TI ON : Only qualified personnel familiar with adjustable frequency AC
drives and associated machinery should plan or implement the installation,
start-up and subsequent maintenance of the system. Failure to comply may
result in personal injury and/or equipment damage.
Personal Safety
ATT EN TI ON : To avoid an electric shock hazard, verify that the voltage on the
bus capacitors has discharged completely before servicing. Check the DC bus
voltage at the Power Terminal Block by measuring between the +DC and -DC
terminals, between the +DC terminal and the chassis, and between the -DC
terminal and the chassis. The voltage must be zero for all three measurements.
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.
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.
The drive start/stop/enable control circuitry includes solid state components. If
hazards due to accidental contact with moving machinery or unintentional flow of
liquid, gas or solids exists, an additional hardwired stop circuit may be required to
remove the AC line to the drive. An auxiliary braking method may be required.
Hazard of personal injury or equipment damage due to unexpected machine
operation exists if the drive is configured to automatically issue a Start or Run
command. Do not use these functions without considering applicable local,
national and international codes, standards, regulations or industry guidelines.
12 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Product Safety
ATT EN TI ON : An incorrectly applied or installed drive can result in component
damage or a reduction in product life. Wiring or appl ication errors such as under
sizing the motor, incorrect or inadequate AC supply, or excessive surrounding air
temperatures may result in malfunction of the system.
This drive contains ESD (Electrostatic Discharge) sensitive parts and assemblies.
Static control precautions are required when installing, testing, servicing or
repairing this assembly. Component damage may result if ESD control procedures
are not followed. If you are not familiar with static control procedures, reference
Guarding Against Electrostatic Damage, publication 8000-4.5.2, or any other
applicable ESD protection handbook.
Configuring an analog input for 0-20 mA operation and driving it from a voltage
source could cause component damage. Verify proper configuration prior to
applying input signals.
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 to start and stop the motor. If an input device
is used, operation must not exceed one cycle per minute or drive damage will
occur.
Preface
Drive must not be installed in an area where the ambient atmosphere contains
volatile or corrosive gas, vapors or dust. If the drive is not going to be installed for a
period of time, it must be stored in an area where it will not be exposed to a
corrosive atmosphere.
Class 1 LED Product
ATT EN TI ON : 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.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 13
Preface
Studio 5000 Environment
The Studio 5000™ Engineering and Design Environment combines engineering
and design elements into a common environment. The first element in the Studio
5000 environment is the Logix Designer application. The Logix Designer
application is the rebranding of RSLogix™ 5000 software and will continue to be
the product to program Logix5000™ controllers for discrete, process, batch,
motion, safety, and drive-based solutions.
The Studio 5000 environment is the foundation for the future of Rockwell
Automation® engineering design tools and capabilities. This environment is the
one place for design engineers to develop all of the elements of their control
system.
14 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Chapter 1
Drive Configuration
Top ic Pag e
Accel/Decel Time 16
Adjusta ble Voltage 17
Auto Restart 25
Auto/Manual 27
Automatic Device Configuration 34
Autotune 35
Auxiliary Power Supply 41
Bus Regulation 41
Configurable Human Interface Module Removal 52
Droop Feature 53
Duty Rating 53
Feedback Devices 54
Flying Star t 54
Hand-Off-Auto 64
Masks 67
Owners 70
Power Loss 72
Process PID Loop 76
Reset Parameters to Factor y Defaults 88
Sleep/Wake Mode 90
Start Permissives 94
Stop Modes 96
Vol tage Clas s 10 4
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 15
Chapter 1 Drive Configuration
Accel/Decel Time
You can configure the drive’s acceleration time and deceleration time.
Acceleration Time
P535[Accel Time 1] and P536 [Accel Time 2] set the acceleration rate for all
speed changes. Defined as the time to accelerate from 0 to motor nameplate
frequency P27 [Motor NP Hertz] or to motor nameplate rated speed P28
[Motor NP RPM]. The setting of Hertz or RPM is programmed in P300 [Speed
Units]. Selection between Acceleration Time 1 and Acceleration Time 2 is
controlled by a digital input function (see Digin Functions in the PowerFlex 750Series Programming Manual, publication 750-PM001
(sent over a communication network or DeviceLogix™ software).
