Powerflex 750-Series Products With Totalforce Control: Reference Manual

PowerFlex 750-Series
Products with TotalFORCE

Control
Catalog Numbers 20G, 20J
Reference Manual Original Instructions

PowerFlex 750-Series Products with TotalFORCE Control Reference Manual
Important User Information

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.
IMPORTANT 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).
2 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Table of Contents
Preface
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Chapter 1
Drive Configuration Configuring Accel/Decel Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Automatic Device Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Precharge Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Sleep/Wake Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Motor Stop Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Start Permissive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Low Speed Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Power Loss Ride-through . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Auxiliary Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Motor Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Motor Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Selecting Velocity Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Chapter 2
TotalFORCE Control Features Adaptive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Secondary Motor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Energy Pause Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Predictive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Predictive Maintenance CIP Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
DeviceLogix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Emergency Override Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Reference Motion Planners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Chapter 3
Active Front End TotalFORCE AC Line Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Control Droop Control for Parallel Operation of Bus Supplies . . . . . . . . . . . . . . 138
AC Line Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Backup Generator Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Chapter 4
Diagnostics and High Speed Trending. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Troubleshooting Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Input Phase Loss Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Rockwell Automation Publication 750-RM100C-EN-P - August 2022 3

Chapter 5
Application References PowerFlex 755T Lifting/Torque Proving . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Anti-Sway Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Dynamic Braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Dynamic Bus Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Carrier (PWM) Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
PTC Motor Thermistor Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

Preface
The purpose of this manual is to provide detailed information about

configuring PowerFlex® 750-Series products with TotalFORCE® control for
common applications.
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.
In this manual we refer to the PowerFlex 750-Series products with TotalFORCE

control as:
• PowerFlex 755T products when referring to the group of drives, bus
supplies, and common bus inverters listed below.
- PowerFlex 755TL drive when referring to the low harmonic drive
product.
- PowerFlex 755TR drive when referring to the regenerative drive
product.
- PowerFex 755TM drive system when referring to regenerative bus
supply and common bus inverter products.
• PowerFlex 755TS drive when referring to the six-pulse rectifier
standalone AC drive product.
Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
Topic Page
The following topics have been added to this publication:
Motor Stop Modes 19
Start Permissive 29
Auxiliary Power Supply 41
Motor Control Modes 41
Motor Types 48
Selecting Velocity Feedback 56
Predictive Maintenance CIP Objects 91
Input Phase Loss Detection 168
Dynamic Braking 201
Carrier (PWM) Frequency 221
Analog Inputs 222
Analog Outputs 230
Digital Inputs 235
Digital Outputs 246
PTC Motor Thermistor Input 255
The following topics have been updated:
Adaptive Control 57
Energy Pause Function 71
AC Line Commissioning 135
AC Line Tuning 143
Anti-Sway Applications 191
Dynamic Bus Control 212

Notes:

Chapter 1
Drive Configuration
This chapter discusses common configuration topics for PowerFlex® products.
Topic Page
Configuring Accel/Decel Time 7
Automatic Device Configuration 9
Precharge Sequence 14
Sleep/Wake Mode 15
Motor Stop Modes 19
Start Permissive 29
Low Speed Operation 32
Power Loss Ride-through 36
Auxiliary Power Supply 41
Motor Control Modes 41
Motor Types 48
Selecting Velocity Feedback 56
Configuring Accel/Decel You can configure the drive’s acceleration time and deceleration time.
Time
Acceleration Time
Parameters 10/11:1915 [VRef Accel Time 1] and 10/11:1916 [VRef Accel Time 2] set
the acceleration ramp that is applied to velocity reference commands. Defined
as the time to accelerate from zero to Motor Rated Hz 10/11:402 [Motor NP
Hertz] or to Motor Rated RPM 10/11:403 [Motor NP RPM]. The setting of Hertz
or RPM is programmed in parameter 0:46 [Velocity Units].
A digital input function controls the selection between [VRef Accel Time 1] and
[VRef Accel Time 2]. Digital Input Functions are configured through the
Feedback & I/O file in Port 0. See the PowerFlex Drives with TotalFORCE®
Control Programming Manual, publication 750-PM101 for more information
on Digital Input functions. Or, a Logic Command that is sent over a
communication network or DeviceLogix™ software can also be used.
This value is used to calculate acceleration and deceleration rates equivalent to

LinScurve behavior when 10/11:933 [Ref Time Base] = 0 ‘Rate’.
This value isn’t used when 10/11:933 [Ref Time Base] = 1 ‘Time’. Instead, 10/
11:934 [Ref Accel Time] and 10/11:935 [Ref Decel Time] are applied directly as
acceleration and deceleration times. Used only in FVC mode.
Adjustment range is 0.00...3600.00 seconds.

Chapter 1 Drive Configuration
Deceleration Time
Parameter 10/11:1917 [VRef Decel Time 1] and 10/11:1918 [VRef Decel Time 2] set
the deceleration ramp time that is applied to velocity reference commands.
Defined as the time to decelerate from the Motor Rated Hz 10/11:402 [Motor
NP Hertz] or to Motor Rated RPM 10/11:403 [Motor NP RPM]. The setting of
Hertz or RPM is programmed in 0:46 [Velocity Units].
A digital input function controls the selection between [VRef Decel Time 1] and
[VRef Decel Time 2]. See Digin Functions in the PowerFlex Drives with
TotalFORCE Control Programming Manual, publication 750-PM101. Or, a
Logic Command that is sent over a communication network or DeviceLogix
software can also be used.
This value is used for these stop modes: Ramp, Ramp to Hold, and
DecelToHold.
This value is used to calculate acceleration and deceleration rates equivalent to

LinScurve behavior when 10/11:933 [Ref Time Base] = 0 ‘Rate’.
This value isn’t used when 10/11:933 [Ref Time Base] = 1 ‘Time’. Instead, 10/
11:934 [Ref Accel Time] and 10/11:935 [Ref Decel Time] are applied directly as
acceleration and deceleration times. Used only in FVC mode.
Adjustment range is 0.00...3600.00 seconds.

Automatic Device Automatic Device Configuration (ADC) is a Studio 5000 Logix Designer®
Configuration application feature that supports the automatic download of drive
configuration data. When the RSLogix 5000® software controller establishes
an I/O connection with a drive and its associated peripherals, it checks a
configuration signature for each port. This check determines if an ADC
download is needed. The purpose is to reduce downtime during a field
replacement by automatically downloading the configuration rather than
manually with a separate tool.
Compatibility
ADC is available with the following software:

• RSLogix 5000 software, Version 20
• Studio 5000® software, Version 21 and higher
• Drive AOPs, Version 1.xxx and higher for PowerFlex 755T
The latest drive AOPs ship with each release of Studio 5000 Logix Designer and
are also available for free download at the Product Compatibility and
Download Center (PCDC), rok.auto/pcdc.
To identify the drive AOP version that you are using, open the AOP, click the
icon in the upper left corner of the window and select ‘About Module Profile’.

ADC works with all versions of the PowerFlex 755T drives when the Logix I/O
connection is made through the built-in Ethernet/IP™ port.
Firmware updates are available for download at the Product Compatibility and
Download Center (PCDC), rok.auto/pcdc.
If you do not have the minimum levels of software and hardware, the ADC
feature isn’t available (ADC icon is missing or appears dimmed). Drive
configuration settings are stored inside the ACD project file. With ADC
enabled, the Logix controller automatically downloads the configuration
settings for a particular drive port if it detects that there’s a configuration
signature mismatch with a port.
A configuration signature is a globally unique ID number. The Logix controller

uses the number to perform a quick compare to determine if a download is
needed. If the signatures match, no download is needed. If an option module
or entire drive is replaced, the configuration signature for the respective port
does not match and a download occurs to the port.
Activation
To activate the ADC feature, click Device Definition under the Overview tab of
the drive.
Once in the Device Definition tab, click Automatic Device Configuration.