Adjustment range is 0.00 to 3600.00 seconds.
) or by Logic Command
Deceleration Time
P537 [Decel Time 1] and P538 [Decel Time 2] set the deceleration rate for all
speed changes. Defined as the time to decelerate from motor nameplate
frequency P27 [Motor NP Hertz] or from motor nameplate rated speed P28
[Motor NP RPM] to 0. The setting of Hertz or RPM is programmed in P300
[Speed Units]. Selection between Deceleration Time 1 and Deceleration Time 2
is controlled by a digital input function (see Digin Functions in the PowerFlex
750-Series Programming Manual, publication 750-PM001
Command (sent over a communication network or DeviceLogix software).
) or by Logic
Adjustment range is 0.00 to 3600.00 seconds.
16 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1
Rated Voltage
Volt age
Frequenc y
Max Frequency
Adjustable Voltage
As standard AC drive applications are expanding into new markets, new control
methods are required to meet these market demands for electromagnetic
applications. Some of these applications, listed below, use non-motor or nonstandard motors that require independent control of load frequency and voltage.
• Vibration welding
• Induction heating
• Power supplies
• Vibratory feeders or conveyors
• Electromagnetic stirring
• Resistive loads
Standard inverter control modes consist of volts per hertz (V/Hz), with boost
selections, speed feedback selection, fan, pump, and economize, flux vector (FV),
with encoder and encoder less modes. The control of the output voltage/
frequency relationship of the variable frequency inverter must be maintained in
the linear and nonlinear (over-modulation) regions. Voltage linearity is achieved
by maintaining a constant voltage/frequency ratio over the entire operating
region. The variable frequency inverter must deliver an adjustable-frequency
alternating voltage whose magnitude is related to the output frequency. As the
linear-to-nonlinear transition begins, the control must compensate for the lost
voltage and deliver a linear output voltage profile.
In adjustable voltage control mode, the output voltage is controlled
independently from the output frequency. The voltage and frequency
components have independent references and acceleration/deceleration rates.
The adjustable voltage control mode operation enables separate control of the
output voltage and the output frequency for use on applications that are typically
non-motor types. The voltage and frequency components have independent
references and independent acceleration and deceleration rates. Both the voltage
and frequency can be set to any point within their respective range. The
following graph illustrates these functional ranges.
0
0
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 17
Chapter 1 Drive Configuration
Overview
Adjustable voltage control is enabled by setting P35 [Motor Ctrl Mode] to
option 9 “Adj VltgMode.” This feature provides either three-phase and singlephase output voltage. The default mode is three-phase output voltage and is
selected by P1131 [Adj Vltg Config]. In single-phase mode the drive is not
designed to operate single phase motors, but rather the output load is considered
to have a lagging or unity power factor consisting of resistance and inductance for
specially designed motor or non-motor application.
Input reference sources can be configured from P1133 [Adj Vltg Select]. The
input source can be scaled and upper when lower limits are applied. A trim source
can be selected reference from P1136 [Adj Vltg TrimSel] with the trim voltage
added or subtracted from the voltage reference.
The scalar frequency selection and scalar frequency ramp are the same
components as used in all other control modes. The exception being the
frequency command and ramp are decoupled from the voltage generation for the
adjustable voltage control mode to provide an independent frequency ramp.
Acceleration and deceleration rates and S Curve are the same as used in all other
modes. Upper and lower limits are applied to the value of the output command
frequency.
The adjustable voltage control voltage ramp provides an independent voltage
ramp decoupled from the scalar frequency ramp and controlled by user selectable
acceleration and deceleration ramp times. There is also an adjustable percent S
Curve feature.
The current limit function reduces the output voltage when the current limit is
exceeded. Minimum and maximum voltage limits are applied so the output
voltage is never operated outside that range.
Adjustable Voltage Control Setup
The following examples of setups for the Adjustable Voltage Control mode are a
starting point for configuration. Applications can be unique and require specific
parameter settings. These examples are base case only.
Table 1 - Basic Adjustable Voltage Control Parameters
Parameter No. Parameter Name Setting Description
35 Motor Ctrl Mode 9 “Adj VltgMode” Adjustable Voltage feature is used in non-motor
1131 Adj Vltg Config 1 1 = 3-Phase Operation, 0 = 1-Phase Operation
1133 Adj Vltg Select Preset 1
1134 Adj Vltg Ref Hi 100 Percent
1140 Adj Vltg AccTim e n Secs Application dependent
applications.
18 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1
Parameter No. Parameter Name Setting Description
1141 Adj Vltg DecTime n Secs Application dependent
1142 Adj Vltg Preset1 n VAC Application dependent
1153 Dead Time Comp n % Vary from 0% to 100%. Dead Time Comp is best set
to 0% when output of the Sine wave Filter is fed
into a transformer, to prevent or minimize DC Offset
voltage s.
Refer to the PowerFlex 750-Series Programming Manual, publication 750-
PM001, for parameter descriptions and defaults.
When using sine wave or dv/dt filters, the PWM frequency must match the filter
design. The drive’s thermal protection changes the PWM frequency if over
temperature conditions are detected. Set P420 [Drive OL Mode] to option 1
“Reduce CLmt” and P38 [PWM Frequency] to the filter instructions.
Additional Parameter Changes
When using adjustable voltage control it is necessary to change additional
parameters beyond the feature itself. Use this table to assist in setting these
parameters.
Table 2 - Adjustable Voltage Applications Parameter Settings
Parameter No. Parameter Name Setting Description
38 PWM Frequency 2 kHz or 4 kHz Match the setting with filter tuning.
40 Mtr Options Cfg Bit 5 = 0 Reflected wave is turned off so that there are no
Bit 8 = 1 AsyncPWMLock is on because the filter is tuned to
Bit 9 = 1 PWM Freq Lock is on because the filter is tuned to
Bit 11 = 0 The “Elect Stab” bit affects angle stability and
Bit 12 = 0 Transistor diagnostics is turned off because that
43 Flux Up Enable 0 Leave at the “Manual” setting.
44 Flux Up Time Default Leave at 0.0000 seconds.
missing pulses in the output voltage waveform and
to minimize any offsets that can appear.
the carrier frequency. The carrier frequency must be
fixed, if it changes the filter will not work. Also, set
the PWM frequency match filter tuning, either 2 kHz
or 4 kHz.
the carrier frequency. The carrier frequency must be
fixed, if it changes the filter will not work. Also, set
the PWM frequency match filter tuning, either 2 kHz
or 4 kHz.
voltage stability.
Angle stability gain is set for 0 so it does not
compensate for the current going into the filter’s
caps. Voltage stability gain is set for 0 for the same
reason.
sequence of turning transistors on and off charges
the caps in the filter and can cause an IOC trip.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 19
Chapter 1 Drive Configuration
IMPORTANT
Parameter No. Parameter Name Setting Description
60 Start Acc Boost 0 Set if there are DC offset voltages at load
61 Run Boost 0
62 Break Voltage 0
63 Break Frequency 0
420 Drive OL Mode 1 “Reduce CLmt” Drive OL mode is set for reduce current limit, and
1154 DC Offset Ctrl 1 “Enable” This turns off any offset control programmed in the
transformer input windings.
not the PWM frequency as it must remain fixed.
firmware.
Modulation mode is default at space vector only because 2-phase modulation will
degrade the filter’s performance.
Do not autotune.
Application Considerations
Whatever the device the user wants to connect to the drive by using the
adjustable voltage feature, that device has some type of rating associated with it.
As a minimum it needs to have a current rating and voltage rating. Drive selection
is based on those ratings.
Sizing
First, consider the voltage rating of the drive. Determine what the available line
voltage is and select a drive voltage rating to match. Next, select a drive that
supplies the current necessary for the device’s rating.