Check the box to Enable Automatic Device Configuration to enable ADC for
the drive and all peripheral devices that are identified on the page. When
enabled, the configuration data is verified for the connected devices by the
controller (configuration owner) when establishing a network I/O connection
and, when different, downloaded to the device.
The Enable Automatic Device Configuration is accessible at the Port/Device

Level. This allows you to enable/disable ADC for the all or only selected ports/

devices. The checkboxes appear unavailable when the global Enable Automatic
Device Configuration checkbox is cleared.
ADC can’t be configured for some ports/devices, such as a Safe Torque Off
option module (20-750-S3). The Safety Controller manages the configuration
of the 20-750-S3 Network STO option module.
The column on the right with Fail Drive Connection on Peripheral Error
indicates that the controller does not establish a network I/O connection with
the drive if an error occurs with this peripheral device.
When ADC is enabled, it’s visible in the Overview page of the drive:

When ADC is enabled, ADC is triggered anytime the Logix controller detects a
configuration signature mismatch when establishing an EtherNet/IP network
I/O connection.
The use of other configuration tools, such as a HIM or Connected Components

Workbench™ software must be minimized and restricted to monitor-only
operation. Any configuration changes made by these tools will cause a
configuration signature mismatch the next time the Logix controller connects
to the device. ADC writes over any configuration changes made by the other
tools. Consider using the Write Mask function, drive parameter 0:230 [Write
Mask Cfg]. The function stops tools that are connected to ports other than the
built-in EtherNet/IP port in a PowerFlex 755T drive from writing to the drive.
Any drive configuration changes must be made with the Add-on Profile (AOP).
The use of Explicit Messaging to perform parameter writes in the Logix

program must be limited to RAM memory by setting the proper Attribute in
the MSG instruction. Any writes to parameter nonvolatile storage (NVS) will
clear the configuration signature and cause a mismatch the next time the
Logix controller connects to the device. This triggers ADC, which writes over
any configuration changes that were previously made.
ADC can execute the first time the Logix controller connects to the drive after
ADC has been enabled. The configuration signatures in the controller and
drive synchronize, and stops future ADC downloads from occurring unless a
configuration change is made or the drive / peripheral is replaced. If a port has
configuration parameters that require a reset to become active, ADC will reset
the drive after the respective port parameters are downloaded.
When ADC is enabled, it can be activated if the controller is in Run or Program

mode. Select ‘Inhibit Module’ when changes are made to the drive to limit ADC
from writing over your changes. ‘Inhibit Module’ is on the Connection tab in
the drive module profile.
Use the Stratix® switches to provide the dynamic IP address assignment by

port. This selection removes the need to enter the IP address, subnet mask, and
Gateway address manually before connecting a replacement drive to the
Ethernet network.
ADC can work in tandem with the Firmware Supervisor. If the Firmware
Supervisor is configured and enabled for a drive (‘Exact Match’ keying must be
used), the drive/ peripheral firmware is automatically updated (if necessary)
before any ADC operation for that port.

Information on Automatic Device Configuration (ADC) can be found in the

PowerFlex 750-Series Drives with TotalFORCE Control Built-in EtherNet/IP
Adapter User Manual, publication 750COM-UM009A, Chapter 3, Configuring
the Drive in a Logix System includes the following topics:
• Description of the ADC functionality
• How the Drive Add-on Profiles (AOPs) effect ADC
• Configuring a PowerFlex 755T Drive (firmware 1.xxx or later) for ADC
• ADC and Logix Memory
• Peripheral Changes When Using ADC
• Special Considerations When Using a 20-750-S1 Safe Speed Monitor
Module
• Special Considerations for Communications and Option Developers Kit
Option Cards
• Testing ADC
• Monitoring the ADC Progress
• Programmatically Monitoring Connection Status and the ADC
• Examples of potential issues and solutions
• Best practices

Precharge Sequence PowerFlex 755T products use a precharge sequence to control power-up. The
precharge sequence starts as soon as the drive detects incoming three-phase
power on the input terminals. The sequence ends when the main control board
is able to communicate with all necessary peripherals. The following frame-
specific sections guide you through the precharge sequence and define what
occurs at each step.
Frames 5 and 6
1. Three-phase power is applied.
2. Incoming three-phase power is stepped down and the main control
board is powered.
3. The main control board performs a check before it initiates the precharge
sequence.
4. A precharge resistor bank is connected between the AC line and the input
of the converter. This resistor bank limits the voltage that is available
while the DC bus and LCL filter capacitors begin charging.
5. When the DC bus is 85% of the nominal voltage rating, the AC precharge
circuit bypasses the precharge resistor bank. Full line voltage is applied to
the input of the converter to complete the precharge sequence.
6. Main control board checks for an ‘Ok’ status to verify that the precharge
sequence was completed successfully and that the drive is ready.
Frames 7…15
1. Three-phase power is applied.
2. The operator closes the main fuse disconnect (FD1).
3. A step-down transformer limits incoming three-phase power to 240V.
Power is applied to the AC precharge board and to the 24V DC network.
4. 24V DC is applied to the control pod and main control board. Fiber-optic
communication is established between the main control board and the
AC precharge board.
5. The main control board performs a check and sends an ‘Ok’ status to the
AC precharge board to proceed with the precharge sequence.
6. The AC precharge board closes the AC precharge contactor to connect the
precharge resistor bank to the DC bus and the LCL filter module.
7. When the DC bus is 85% of nominal voltage rating, the AC precharge
circuit closes the AC precharge circuit breaker (CB1). The AC precharge
contactor opens to disconnect the precharge resistor bank from the DC
bus.
8. The switched mode power supply (SMPS) of the converter and inverter
power modules is at 400V DC.
9. The power layer interface (PLI) board, current sense board (CSB), and
gate driver are powered by SMPS.
10. The main control board checks communications between AC precharge
board, PLI board, CSB board, and gate driver.
11. If the check comes back ‘Ok’, the precharge is complete and the drive is
ready.

Sleep/Wake Mode The purpose of the sleep/wake function is to start (wake) the drive when an
analog signal level is greater than or equal to the value in parameter 9:94 [Wake
Level]. One common application of this function is for efficient control of
pumps that use feedback from digital limit sensors to maintain a holding tank
between a ‘high’ and ‘low’ level. The drive stops (sleeps) when an analog signal
level is less than or equal to the value in parameter 9:92 [Sleep Level].
Parameter 9:91 [SleepWake RefSel] selects the source of the analog signal. Set
parameter 9:90 [Sleep Wake Mode] to 1 ‘Direct’ to enable the sleep/wake
function to work as described.
To function in Invert mode, set parameter 9:90 [Sleep Wake Mode] to 2 ‘Invert’.
The Invert setting changes the logic so that an analog signal level that is less
than or equal to parameter 9:94 [Wake Level], the drive starts. The drive stops
when an analog signal level is greater than or equal to parameter 9:92 [Sleep
Level].
The sleep/wake function is in the Port 9 Process PID primary file.
To add Port 9, double-click the drive. Under the Overview tab, click Device
Definition:
Once you are in Device Definition, go to Dynamic Features and set the
Application Set to ProcPID Only to activate Port 9: PID.

If you would like to activate DLX, you can activate it under Emb Logic Select:
DeviceLogix.
Sleep/Wake Related Parameters

Parameter No. Parameter Name Description
9:90 Sleep Wake Mode Enables/disables the sleep/wake function.
9:91 SleepWake RefSel Selects the source of the input controlling the sleep/wake function.
9:92 Sleep Level Defines the SleepWake RefSel signal level that stops the drive.
9:93 Sleep Time Defines the amount of time at or below 9:92 [Sleep Level] before a Stop is
issued.
9:94 Wake Level Defines the SleepWake RefSel signal level that starts the drive.
9:95 Wake Time Defines the amount of time at or above 9:94 [Wake Level] before a Start is
issued.
Sleep/Wake Operation
Drive Run
Sleep/Wake Function
Start
Stop
Sleep Timer Satisfied
Sleep Level Satisfied
Wake Timer Satisfied

Wake Sleep Wake Sleep
Wake Level Satisfied Time Time Time Time
Wake Level
Sleep Level
Example Conditions
Analog Signal Wake Time = 3 Seconds
Sleep Time = 3 Seconds

Conditions to Start/Restart
ATTENTION: Enabling the sleep/wake function can cause unexpected

machine operation during the Wake mode. Equipment damage and/or
personal injury can result if this parameter is used in an inappropriate
application. Do not use this function without considering Table 1 and
applicable local, national, and international standards, regulations, or
industry guidelines.
Table 1 - Conditions Required to Start Drive (1) (2) (3)

Input After Power-up After a Drive Fault After a Stop Command
Reset by HIM or Software ‘Stop’ Reset by HIM, Network/Software, or HIM, Network/Software, or Digital Input
Digital Input ‘Clear Faults’ ‘Stop’
Stop(4) Stop Closed Stop Closed Stop Closed Stop Closed
Wake Signal Wake Signal Wake Signal Direct mode:
New Start or Run Command(5) New Start or Run Command(5) SleepWake RefSel Signal > Sleep Level(7)
Invert mode:
SleepWake RefSel Signal < Sleep Level(8)
New Start or Run Command(5)
Enable Enable Closed Enable Closed Enable Closed Enable Closed
Wake Signal Wake Signal Wake Signal Direct mode:
New Start or Run Command(5) SleepWake RefSel Signal > Sleep Level(7)
Invert mode:
New Start or Run Command(5)
Run Run Closed New Run Command(6) Run Closed New Run Command
Run Forward Wake Signal Wake Signal Wake Signal Direct mode:
Run Reverse SleepWake RefSel Signal > Sleep Level(7)
Invert mode:
(1) When power is cycled, if all conditions are present after power is restored, restart occurs.
(2) If all conditions are present when [Sleep Wake Mode] is ‘enabled,’ the drive starts.
(3) The active speed reference. The Sleep/Wake function and the speed reference can be assigned to the same input.
(4) Can’t use 0:110 [DI M CurLmt Stop] or 0:111 [DI M Coast Stop] as the only Stop Input. This configuration causes a Type 2 alarm.
(5) Command must be issued from HIM, terminal block, or network.
(6) Run Command must be cycled.
(7) SleepWake Ref Sel signal does not need to be greater than the wake level.
(8) SleepWake Ref Sel signal does not need to be less than the wake level.
For the Invert function, refer to the [Anlg Inn LssActn] parameter.
Normal operation requires that parameter 9:94 [Wake Level] is set to greater
than parameter 9:92 [Sleep Level]. However, there are no limits that help
prevent the parameter settings from crossing, but you can’t start the drive
until those settings are corrected. These levels are programmable while the
drive is running. If parameter 9:92 [Sleep Level] is made greater than
parameter 9:94 [Wake Level] while the drive is running, the drive continues to
run. As long as the parameter 9:91 [SleepWake RefSel] signal remains at a level
that doesn’t trigger the sleep condition. Parameter 9:93 [Sleep Time] is also
factored in. Once the drive goes to sleep in this situation, it isn’t allowed to
restart until the level settings are corrected (increase parameter 9:94 [Wake
Level], or decrease parameter 9:92 [Sleep Level]). If however, the levels are
corrected before the drive goes to sleep, normal Sleep/Wake operation
continues.