Single Phase Output
Consult Rockwell Automation before configuring a drive for single phase
adjustable voltage output. Derating of the drive is necessary because of stress on
the DC bus capacitor or the IGBT switching losses. When PWM is applied to a
resistor, the current changes state following the voltage. For each PWM voltage
pulse the current is pulsing the same way. This rapid change in current is not
designed into the IGBT selection for the drive. Therefore, some sort of derating
needs to be applied. Somewhere around 67% derating. When in this mode, actual
losses must be measured to determine a derating percentage. Adding a reactor in
series with the resistor can help by adding inductance and rounding off the
corners of the current pulses. Depending on how much inductance is added, the
waveform can look like a sine wave.
20 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1
Single Phase - PWM into Resistor - No Reactor
Vol tag e
DC Bus
Curren t
Single Phase - PWM into Resistor - No Reactor
Vol tag e
Curren t
This is a plot showing output voltage, output current, and DC Bus voltage. Here
you can see the current following the voltage in a typical PWM output.
This plot enlarges some of the pulses to see the current and its shape.
Notice the tops have an abrupt change to them. Any rounding of the wave form
at the top is due to the type of resistor used. The resistors used for this plot are the
grid type resistors where the resistor element is coiled along its length, adding a
certain amount of inductance. This inductance helps round over the leading edge
of the current.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 21
Chapter 1 Drive Configuration
Single Phase - PWM into Resistor - No Reactor
Vol tag e
DC Bus
Curren t
Below is the same plot with a reactor added in series. These waveform look like a
sine wave and that is a function of how much inductance is added. However, the
increased voltage drop must be accounted for.
Another option is to have a sine wave filter in the circuit. This lets unshielded
cable to be used without the worry of PWM generated noise being injected into
the facility. The cost of shielded cable versus a sine wave filter, Among other
factors, has to be weighed.
When using single phase operation, connect the load to the U and V phases. The
W phase is energized but is not used.
Enter your maximum current into the Motor NP Amps parameter. Also use this
value in the Current Limit parameter. When started the drive attempts to ramp
to the commanded voltage. If current limit is hit, the drive levels off or reduce the
voltage to satisfy the current limit.
Notice the DC Bus voltage ripple in two of the plots above. If this ripple is high
enough in magnitude, it can cause the drive to trip on an Input Phase Loss fault.
This is due to the drive monitoring the bus ripple and if a certain delta between
max volts and min volts exists for a certain amount of time, the drive assumes an
input phase was lost. This fault can be disabled by setting P462 [InPhase
LossActn] to option 0 “Ignore.”
Three Phase Output
If you are driving as resistive load, configure it in a three phase arrangement to
avoid using the single phase mode of adjustable voltage. Use a sine wave filter to
keep PWM off the resistors. If the resistors are of the ceramic type, it is possible to
crack the resistor using PWM.
22 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1
XL 2 pi× f× H×=
XL12pi× 60× 1.2 1000⁄()× 0.45ohm==
XL22pi× 60× 5 1000⁄()× 1.88ohm==
XL32pi× 60× 5 1000⁄()× 1.88ohm==
XL42pi× 60× 3 1000⁄()× 1.13ohm==
IVXL 3×()⁄=
VIXL× 3×=
The following is a plot of voltage and current at the reactor. The output of the
drive is sent through a sine wave filter then to the reactor. The shape of the
waveform is determined by the amount of capacitance in the sine wave filter.
If you wanted to know what voltage you can expect at the three phase reactor,
consider an example where the user has four reactors in series. The inductance of
each is 1.2mH, 5mH, 5mH and 3mH. First item to calculate is XL for each
reactor. .
Now total it. XL1 + XL2 + XL3 + XL4 = 5.35 ohm.
For a three phase reactor the current is represented by the
equation,
Isolate the voltage.
The current value can be what the least rating of the reactors are or if the rating
are greater than the drive rating, use the drive rating. In this case the drive is rated
for 14 amps.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 23
Chapter 1 Drive Configuration
V 14 5.35× 1.73× 129.8==
DC Voltage
Resistor Current
Times
DC Voltage
Resistor Current
So plug in the numbers.
So 14 amps is realized when the voltage is 129.8 on the output. A drive with a
voltage rating of 240V AC could be selected.