Timers
Parameter 9:93 [Sleep Time]
Parameter 9:95 [Wake Time]
Timers determine the length of time required for Sleep/Wake levels to produce
true functions. These timers start counting when the Sleep/Wake levels are
met and count in the opposite direction whenever a respective level isn’t met.
If the timer counts to the user specified time, it creates an edge to toggle the
Sleep/Wake function to the respective condition (sleep or wake). On power-up,
timers are initialized to the state that does not permit a start condition. When
the analog signal satisfies the level requirement, the timers start counting.
Interactive Functions
Separate start commands are also honored (including a digital input start), but
only when the sleep timer isn’t satisfied. Once the sleep timer times out, the
sleep function acts as a continuous stop. There are two exceptions that ignore
the Sleep/Wake function.
1. When a device is commanding local control. For example a HIM in
Manual mode or a digital input that is programmed to parameter
0:132 [DI M Manual Ctrl].
2. When a jog command is being issued.
When a device is commanding local control, the port that is commanding it

has exclusive start control (and ref select), it overrides the Sleep/Wake
function, and it allows the drive to run in the presence of a sleep condition.
This configuration holds true even when a digital input is programmed to
parameter 0:132 [DI M Manual Ctrl], a digital input start, or run, is able to
override a sleep condition.
Sleep/Wake Sources
The parameter 9:91 [SleepWake RefSel] signal source for the sleep/wake
function can be any analog input, whether it’s being used for another function
or not, a DeviceLogix software source (parameter 9:1120 [DLX Real Out SP1]
through 9:1127 [DLX Real Out SP8]), or a valid numeric edit configuration.
Configure the sleep/wake source with parameter 9:91 [SleepWake RefSel].
Also, parameters [Anlg Inn Hi] and [Anlg Inn Lo] have no effect on the
function, however, the factory calibrated result, parameter [Anlg Inn Value] is
used. In addition, the absolute value of the calibrated result is used, which
makes the function useful for bipolar direction applications.
Parameter [Anlg Inn LssActn] configures the analog in loss function, which is
unaffected and therefore operational with the sleep/wake function, but not
tied to the sleep or wake levels and is triggered off the [Anlg Inn Raw Value]
parameter.
See the PowerFlex Drives with TotalFORCE Control Programming Manual

(firmware revision 10.xxx and later), publication 750-PM101, for more details.

Motor Stop Modes Motor Stop Mode A/B can be configured as a method of stopping the drive
when a stop command is given. A normal stop command results when the run
input changes from true to false. However, when using Torque Prove,
parameter 9:50 [Trq Prove Cfg] with bit 0 enabled, parameter 10/11:110/111 [Mtr
Stop Mode A/B] must be set to 1 ‘Ramp’.
Parameter 10/11:145 [Stop Dwell Time] can also be used with a stop command.
This option can be used to set an adjustable time between detecting zero speed
and turning off the drive output.
Braking Methods
PowerFlex 755T products offer several methods for stopping a load. Set the
stop method or mode with parameters 10/11:110 [Mtr Stop Mode A] and 10/
11:111 [Mtr Stop Mode B]. These modes are listed in the following table.
Method Use When Application Requires Braking Power

The motor side inverter immediately stops modulating
0 ‘Coast’ (stops gating its power devices). Power is removed from None
the motor and it coasts to zero speed.
The motor side inverter decelerates the motor, at the
rate that is set by the active Decel Time, until it reaches
the Zero Speed threshold. It stops modulating (stops
gating its power devices) when it reaches the Zero Speed
threshold. The fastest stopping time or fastest ramp
1 ‘Ramp’ High
time for speed changes (external brake resistor or
regenerative capability that is required for ramp times
faster than the following methods). High duty cycles,
frequent stops, or speed changes. (The other methods
can result in excessive motor heating).
The motor side inverter decelerates the motor at a rate
where the Decel Time is 0.1 seconds. It does not exceed
the Current Limit to stop at this rate. It stops modulating
2 ‘Current Lmt’ Maximum
(stops gating its power devices) when it reaches the Zero
Speed threshold. Max torque/current applied until zero
speed.
The motor decelerates using the active Decel Time, until
it reaches the Zero Speed threshold. It holds by
continuing to modulate with a zero speed (zero
frequency) output until there’s a new start command,
3 ‘DecelToHold’ new run command, or another kind of stop command. Same as ‘Ramp’
This option is intended for use with an encoder and
safety module to verify that the drive is holding zero
speed.
The motor decelerates using the active Decel Time, until
it reaches the Zero Speed threshold. It holds by DC Same as ‘Ramp’ or ‘Fast
4 ‘Ramp to Hold’ braking until there’s a new start command, new run Brake’
command, or another kind of stop command. Only
available with induction motor control modes.
The motor side inverter halts output phase rotation and
injects DC current on the last used output phase. DC
braking is immediately applied (does not follow the
5 ‘DC Brake’ Less than ‘Ramp’
programmed decel ramp). Make adjustments with
parameter 10/11:154 [DCBrk Cur Reg BW]. Only available
with induction motor control modes.
High slip braking for maximum braking performance
above base speed. The motor side inverter decreases the
output frequency so it’s lower than the motor speed, but
not low enough for regeneration to occur. It forces the
6 ‘Fast Brake’ frequency to zero when the frequency is too low to allow More than ‘DC Brake’
regeneration to cause the DC bus to rise. Only available
with induction motor control modes.
Important: The Bus Regulation Mode must be Adjust
Frequency use this stop mode.

Additionally, parameter 10/11:138 [Flux Braking En] can be selected separately

(not part of the Stop mode selection) to provide additional braking during a
Stop command or when reducing the speed command. For Stop commands,
this parameter provides additional braking power during ‘Ramp’,
‘DecelToHold’ and ‘Ramp to Hold’ selections only. If ‘Fast Brake’ or ‘DC Brake’
is used, ‘Flux Braking’ is active only during speed changes when enabled.
A ‘Ramp’ selection always provides the fastest stopping time. PowerFlex 755TR
and PowerFlex 755TM Regenerative Bus Supplies provide regeneration to the
AC line. PowerFlex 755TL and PowerFlex 755TM Non-Regenerative Supply can
require a method of dissipating regenerative energy from the DC bus such as a
dynamic braking resistor or regenerative brake for example. The PowerFlex
Dynamic Brake Resistor Calculator application technique, publication
PFLEX-AT001, explains dynamic braking in detail.
The alternative braking methods to external hardware brake requirements can

be enabled if the stopping time isn’t as restrictive. Each of these methods
dissipates energy in the motor. Consequently, use care to avoid motor
overheating.
Coast
Bus Voltage
Output Voltage
Output Current
Motor Speed
Command Speed
Time
Stop Command Coast Time is load-dependent
Coast is selected by setting parameter 10/11:110/111 [Mtr Stop Mode A/B] to 0

‘Coast’. When in Coast to Stop, the drive acknowledges the Stop command by
shutting off the output and releasing control of the motor. The load/motor will
coast or free spin until the kinetic energy is dissipated. Available with all motor
control modes.
• On Stop, the drive output goes immediately to zero (off).
• No further power is supplied to the motor. The drive has released control.
• The motor coasts for a time that is dependent on the mechanics of the
system (Inertia, friction, and so forth).

Ramp
Bus Voltage
Output Voltage
Output Current
Motor Speed
Output Current
Command Speed
Output Voltage
DC
Hold
Level
Time
Stop Command Zero Command Speed DC Hold Time
Ramp to Stop is selected by setting parameters 10/11:110/111 [Mtr Stop Mode A/

B] to 1 ‘Ramp’. The drive ramps the frequency to zero based on the deceleration
time programmed into parameters 10/11:1917/1918 [VRef Decel Time 1/2]. The
normal mode of machine operation can use 10/11:1917 [VRef Decel Time 1]. If
the machine Stop requires a faster deceleration than desired for normal
deceleration, 10/11:1918 [VRef Decel Time 2] can be activated with a faster rate
selected. When in Ramp mode, the drive acknowledges the Stop command by
decreasing or ramping the output voltage and frequency to zero in a
programmed period (Decel Time), maintaining control of the motor until the
drive output reaches zero. The drive output is then shut off. The load/motor
follows the decel ramp. Other factors such as bus regulation and current limit
can alter the actual decel rate. Available with all motor control modes.
Ramp mode can also include a timed DC hold brake. Once the drive has
reached zero output hertz on a Ramp to Stop and both parameter 10/11:153 [DC
Brake Time] and parameter 10/11:152 [DC Brake Level] aren’t zero, the drive
applies DC to the motor that is producing current at the DC Brake Level for the
DC Brake Time. Only available with induction motor control modes.
Current Limit Stop
Bus Voltage
Output Voltage
Current Limit
Output Current
Motor Speed
Time
Stop Command Zero Speed

Current limit stop isn’t typically set up as the normal Stop mode. Usually the
normal stop is programmed at some ramp rate. For the current limit stop, a
digital input is used for the function. However, you certainly could set the
normal stop as current limit stop. Available with all motor control modes.
Current limit stop ramp rate is 0.1 second and isn’t programmable.
Example
Current Limit Stop
DC Bus Voltage Motor Current 10/11:2076 Motor Speed
DC Bus Voltage
In this example, the current limit was set high enough to allow the full rating of
the drive to be used in the stop sequence.
Example
Current Limit - Lowered Limit
DC Bus Voltage Motor Current 10/11:2076 Motor Speed
DC Bus Voltage
In this example, the current limit was set at some value such that when the
stop was issued the output current was clamped at that setting. The decel time
is extended.

Decel to Hold
Bus Voltage Bus Voltage
Output Voltage Output Voltage
Output Current Output Current
Motor Speed Motor Speed

Command Speed Command Speed
Zero
Speed
Hold
Current
Time
Hold Zero
Stop Command Zero Command Speed Speed for Start Command
indeterminate
amount of time.
This method uses drive output reduction to ramp the motor to zero speed and
speed regulator output to hold the load at zero speed once it has stopped. This
option is intended for use with an encoder and safety module to verify that the
drive is holding zero speed. Available with all motor control modes.
• A Stop command initiates motor deceleration using the active Decel
Time, until it reaches the Zero Speed threshold.
• It holds by continuing to modulate with a zero speed (zero frequency)
output.
• The level of output current depends on the load.
• The hold persists until there’s a new start command, new run command,
or another kind of stop command.
Ramp to Hold
Bus Voltage Bus Voltage
Output Voltage Output Voltage
Output Current Output Current
Motor Speed Motor Speed

Output Current
Command Speed Command Speed
Output Voltage
DC
Hold
Level
Time
DC Hold for
Stop Command Zero Command Speed indeterminate Start Command
amount of time.

This method combines two of the stop methods. It uses drive output reduction
to ramp the motor to zero speed and DC braking to hold the load at zero speed
once it has stopped. Only available with induction motor control modes.
• Stop command initiates ramping the output voltage and frequency to
zero in a programmed period (Decel Time), maintaining control of the
motor until the drive output reaches zero.
• When the output reaches zero, the three-phase drive output goes to zero
(off) and the drive outputs a DC voltage on the last used phase to provide
the current level programmed in parameter 10/11:152 [DC Brake Level].
This voltage causes a holding brake torque.
• DC voltage to the motor continues until a Start command is reissued or
the drive is disabled.
• If a Start command is reissued, DC Braking ceases and the drive returns
to normal AC operation. If an Enable command is removed, the drive
enters a Not Ready state until the enable is restored.
DC Brake
Bus Voltage
Output Voltage
Output Current
Motor Speed
Command Speed
DC
Hold
Level
Time
(B) (C) (A)
Stop Command
DC Hold Time
This method uses DC injection of the motor to Stop and/or hold the load. DC
Brake is selected by setting parameter 10/11:110/111 [Mtr Stop Mode A/B] to 5
‘DC Brake’. You can also choose the amount of time the braking is applied and
the magnitude of the current used for braking with parameter 10/11:153 [DC
Brake Time] and parameter 10/11:152 [DC Brake Level]. This mode of braking
generates up to 40% of rated motor torque for braking and is typically used for
low inertia loads with infrequent Stop cycles. Only available with induction
motor control modes.
• On Stop, three phase drive output goes to zero (off).
• Drive outputs the DC voltage on the last used phase to provide the
current level programmed in parameter 10/11:152 [DC Brake Level]. This
voltage causes a stopping brake torque. If the voltage is applied for a time
that is longer than the actual possible stopping time, the remaining time
is used to attempt to hold the motor at zero speed (decel profile ‘B’ on the
diagram).
• DC voltage to the motor continues for the amount of time that is
programmed in parameter 10/11:153 [DC BrakeTime]. Braking ceases
after this time expires.
• After the DC Braking ceases, no further power is supplied to the motor.
The motor/load might not be stopped. The drive has released control of
the motor/load (decel profile ‘A’ on the diagram).

• The motor, if rotating, coasts from its present speed for a time that is
dependent on the remaining kinetic energy and the mechanics of the
system (inertia, friction, and so forth).
• Excess motor current and/or applied duration, could cause motor
damage. Motor voltage can exist long after the Stop command is issued.
The right combination of Brake Level and Brake Time must be
determined to provide the safest, most efficient stop (decel profile ‘C’ on
the diagram).
Fast Brake
Bus Voltage
Output Voltage
Output Current
Motor Speed
Command Speed
Time
Stop Command
This method takes advantage of the characteristic of the induction motor

whereby frequencies greater than zero (DC braking) can be applied to a
spinning motor that provides more braking torque without causing the drive
to regenerate. Only available with induction motor control modes.
• On Stop, the drive output decreases based on the motor speed, and keeps
the motor out of the regen region. This is accomplished by lowering the
output frequency below the motor speed where regeneration does not
occur. The excess energy is lost in the motor.
• The method uses a PI based bus regulator to regulate the bus voltage to a
reference (that is 750V) by automatically decreasing output frequency at
the proper rate.
• When the frequency is decreased to a point where the motor no longer
causes the bus voltage to increase, the frequency is forced to zero. DC
brake is used to complete the stop if the DC Braking Time is nonzero,
then the output is shut off.
• Use of the current regulator verifies that over current trips don’t occur
and allow for an easily adjustable and controllable level of braking
torque.
• Use of the bus voltage regulator results in a smooth, continuous control
of the frequency and forces the maximum allowable braking torque to
always be utilized.
IMPORTANT For this feature to function properly the active [Bus Reg Mode
A/B] must be set to 1 ‘Adjust Freq’ and not be 0 ‘Disabled’.

Example
Block Diagram
Current Regulator
Brake
Level
Bus Voltage
Gain
Reference
Frequency
Bus Voltage
Flux Braking
Flux Braking is an independent feature from the parameter 10/11:110/111 [Mtr

Stop Mode A/B] available in PowerFlex 755T products. When enabled, flux
braking is active during the decel ramp of a speed change. Flux braking
changes the Volts per Hertz curve ratio outputting a higher voltage, relative to
the normal V/Hz curve, to the motor causing over fluxing thus reducing the
speed faster than just the decel ramp alone. This feature isn’t intended for high
inertia loads because over fluxing can cause excessive heating in the motor.
Long decel times can build heat.
Flux Braking works in all motor control modes. Flux braking only works with
induction motors and only during deceleration.

Table 2 - Flux Braking Parameters

Number Parameter Name Min / Max Default
10/11:138 Flux Braking En Disabled / Enabled Disabled
10/11:139 Flux Braking Kp 0.0 / 1000000.0 100.0
10/11:140 Flux Braking Ki 0.0 / 1000000.0 10000.0
10/11:141 Flux Braking Lim 100.00 / 250.00% 125.00
Traces
In the following plots, the Accel/Decel times are 0.5 s. Parameter 10/11:116/117
[Bus Reg Mode A/B] is set to option 1 ‘Adjust Freq’. There’s a fair amount of
inertia that is connected to the motor shaft. Parameter 10/11:110/111 [Mtr Stop
Mode A/B] is set to 1 ‘Ramp’ to stop.
In the plot below the Flux Braking feature is disabled. Note the decel time.
Here the bus regulator is controlling the stop time.
Flux Braking - Disabled
Id Torque Ref Motor Speed DC Bus Voltage
No change in flux to the motor.
In the next plot, all conditions are the same except the Flux Braking feature is
enabled. Note that the flux to the motor is increased and the decel time is
shorter.

Flux Braking - Enabled
Increased flux to the motor.

Note the decel time.
Compare with disabled.
Finally the same test with the gains set to maximum levels. Slightly faster
decel. The use of the gains varies with the connected load.
Flux Braking - Full Gains
Increased flux to the motor.

Note the decel time.
Compare with disabled.

Start Permissive Certain status conditions must be met to permit the motor inverter to start in
any mode, such as run, jog, or autotune.
PowerFlex 755TL/TR drives and PowerFlex 755TM regenerative bus supplies

with active front end converters require that certain conditions must be met to
permit line side converter modulation start.
When all permissive conditions are met, the motor inverter and/or line side
active converter is considered ready to start. The ready condition is confirmed
through the ready status in motor inverter parameters 10/11:354 [Motor Side
Sts 1] and 10/11:355 [Motor Side Sts 2] and the line converter parameter 13:225
[Line Side Sts 1].
Permissive Conditions
• No faults can be active.
• No Type 2 alarms can be active.
• The DI Enable input, if configured, must be closed.
• The DC bus precharge logic must indicate it is a start permissive.
• All Stop inputs must be negated and any drive stop/inhibit functions
must not be issuing a stop command.
• No configuration changes (parameters being modified) can be in-
progress.
• The drive’s safety option module logic must be satisfied.
PowerFlex 755TL/TR drives and PowerFlex 755TM common bus inverters

motor inverter conditions that are inhibiting start are shown in parameter 10/
11:351 [M Start Inhibits]. Conditions that prevented the last start command are
shown in parameter 10/11:352 [MLastStrtInhibit].
Parameter 10/11:351 - Motor Side Inverter Start Inhibits displays the conditions
that are currently inhibiting the motor side inverter from starting.
Bit 0 ‘Faulted’ – System is in a faulted state.