Below is a waveform of voltage and current at a resistor. The output of the drive
runs through a sine wave filter. Then this is connected to a one to one
transformer. This output is then sent to a bridge rectifier giving us pure DC.
With the use of a feedback board and the drives PI loop, the voltage at the resistor
was steady even if the resistance changed while running.
Other
Setting the frequency acceleration time to zero results in the drive outputting a
DC voltage waveform.
If the frequency accel time is set between 0 and 1, this could trigger and anomaly
24 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
where the drive outputs a frequency not equal to the commanded frequency. The
40 Mtr Options Cfg
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Jerk Select
Not Used
Common Mode
Xsistor Diag
Elect Stab
DB WhileStop
PWM FreqLock
AsyncPWMLock
PWM Type Sel
RS Adaption
Reflect Wave
Mtr Lead Rev
EnclsTrqProv
(1)
(1) 755 drives only.
Trq ModeJog
Trq ModeStop
Zero TrqStop
Default00000000000000000001100011100111
Bit 323029282726252423222120191817161514131211109876543210
Mtr Ctrl Options
MOTOR CONTROL
Drive Configuration Chapter 1
cause of this anomaly is the introduction of the jerk function. This bit needs to be
off during this condition.
RW 32-bit
Motor Options Configuration
Configuration of motor control-related functions. For motors abo ve 200 Hz, a carrier frequency of 8 kHz or higher is recommended. Consider drive derate and motor
lead distance restrictions.
Integer
When using single phase operation, connect the load to the U and V phases. The
W phase is energized but is not used.
Using a DC output can result in thermal issues. The drive may need to be
derated.
Auto Restart
Investigate Possible Derating
Derate drive for sine wave filter.
Motor or drive overload is not affected by adjustable voltage mode.
The Auto Restart feature provides the ability for the drive to automatically
perform a fault reset followed by a start attempt without user or application
intervention. Provided the drive has been programmed with a 2 wire control
scheme and the Run signal is maintained. This enables remote or unattended
operation. Only certain faults are allowed to be reset. Faults listed as NonResettable in the programming manual indicate possible drive component
malfunction and are not resettable.
Use caution when enabling this feature, because the drive attempts to issue its
own start command based on user selected programming.
Configuration
Setting P348 [Auto Rstrt Tries] to a value greater than zero enables the Auto
Restart feature. Setting the number of tries equal to zero disables the feature.
ATT EN TI ON : Equipment damage and/or personal injury may result if this
parameter is used in an inappropriate application. Do not use this function
without considering applicable local, national and international codes,
standards, regulations or industry guidelines.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 25
Chapter 1 Drive Configuration
P349 [Auto Rstrt Delay] sets the time, in seconds, between each reset/run
attempt.
The auto reset/run feature supports the following status information.
• P936 [Drive Status 2] Bit 1 “AuRstrCntDwn” provides indication that an
Auto Restart attempt is presently counting down and the drive attempts to
start at the end of the timing event.
• P936 [Drive Status 2] Bit 0 “AutoRstr Act” indicates that the auto restart
has been activated.
Operation
The typical steps performed in an Auto Reset/Run cycle are as follows.
1. The drive is running and an Auto Reset Run fault occurs, thus initiating
the fault action of the drive.
2. After the number of seconds in P349 [Auto Rstrt Delay], the drive
automatically performs an internal Fault Reset, resetting the faulted
condition.
3. The drive then issues an internal Start command to start the drive.
4. If another Auto Reset Run fault occurs, the cycle repeats itself up to the
number of attempts set in P348 [Auto Rstrt Tries].
5. If the drive faults repeatedly for more than the number of attempts set in
P348 [Auto Rstrt Tries] with less than five minutes between each fault, the
Auto Reset/Run is considered unsuccessful and the drive remains in the
faulted state.
6. If the drive remains running for five minutes or more because the last
reset/run without a fault, or is otherwise stopped or reset, the Auto Reset/
Run is considered successful. The Auto Restart status parameters are reset,
and the process repeats if another auto resettable fault occurs.
See Aborting an Auto-Reset/Run Cycle for information on how the
Reset/Run cycle can be aborted.