Bit 1 ‘Alarm’ – A Type 2 alarm exists.
Bit 2 ‘Enable’ – An Enable input is open.
Bit 3 ‘Precharge’ – System is in precharge.
Bit 4 ‘Stop’ – The motor side inverter is receiving a stop command.
Bit 5 ‘Database’ – Database is performing a download operation.
Bit 6 ‘Startup’ – The assisted Start routine in the HIM is active and
preventing a start.
Bit 7 ‘RotarySwitch’ – Rotary switches on the main control board are
set to a combination (888) that prevents start.
Bit 8 ‘Safety’ – A Functional Safety option module is preventing a start.
Bit 9 ‘Sleep’ – Sleep function is issuing a stop.
Bit 10 ‘Profiler’ – Profiler function is issuing a stop.
Bit 11 ‘CommutNotCfg’ – The permanent magnet motor commutation
function hasn’t been configured for use.
Bit 12 ‘Ovrd Event’ – Inverter start is inhibited due to fault, but
converter can continue running.
Bit 13 ‘Standby’ – Indicates that the system is in a low energy (paused)
state.

Parameter 10/11:352 - Last Motor Side Inverter Start Inhibits displays the
conditions that kept the motor side inverter from starting during the last
inhibit.
Bit 0 ‘Faulted’ – System is in a faulted state.
Bit 1 ‘Alarm’ – A Type 2 alarm exists.
Bit 2 ‘Enable’ – An Enable input is open.
Bit 3 ‘Precharge’ – System is in precharge.
Bit 4 ‘Stop’ – The motor side inverter is receiving a stop command.
Bit 5 ‘Database’ – Database is performing a download operation.
Bit 6 ‘Startup’ – The assisted Start routine in the HIM is active and
preventing a start.
Bit 7 ‘RotarySwitch’ – Rotary switches on the main control board are
set to a combination (888) that prevents start.
Bit 8 ‘Safety’ – A Functional Safety option module is preventing a start.
Bit 9 ‘Sleep’ – The Sleep function is issuing a stop.
Bit 10 ‘Profiler’ – Profiler function is issuing a stop.
Bit 11 ‘CommutNotCfg’ – The permanent magnet motor commutation
function hasn’t been configured for use.
Bit 12 ‘Ovrd Event’ – Inverter start is inhibited due to fault, but
converter can continue running.
state.
When the drive receives a new start command, it copies the value from
parameter 10/11:351 [M Start Inhibits] into this parameter.
PowerFlex 755TL/TR drives and PowerFlex 755TM regenerative bus supply line
converter conditions that are inhibiting modulation start are shown in
parameter 13:235 [L Start Inhibits]. Conditions that prevented the last start
command are shown in parameter 13:236 [LLastStrtInhibit].
Parameter 13:235 - Line Side Converter Start Inhibits displays the conditions
that are inhibiting the line side converter from starting and modulating.
Bit 0 ‘Faulted’ – Indicates that a Fault is present. Faults provide
notification of events. They prevent the line side converter from
modulating.
Bit 1 ‘Alarm’ – Indicates a Type 2 alarm is present. Type 2 alarms
usually indicate a configuration error. They prevent the line side
converter from starting and modulating.
Bit 2 ‘Enable’ – Indicates that a digital input is configured for the line
side converter Enable function, and it isn’t energized (set).
Bit 3 ‘Precharge’ – Indicates that the line side converter is executing a
Precharge.
Bit 4 ‘Stop’ – Indicates that the line side converter is receiving a stop
command.
Bit 5 ‘Database’ – Indicates that the database is performing a download
operation.
Bit 6 ‘Startup’ – Indicates that the assisted Start routine in the HIM is
active and preventing a start.
Bit 7 ‘RotarySwitch’ – Indicates that the rotary switches on the main
control board are set to a combination that prevents start.
state.
Bit 9 ‘PLL Not Lock’ – Indicates that the line side converter phase
locked loop isn’t synchronized with the AC line.
Bit 11 ‘DC Bus High’ – Indicates that a DC Bus Overvoltage fault has
occurred.
Bit 12 ‘Ovrd Event’ – Indicates that the line side converter start is
inhibited due to fault, but it can continue running.
Parameter 13:236 - Last Line Side Converter Start Inhibits displays the last
condition to inhibit the line side converter from starting and modulating.
Bit 0 ‘Faulted’ – Indicates that a Fault was present. Faults provide

notification of events. They prevent the line side converter from
modulating.
Bit 1 ‘Alarm’ – Indicates that a Type 2 alarm was present. Type 2 alarms
usually indicate a configuration error. They prevent the line side
converter from starting and modulating.
Bit 2 ‘Enable’ – Indicates that a digital input was configured for the line
side converter Enable function, and it wasn’t energized (set).
Bit 3 ‘Precharge’ – Indicates that the line side converter was executing
a Precharge.
Bit 4 ‘Stop’ – Indicates that the line side converter was receiving a stop
command.
Bit 5 ‘Database’ – Indicates that the database was performing a
download operation.
Bit 6 ‘Startup’ – Indicates that the assisted Start routine in the HIM
was active and prevented a start.
Bit 7 ‘RotarySwitch’ – Indicates that the rotary switches on the main
control board were set to a combination that prevented start.
Bit 8 ‘Standby’ – Indicates that the system was in a low energy (paused)
state.
Bit 9 ‘PLL Not Lock’ – Indicates that the line side converter phase
locked loop wasn’t synchronized with AC line.
Bit 11 ‘DC Bus High’ – Indicates that a DC Bus Overvoltage fault had
occurred.
Bit 12 ‘Ovrd Event’ – Indicates that the line side converter start was
inhibited due to fault, but it could continue running.

Low Speed Operation High IGBT junction temperatures can restrict drive capabilities, particularly at
low operating frequencies. One strategy to reduce junction temperature is to
reduce switching frequency when operating at low commanded frequencies.
Carrier emulation allows for reduced (f/3) switching frequency operation to be

implemented with no change to the actual generated carrier frequency. For
instance, carrier emulation allows the drive to operate as if the carrier is
1.33 kHz (4 kHz/3) for a 4 kHz carrier or 667 Hz (2 kHz/3) for a 2 kHz carrier.
This feature is available in all motor control modes except in flux vector control
for Interior Permanent Magnet motors (IPM FV) in firmware revisions 6 and
later. It’s available for induction motors only.
This feature is active by default in firmware revision 10 and later.
Operation
The firmware supports a customer selection of the feature that automatically

changes the carrier frequency to a low carrier PWM frequency at low induction
motor speeds. This change in carrier frequency is necessary to decrease IGBT
junction temperature and to decrease the inverter current derating associated
with those low speeds.
The firmware also supports customer adjustment of the output frequency

threshold at which the low carrier PWM frequency changes back to the user-
selected carrier PWM frequency. Some motors can have too much ripple
current at the low carrier PWM frequency, and it’s necessary to reduce that
region of operation by decreasing the output frequency threshold.
For drives and common bus inverters that are configured for an induction
motor control mode, the firmware reduces the inverter carrier PWM
frequency to one third of the user-selected value to decrease current derating if
the following conditions apply.
• Inverter control parameter 10/11:420 [Mtr Ctrl Config] bit 10 ‘LoPWM
FreqEn’ is set.
• Inverter output frequency is less than the value of the inverter control
parameter PWM Trans Freq.
• Less than 20% of the user-entered motor nameplate frequency.
• Selected carrier PWM frequency is less than or equal to 4 kHz.

Configuration
To activate the feature, set parameter 10/11:420 [Mtr Ctrl Config] bit 10
‘LoPWM FreqEn’ to 1.
Double-click parameter 10/11:420 [Mtr Ctrl Config] to open the bit

configuration window.
Use parameter 10/11:429 [PWM Trans Freq] to set the threshold where the
function activates.
Review the example where you set parameter 10/11:429 [PWM Trans Freq] to 5
Hz. When the output frequency is above 5 Hz, the function is inactive and the
PWM frequency is whatever you selected in parameter 10/11:425 [PWM
Frequency]. When the output frequency drops below 5 Hz, the function
activates and reduces the PWM frequency to one third of the value in
parameter 10/11:425 [PWM Frequency].

The following plot that shows the expected operation. The setup for this plot is
the drive is commanded to output 5 Hz and the PWM Trans Freq is set to 5 Hz
(this setup is only intended to illustrate the feature). So, when the output
frequency dithers around the PWM Trans Freq, the feature is activated and
deactivated. There’s no hysteresis that is involved, and it does not transition
based on a set number of PWM cycles. The transition is instant (you can do one
actual carrier followed by one emulated followed by one actual, and so forth).
Lower Carrier Increased current ripple at the lower

switching frequency.
Transition (Enlarged)
Performance
The performance bandwidth is reduced in the region of lower carrier

frequency. The speed regulator gains are automatically reduced to one third.
Transferring between modes did not induce transients on the velocity.
Current Ripple
There’s greater current ripple when the carrier frequency is reduced. Consider
this thermally if the motor is to be run for long periods in this state.

Derating
See the PowerFlex Drives with TotalFORCE Control Technical Data for
derating curves across product ratings. The following derating curve is for low
speed operation. The gold trace is for 4 kHz operation. Let us say the drive is
programmed to reduce the carrier frequency if the speed of the motor drops
below 10 Hz. The derating at 10 Hz is stated as 87%.
480V AC Power Rating Low Speed/Load Derating for IP20, UL Type 1 and IP54, UL Type 12
Cat. LD ND HD Output Freq. PWM Frequency
Frame
No.
20G… 1.33 kHz 2 kHz 4 kHz
Cont. Cont. Cont.
Hp Amps Hp Amps Hp Amps Hz 1.33 kHz 2 kHz 4 kHz
0 79 72 55 120
2 100 93 73
100
4 100 100 81
6 100 100 84 80
4 kHz
8 100 100 86
Load (%)
60
D617 7 500 617 500 600 400 500 10 100 100 87
40
15 100 100 90
20 100 100 92 20
30 100 100 94
0
0 10 20 30 40 50 60 70
45 100 100 95
Frequency (Hz)
60 100 100 96
When the carrier frequency is reduced at 10 Hz it becomes 1.33 kHz, which is

the gold trace in the reduced carrier derating curve. So, the derating goes from
87% to 100% (no derating) when the carrier is lowered (see the following chart
where the Load (%) jumps up at 10 Hz). And for this drive rating the speed
would have to get below 2 Hz before any derating is required.
480V AC Power Rating Low Speed Derating with Reduced Carrier Frequency for IP20, UL Type 1 and IP54, UL Type 12
Cat. LD ND HD Output Freq. PWM Frequency
Frame
No.
20G… 0.444 kHz 0.666 kHz 1.33 kHz
Cont. Cont. Cont.
Hp Hp Hp Hz 0.444 kHz 0.666 kHz 1.33 kHz
Amps Amps Amps
0 91 88 79 120
2 100 100 100

100
4 100 100 100
6 100 100 100 80
8 100 100 100

Load (%)
60
D617 7 500 617 500 600 400 500 10 100 100 100
40
15 100 100 100
20 100 100 100 20
30 100 100 100

0
0 2 4 6 8 10 12 14 15
45 100 100 100
Frequency (Hz)
60 100 100 100

Power Loss Ride-through The power loss ride-through feature is an algorithm that is set to take a specific
action when power grid disturbances are detected.
Power Disturbances
Power disturbances are the deviations of input line voltage and frequency
from ideal specifications for short periods of time. Voltage and frequency
disturbances are a major concern in many industrial applications. Voltage
sags, swells, and frequency disturbances cause equipment malfunction and
production interruption. Under certain circumstances, the financial loss is
severe and can’t be tolerated. International committees have established
standards such as IEC-61000-4-34, IEC-61000-4-11, and Semi F47. These
standards help the food, textile, and electronic industries to avoid wasteful
financial loss and provide guidelines help maintain continued system
operation during power disturbances.
Types of Power Disturbances
What Are the main types of power disturbances and why do they occur?
Voltage sags and short time power losses are the most common power
disturbances. A voltage sag is a reduction in voltage for a definite period. It can
be symmetrical so the reduction in voltage occurs equally on all three phases. It
can be asymmetrical, so the reduction does not occur equally on the three
phases. Normal operating conditions such as motor starting and/or
transformer inrush current can cause most voltage sags. Proper system design
helps to avoid or alleviate voltage sags. Short circuit faults also cause voltage
sags if they occur close to the main feeder. Voltage sags can also cause phase
angle jumps. Phase angle jumps can affect power electronic converters use of
phase angle information for their switching.
A power loss of short duration is a special case of voltage sag. The supply
voltage and current drop to zero. A current drop can occur when the power
utility interrupts the supply of power. The power utility can decide to shed
loads when malfunctions and overcurrent conditions occur. Critical loads
switched to emergency backup generators can cause a power loss of several
seconds.
Power Loss Ride-through Requirements
To use power loss ride-through with PowerFlex 755T active front end
converters, frames 7…15, requires two additional power sources. A 240V AC
UPS to keep the main circuit breaker (MCB) closed and 24V DC to keep the
fiber-optic communications with peripheral boards alive.

Functions and Configuration of the Module
What is the power disturbance module?
The power disturbance module is an algorithm that detects the following

abnormal conditions: loss of synchronization, voltage sag, high frequency
variation, phase loss, and power loss. You can choose one of the following
actions to take when the power disturbance module detects an abnormal
condition: ‘Ignore’, ‘Alarm’, ‘Ride Thru’, or ‘Fault’. You can’t choose ‘Ignore’ for
loss of synchronization. The power disturbance module can also be used as a
diagnostics tool for evaluating and recording the abnormal conditions.
Loss of Synchronization
The operation of the AFE relies on accurate detection of the line voltage angle.
The power disturbance module continuously monitors detection error. It
detects the condition if the error exceeds a certain threshold. Wrong
connections and transient conditions on the grid cause loss of
synchronization. Transient conditions include the following: power
interruption, voltage sag, sudden frequency disturbance, and angle jumping.
Loss of synchronization is a critical condition. You can choose from the
following actions: ‘Ride Thru’ or ‘Fault’.
Voltage Sag
A voltage sag is the loss or reduction of grid voltage for a short duration. The
time can range from a few milliseconds to a few seconds. The power
disturbance module monitors the input voltage in real time. It detects a
voltage sag condition when the voltage of one or more phase drops by more
than 50% of its nominal value. You can choose from the following actions:
‘Ignore’, ‘Alarm’, ‘Ride Thru’, or ‘Fault’.
High Frequency Variation
The operation of the AFE relies on a stable input frequency. The power
disturbance module monitors the rate of change of frequency against time. It
detects a high frequency variation condition when the frequency change
against time exceeds 100 Hertz per second. You can choose from the following
actions: ‘Ignore’, ‘Alarm’, ‘Ride Thru’, or ‘Fault’.
Phase Loss
The operation of the AFE relies on a balanced supply. The power disturbance
module monitors the current of each incoming phase. It detects a phase loss
condition when the current on any of the phases drops too low. You can choose
from the following actions: ‘Ignore’, ‘Alarm’, ‘Ride Thru’, or ‘Fault’.
Power Loss
The power disturbance module monitors the root mean square (RMS) values of
the input line voltages. It detects a power loss condition when the RMS voltage
of the three input phases drops to less than 15% of the nominal value. You can
choose from the following actions: ‘Ignore’, ‘Alarm’, ‘Ride Thru’, or ‘Fault’.
Ride Thru Mode
Ride Thru mode is one of the selectable actions available when the power
disturbance module detects abnormal conditions. Ride Thru mode
temporarily disables PWM gating of the IGBTs in the line side converter. This
avoids instability and reduces the probability of fault. It also preserves the
energy in the DC bus capacitors. It can support the load for a short time.
Because the fly back diodes remain in circuit, the Line Side Converter behaves
like a passive diode bridge. Ride Thru disables the voltage and current loops. It
also resets the voltage and current integrators.
The flow diagram in Figure 1 illustrates the operation of Ride Thru mode. The
Power Disturbance module continuously monitors the incoming voltages and
currents and frequency. When it detects an abnormal condition, it follows the
Disturbance Action. If the selected Disturbance Action is ‘Ride Thru’, it
disables PWM gating and the control loops. When the abnormal condition
clears (voltages, current and frequency return to normal), the control loops
and PWM gating resume. If the abnormal condition lasts longer than the time
in the Ride Thru Time parameter, the product follows the selection in the Ride
Thru Expired Action parameter.
Figure 1 - Flow Diagram for Ride Thru Mode
Power Disturbance?
Disturbance Action =
Ride Thru?
Yes
Disable PWM,
Reset Current
Loop Integrator, No
Reset Voltage Ride Thru Expired Ride Thru Expired
Loop Integrator Action = Alarm? Action = Fault?
Yes Yes
No Disturbance Action = Yes

Ride Thru?
Alarm Fault

Figure 2 is a set of oscilloscope traces from an actual test. In this test, we’ve
induced a power loss condition. We have set parameters 13:181 [PLL LOS Det
Actn] to 0 ‘Ride Thru’, 13:170 [PwrLoss Det Actn] and 13:173 [VltgSag Det Actn]
to 2 ‘Ride Thru’ in the Line Side Converter. We’ve selected ‘Coast’ for the Ride
Thru option in the Motor Side Inverter.
Figure 2 - Power Loss Test
Rockwell Automation’s patented technology provides fast detection of the

voltage sag. Notice that the Line Side Converter is disabled as soon as the
condition is detected. When the DC bus voltage falls below the threshold for
motor side inverter power loss, the motor begins to coast. Motor speed falls.
When the Power Loss condition clears, the line side converter resumes
operation. When the DC bus voltage recovers, the motor side inverter starts
and accelerates the motor back to speed.
Ride Thru Mode—PowerFlex 755TL and 755TR Drives
PowerFlex 755TL and TR drives are 'integrated'. This means they have a Line
Side Converter and a Motor Side Inverter. These drives use Rockwell
Automation Adaptive Bus Reference Ride Thru technology (patent pending).
The Line Side Converter is disabled when the abnormal condition is detected.
If the Ride Thru option is selected, an additional signal passes from the Line
Side Converter to the Motor Side Inverter. When the signal is high, the Motor
Side Inverter takes control of the DC bus. The DC bus regulator in the Motor
Side Inverter can take energy from the load, if necessary, to keep the DC bus
voltage high enough. When the abnormal condition ceases, control passes
back to the Line Side Converter.