Beginning an Auto-Reset/Run Cycle
The following conditions must be met when a fault occurs for the drive to begin
an Auto Reset/Run cycle:
• The fault type must be Auto Reset Run.
• P348 [Auto Rstrt Tries] setting must be greater than zero.
• The drive must have been running, not jogging, not auto tuning, and not
stopping, when the fault occurred. (A DC Brake state is part of a stop
sequence and therefore is considered stopping.)
26 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1
Aborting an Auto-Reset/Run Cycle
During an Auto Reset/Run cycle the following actions/conditions abort the
reset/run attempt process.
• A stop command is issued from any source. (Removal of a 2-wire run-fwd
or run-rev command is considered a stop assertion.)
• A fault reset command is issued from any source.
• The enable input signal is removed.
• P348 [Auto Rstrt Tries] is set to zero.
• A Non-Resettable fault occurs.
• Power to the drive is removed.
• The Auto Reset/Run Cycle is exhausted.
After all [Auto Rstrt Tries] have been made and the drive has not successfully
restarted and remained running for five minutes or more, the Auto Reset/Run
cycle is considered exhausted and therefore unsuccessful. In this case the Auto
Reset/Run cycle terminates and an F33 “AuRsts Exhaust” fault is indicated by
P953 [Fault Status B] Bit 13 “AuRstExhaust.”
Auto/Manual
The purpose of the Auto/Manual function is to permit temporary override of
speed control and/or exclusive ownership of logic (start, run, direction) control.
A manual request can come from any port, including HIM, digital input or other
input module. However, only one port can own manual control and must release
the drive back to auto control before another port can be granted manual control.
When in Manual mode, the drive receives its speed reference from the port that
requested manual control, unless otherwise directed by the Alternate Manual
Reference Select.
The HIM can request Manual control by pressing the Controls key followed by
the Manual key. Manual control is released by pressing the Controls key followed
by Auto. When the HIM is granted manual control, the drive uses the speed
reference in the HIM. If desired, the auto speed reference can be automatically
preloaded into the HIM when entering HIM manual control, so that the
transition is smooth.
Manual control can also be requested through a digital input. To do this, a digital
input has to be set to request Manual control through P172 [DI Manual Ctrl].
Digital Input Manual control requests can be configured to use their own
alternative speed reference to control the drive. Digital inputs can also be used in
conjunction with Hand-Off-Auto Start to create a three way HOA switch that
incorporates Manual mode.
The Safe Speed Monitor Option Module uses Manual mode to control the speed
of the drive when entering Safe Limited Speed monitoring.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 27
Chapter 1 Drive Configuration
Auto/Manual Masks
The port configuration of the Auto/Manual feature is performed through a set of
masks. Together, these masks set which ports can control the speed and/or logic
control of the drive as well as which ports can request Manual control. The masks
are configured by setting a 1 or 0 in the bit number that corresponds to the port
(Bit 1 for port 1, Bit 2 for port 2, and so forth). Digital Inputs are always
configured through Bit 0, regardless of what port the module physically resides
in. If both [Manual Ref Mask] and [Manual Cmd Mask] for a particular port are
set to 0, that port is unable to request manual control.
P324 [Logic Mask]
Logic Mask enables and disables the ports from issuing logic commands (such as
start and direction) in any mode. Stop commands from any port are not masked
and still stop the drive.
P325 [Auto Mask]
Auto Mask enables and disables the ports from issuing logic commands (such as
start and direction) while in Auto mode. Stop commands from any port are not
masked and still stop the drive.
P326 [Manual Cmd Mask]
Manual Command Mask enables and disables the ports from exclusively
controlling logic commands (such as start and direction) while in Manual mode.
If a port assumes Manual control, and the corresponding bit for the port in the
[Manual Cmd Mask] is set, no other port is able to issue logic commands. Stop
commands from any port are not masked and still stops the drive.
P327 [Manual Ref Mask]
Manual Reference Mask enables and disables the ports from controlling the
speed reference while in Manual mode. If a port assumes manual control, and the
corresponding bit for the port in the [Manual Ref Mask] is set, the drive is
commanded to the speed reference from that port. An alternate speed reference
can be commanded using P328 [Alt Man Ref Sel]. If the respective bit for the
manual control port is not set, then the drive follows its normal automatic speed
reference, even in Manual mode.