Figure 3 is a set of oscilloscope traces from an actual test. In this test, we’ve
induced a power loss condition. We have set parameters 13:181 [PLL LOS Det
Actn] to 0 'Ride Thru', 13:170 [PwrLoss Det Actn] and 13:173 [VltgSag Det Actn]
to 2 'Ride Thru' in the Line Side Converter. We have set parameters 10/11:116
[Bus Reg Mode A] to 1 'Adjust Freq', 10/11:270 [Pwr Loss Actn] to 1 'Alarm', 10/
11:271 [Pwr Loss Mode A] to 1 'Decel', 10/11:272 [Pwr Loss A Level] to 50V and 10/
11:273 [Pwr Loss A Time] to 60 seconds in the Motor Side Inverter. The duration
of the power loss in this test was about ten seconds.
Figure 3 - Ride Thru Test with Integrated Drive
The Power Disturbance Module detected the power loss and disabled the Line
Side Converter. The Motor Side Inverter took control of the DC bus. It drew
energy from the inertia of the load by adjusting the output frequency. The Line
Side Converter resumed control when power was restored. Then the Motor
Side Inverter accelerated the motor back up to speed.
Configure The Power Disturbance Module
The best configuration depends on the application and common conditions on

the local electrical grid. If the load inertia is high and the application does not
tolerate stoppage, ‘Ride Thru’ might be the best configuration. If the
application can tolerate slight disturbances in velocity, ‘Ride Thru’ might be
the best configuration.
In cases where voltage imbalance conditions are common on the grid, it might
be best to set parameter 13:181 [PLL LOS Det Actn] to 0 ‘Ride Thru’ and to
increase parameter 13:192 [BasicPLL Err Lmt].
In cases where power outages and voltage sags are common on the grid, it
might be best to set parameters 13:181 [PLL LOS Det Actn] to 0 ‘Ride Thru’,
13:170 [PwrLoss Det Actn] and 13:173 [VltgSag Det Actn] to 2 ‘Ride Thru’.

Auxiliary Power Supply Auxiliary power can be used to power the drive’s control circuitry in the event
the incoming supply is removed or lost. For PowerFlex 755TR, 755TL, and
755TM products, connect a user supplied 24V DC auxiliary power source to the
designated terminal block.
For PowerFlex 755TS products, an optional power supply module, 20-750-

TAPS-XT, must be used. This power supply module is designed to power all
peripherals, I/O, and connected feedback devices. The 20-750-APS power
supply module isn’t compatible because it does not supply enough power.
When the drive is connected to a user supplied 24V DC power source, the
communication network functions remain operational and online. If
DeviceLogix is used, the program can also continue to run and control any
associated input and outputs.
See the Apply and Remove Power section of the PowerFlex Drives with
TotalFORCE Control Programming Manual, publication 750-PM101, for the
correct power-up sequence when using auxiliary power.
Motor Control Modes The PowerFlex 750-Series Products with TotalFORCE support the
configuration of two motor control profiles, primary and secondary, which
provides application flexibility. Each profile can be configured for any of the
motor control modes regardless of how the other profile is configured. The
only exception is None (0) which can only be selected for the secondary control
profile. See Secondary Motor Control on page 67 for more information on this
functionality.
Parameters 0:65 [Pri MtrCtrl Mode] and 0:67 [Sec MtrCtrl Mode] select the
motor control mode for ports 10 (primary) and 11 (secondary) in the drive. The
default selection for 0:65 [Pri MtrCtrl Mode] is 2 ‘Induction SV’ and for 0:67
[Sec MtrCtrl Mode] is 0 ‘None’. Set these two parameters and cycle power to
the drive before performing further commissioning steps.
A change to the motor control mode reconfigures which parameters are visible
in port 10 (primary) and port 11 (secondary). This helps to reduce configuration
time by only showing those parameters that are applicable for the selected
motor control mode. The parameter settings follow.
None (0) – This setting is only valid for 0:67 [Sec MtrCtrl Mode]. When set to
none, port 11 (secondary) isn’t visible. Used when secondary motor control
functionality isn’t required.
InductionVHz (1) – Induction motor, volts per Hertz control mode. Connected
to an induction motor. Commonly used for variable torque applications like
centrifugal pumps and fans for improved efficiency and energy savings, or for
variable speed constant torque applications such as conveyors. Can also be
used for synchronous motor applications. This is the only motor control mode
capable of running multiple motors with one drive.
Induction SV (2) – Induction motor, sensorless vector control mode.

Connected to an induction motor. Used for most constant torque applications.

Provides excellent starting, acceleration, and running torque even at lower

speeds.
Induct Econ (3) – Induction motor, economize control mode. Used for
additional energy savings in constant torque applications that have constant
speed reduced load periods.
Induction FV (4) – Induction motor, flux vector control mode. Connected to an

induction motor. Used when high-performance precise speed regulation and/
or position control closed loop is required. Can also be configured with direct
Torque Reference input. Capable of being used open loop with less precision.
IPM FV (5) – Interior permanent magnet motor, flux vector control mode.
Connected to an Interior Permanent Magnet motor. Used when high-
performance precise speed regulation and/or position control with closed loop
feedback is required. Can also be configured with direct Torque Reference
input. Capable of being used open loop with less precision.
SPM FV (6) – Surface permanent magnet motor, flux vector control mode.
Connected to a Surface Permanent Magnet motor. Used when high-
performance precise speed regulation and/or position control closed loop is
required. Can also be configured with direct Torque Reference input. Capable
of being used open loop with less precision.
PM VHz (7) – Permanent magnet motor, volts per Hertz control mode.
Connected to a Surface Permanent Magnet motor (SPM) or Permanent
Magnet Synchronous Motor (PMSM). Used for variable torque applications
with improved efficiency energy savings and variable speed constant torque
applications such as conveyors. Also used in multi-motor or synchronous
motor open loop applications.
PM SV (8) – Permanent magnet motor, sensorless vector control mode.

Connected to a Surface Permanent Magnet motor (SPM) or Permanent
Magnet Synchronous Motor (PMSM). Used for constant torque applications.
Provides excellent starting, acceleration, and running torque.
SynR VHz (9) – Synchronous Reluctance motor, volts per Hertz control mode.
Connected to a Synchronous Reluctance motor. Used for constant torque
applications with improved efficiency energy savings and variable speed
applications such as conveyors. Can also be used in multi-motor applications.
SynR SV (10) – Synchronous Reluctance motor, sensorless vector control mode.

Connected to a Synchronous Reluctance motor. Used for constant torque
applications with improved efficiency energy savings and variable speed
applications such as conveyors. Avoid slow speed low-inertia applications that
cause torque ripple effects.
There are four basic control methods available in the drive. These methods are
Volts/Hertz, Sensorless Vector, Economize, and Flux Vector. While the basic
operation of each of these methods is the same regardless of the motor type
being used, it’s important to select the motor control mode for the type of
motor being used because the motor data required by the algorithms can vary.

Volts/Hertz
Volts/Hertz is the simplest form of AC motor control. Volts per Hertz can be
used with induction motors (Induction VHz), permanent magnet motors (PM
VHz), and synchronous reluctance motors (SyncRel VHz). Volts per Hertz is
ideal for variable torque applications like centrifugal pumps and fans. This
mode can also be used when running multiple motors on one drive. Volts/
Hertz operation creates a fixed relationship between output voltage and
output frequency. This is known as a scaler control method because voltage is
scaled based on frequency. The relationship can be defined in two ways by
setting 10/11:486 [VHz Curve] to 0 ‘Custom V/Hz’ or 1 ‘Fan/Pump’. Motor
autotune tests aren’t required in this mode.
Figure 4 - Volts/Hertz
Current Feedback
V/Hz Control Inverter

Speed Ref Elec. Gate
(Hz) + Elec. Ref Current Freq V Mag Voltage Signals
V/Hz Motor
Limit Control
+
Torque Current
Estimator
Slip Estimator
0 = ‘Custom V/Hz’
Custom Volts/Hertz enables a wide variety of patterns using linear segments.

The default configuration produces nearly a straight line from zero to rated
voltage and frequency. This is the same volts/hertz ratio that the motor sees if
started across the line. As seen in the diagram below, the volts/hertz ratio can
be changed to provide increased torque performance when required by
programming five distinct points on the curve.
10/11:480 [Start Acc Boost] - Used to create additional torque for breakaway
from zero speed and acceleration of heavy loads at lower speeds.
10/11:481 [Run Boost] - Used to create additional running torque at low speeds.
The value is typically less than the required acceleration torque. The drive will
lower the boost voltage to this level when running at low speeds (not
accelerating). This reduces excess motor heating that could be caused if the
higher start/accel boost level were used.
10/11:483 [Break Voltage] and 10/11:484 [Break Frequency] - Used to increase

the slope of the lower portion of the Volts/Hertz curve, providing additional
torque.
10/11:400 [Motor NP Volts] and 10/11:402 [Motor NP Hertz] - Set the upper
portion of the curve to match the motor design. Marks the beginning of the
constant power region.