Alternate Manual Reference Select
By default, the speed reference used in Manual mode comes from the port that
requested manual control (For example, if a HIM in port 1 requests manual
control, the speed reference in Manual mode comes from port 1). If instead it is
desired to use an a different speed reference, P328 [Alt Man Ref Sel], can be used.
The port selected in the parameter is used for manual reference regardless of
which port requested manual control, as long as the port in manual control is
allowed to set the manual reference per P327 [Manual Ref Mask]. If P328 [Alt
Man Ref Sel] is an analog input, the maximum and minimum speeds can be
configured through P329 [Alt Man Ref AnHi] and P330 [Alt Man Ref AnLo].
28 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
Drive Configuration Chapter 1
ESC
REF
MANUAL
FBKREF
REMOVE
HIM
EDIT
REF
FWDREV
REF
JOG HELP
Control Sc reen Key Functio n Map
corresponds to Navigation/Number Keys
Stopped
0.00 Hz
AUTO
F
Stopped
0.00 Hz
MAN
F
00
Stopped
0.00 Hz
AUTO
Host Drive
240V 4.2A
20G...D014
ESC REF TEXT
F
PAR#
For analog input between the minimum and maximum, the drive derives the
speed from these parameters through linear interpolation.
The P328 [Alt Man Ref Sel] manual reference overrides all other manual speed
references, including P563 [DI ManRef Sel].
HIM Control
Manual Control can be requested through an HIM device attached to port 1, 2,
or 3. The proper bits must be set in the masks (P324 [Logic Mask], P326
[Manual Cmd Mask], and P327 [Manual Ref Mask]) for the port that the HIM
is attached. To request control through the HIM, press the (Controls) key
to display the Control screen.
Press the (Manual) key.
Press the (Edit) key to confirm that you want to switch to Manual mode.
If the request is accepted, the HIM displays “MAN” in the top right corner. The
display does not indicate if the drive is in Manual, but rather if that particular
HIM has Manual control. A HIM still displays “AUTO” if it does not have
ownership of the Manual mode, even if the drive itself is in Manual mode. To see
if the drive is in Manual mode, check P935 [Drive Status 1] Bit 9.
When a HIM has Manual control of the drive, the drive uses the speed reference
from the HIM unless overridden by P328 [Alt Man Ref Sel]. To change the speed
reference on the HIM, navigate to the Status screen and press the middle soft key
labeled REF.
Rockwell Automation Publication 750-RM002B-EN-P - September 2013 29
Chapter 1 Drive Configuration
ESC
REF
MANUAL
FBKREF
REMOVE
HIM
EDIT
REF
FWDREV
REF
JOG HELP
Control Scre en Key Function Map
corresponds to Navigation/Number Keys
Stopped
0.00 Hz
AUTO
F
Current Speed
With Manual Preload
Without Manual Preload
Desired Speed
Set in HIM
Manual Mode
Requested
Desired Manual Speed
Last Speed Used in HIM
If the request is not accepted, a message indicates that “Manual Control is not
permitted at this time.” The most likely causes are that manual control is disabled
for the port or that another port currently has manual control. To check which
port has manual control, look at P924 [Manual Owner].
To release Manual mode from the HIM, press the (Controls) key to display
the Control screen.
Press the (Auto) key.
Press the (Edit) key to confirm that you want to switch to Auto mode.
HIM Preload
Before taking a manual control speed reference from a HIM, the drive can
preload its current speed into the HIM to provide a smooth transition. Without
this feature, the drive immediately transitions to whatever speed was last used in
the HIM, before the operator has a chance to make their adjustment. With this
feature, the drive maintains its current speed until the operator sets the speed to
the desired manual reference.
30 Rockwell Automation Publication 750-RM002B-EN-P - September 2013
The Auto/Manual HIM Preload is configured through P331 [Manual Preload].
Ports 1, 2, and 3 can be configured to have the speed reference preloaded into the
HIM by setting bits 1, 2, and 3 respectively.
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