10/11:421 [Maximum Voltage] and 10/11:422 [Maximum Freq] - Slope the

portion of the curve used above base speed.
10/11:421 [Maximum Voltage]

10/11:400 [Motor NP Volts]
Voltage
10/11:483 [Break Voltage]
10/11:480 [Start Acc Boost]
10/11:481 [Run Boost]
0
10/11:484 10/11:402 10/11:422
[Break Frequency] [Motor NP Hertz] [Maximum Freq]
Frequency
1 = ‘Fan/Pump’
When this option is chosen, the basic relationship is % Voltage = % Frequency2. At

rated frequency, full voltage is supplied. At 50% rated frequency, 25% voltage is
applied. This parabolic curve closely matches the torque requirement of a
variable torque load (centrifugal fan or pump - load increases as speed
increases) and offers the best energy savings for these applications by
programming three distinct points on the curve.
10/11:481 [Run Boost] - Used to create additional running torque at low speeds.
The value is typically less than the required acceleration torque. The Fan/Pump
curve does not use 10/11:480 [Start Acc Boost] and therefore uses 10/11:480 [Run
Boost] regardless of whether the drive is running at speed or accelerating.
10/11:400 [Motor NP Volts] and 10/11:402 [Motor NP Hertz] - Set the upper
portion of the curve to match the motor design. Marks the beginning of the
constant power region.
10/11:421 [Maximum Voltage] and 10/11:422 [Maximum Frequency] - Slope the

portion of the curve used above base speed.
10/11:421 [Maximum Voltage]

Voltage
10/11:481 [Run Boost]
0 10/11:402 10/11:422
[Motor NP Hertz] [Maximum Freq]
Frequency

Sensorless Vector
Sensorless Vector mode uses a V/Hz core enhanced by a torque current

estimator, a high performance current limiter, and voltage vector algorithms.
Sensorless Vector can be used with induction motors (Induction SV),
permanent magnet motors (PM SV) and synchronous reluctance motors
(SyncRel SV) however, permanent magnet and synchronous reluctance motors
do not require slip frequency adjustments. Sensorless Vector is good for
constant torque applications that do not require high levels of precision. In
this mode, a torque estimator is used to provide a better slip estimate and as an
input to the voltage vector algorithms to produce better torque output at low
speed. Motor data and motor auto tune tests are required for proper operation
in this mode.
Figure 5 - IM Sensorless Vector

Current Feedback
Autotune
Parameters
Speed Ref Elec. V Mag Gate
(Hz) + Elec. Ref Current Freq Voltage Signals
Limit V/Hz V Angle Control Motor
+
Torque Current
Estimator
Slip Estimator
Figure 6 - PM SyncRel Sensorless Vector

Current Feedback
Autotune
Parameters
Speed Ref Elec. V Mag Gate
(Hz) Elec. Ref Current Freq Voltage Signals
V/Hz V Angle Control Motor
Limit
Torque Current
Estimator
The Sensorless Vector algorithms operate on the knowledge that motor

current is the vector sum of the torque and flux producing components of
current. Values can be entered to identify the motor values or an autotune
routine can be run to identify the motor values. Sensorless vector offers better
torque production and a wider speed range than V/Hz. Although Sensorless
Vector is still a V/Hz motor control method, it is not appropriate to use when
more than one motor is connected to the same drive.
In Sensorless Vector control, the drive commands a specific amount of voltage

to develop flux.

10/11:421 [Max Voltage]

rve
d Cu
u ll Loa
Voltage
ate F e
oxim Curv
Appr o Load
ate N
oxim
Appr
Stator Voltage Drop at
Motor NP Amps (1)
10/11:402 10/11:422
Frequency
(1) During a motor autotune, the drive measures this voltage drop and stores the equivalent resistance in 10/11:512 [u IM Stator
Res].
Economize
Economize mode consists of the Sensorless Vector control with an additional

energy savings function. Economize can only be used with induction motors
(Induction Econ). When steady state speed is achieved, the economizer
becomes active and automatically adjusts the drive output voltage based on
applied load. By matching output voltage to applied load, the motor efficiency
is optimized. As the load is reduced, the drive reduces motor flux current. The
flux current is reduced if the total drive output current is less than 75% of
motor rated current as programmed in 10/11:401 [Motor NP Amps]. The flux
current can only be reduced to 50% of the motor flux current as programmed
in 10/11:517[c Flux Cur Ref] or 10/11:518[u Flux Cur Ref]. During acceleration
and deceleration, the economizer is inactive and Sensorless Vector motor
control performs normally. Motor data and a motor autotune is required for
correct operation in this mode.
10/11:421 [Max Voltage]

Increasing
Rated Flux Current
Load
Voltage
Reduced Flux Current, minimum

Stator Voltage Drop at of 50% of Rated Flux Current
Motor NP Amps (1)
0
0 10/11:402 10/11:422
Frequency
Flux Vector Control
In Flux Vector mode, the flux and torque producing currents are
independently controlled and speed is indirectly controlled by a torque
reference. Alternatively, the drive can control torque instead of speed in flux
vector mode. In either case, this mode can be operated either with or without
feedback and will provide the fastest response to load changes.
Flux Vector control can be used with inductions motors (Induction FV),
surface permanent magnet motors (SPM FV) and interior permanent magnet
motors (IPM FV). Flux Vector is the highest performance motor control
method. Motor data and a motor auto tune is required for correct operation in
this mode. In Flux Vector control, the drive takes the speed reference that is
specified by the Speed Reference Selection block and compares it to the speed
feedback. The speed regulator uses Proportional and Integral gains to adjust
the torque reference for the motor. This torque reference attempts to operate
the motor at the specified speed. The torque reference is then converted to the
torque producing component of the motor current.
This type of speed regulator produces a high bandwidth response to speed

command and load changes. Because Flux Vector controls the flux and torque
producing currents independently, a torque reference can be sent directly
instead of being generated from a speed reference via the Speed Regulator.
The independent flux control also enables flux to be reduced when running
above base motor speed.
Figure 7 - Flux Vector—Closed Loop
Torque Current Estimate

Current Current Feedback
Resolver
Torque V/Hz Control Inverter

Speed Ref Current Elec. V Mag Gate
(Hz) Speed Reference Current Freq Voltage Voltage Signals
Regulator Regulator Vector V Angle Control Motor
Autotune
Parameters
Speed Feedback
Figure 8 - Flux Vector—Open Loop
Torque Current Estimate

Current Current Feedback
Resolver
Torque V/Hz Control Inverter

Speed Ref Current Elec. V Mag Gate
(Hz) Speed Reference Current Freq Voltage Voltage Signals
Regulator Regulator Vector V Angle Control Motor
Autotune
Parameters
Torque Current
Estimator
Open Loop Slip Estimator

Speed Feedback

Motor Types The following explanation and descriptions of AC motor types are condensed
summaries derived from a variety of sources that focus on the history,
evolution, and feature benefits of the variety of motor designs. These designs
are utilized in all sectors of use and in vast variations of machinery,
equipment, and processes.
The types of AC motors described here, powered by fixed utility frequency, are
limited to speeds based on the number of poles and winding construction.
Variable Frequency Drives (VFDs) broaden practical speed ranges of these
motor types by converting utility power and applying appropriately selected
VFD electronic control modes specifically matched to these unique motor type
designs.
The PowerFlex 750-Series Products with TotalFORCE Control can store two
motor control profiles: primary and secondary. Each profile can be configured
independently. For detailed information about how to configure these motor
control profiles, see Motor Control Modes on page 41.
The following topics are briefly discussed in this section.

• Basics of AC Motor Design
• Induction AC Motors
• Wound-rotor AC Motors
• Multispeed AC Motors
• Synchronous AC Motors
• Permanent Magnet Motor Control
• Synchronous reluctance motors
Basics of AC Motor Design
AC motors come in a variety of designs, each with functional purpose and

benefits. Asynchronous and synchronous electric motors are the two main
categories of AC motors.
The Induction AC motor is a common form of asynchronous motor and is

basically an AC transformer with a rotating secondary. The primary winding
(stator) is connected to the power source and the shorted secondary (the rotor)
carries the induced secondary current. Torque is produced by the action of the
rotor (secondary) currents on the air-gap flux. The synchronous motor differs
greatly in design and operational characteristics and is considered a separate
class of AC motor.

AC Induction Motors
Parameters 0:65 [Pri MtrCtrl Mode] and 0:67 [Sec MtrCtrl Mode] have the
following induction motor options.
• 1 = ‘InductionVHz’
• 2 = ‘Induction SV’
• 3 = ‘Induct Econ’
• 4 = ‘Induction FV’
AC Induction Motors (ACIMs) are the simplest and most rugged electric motor
and consist of two basic electrical assemblies: the wound stator and the rotor
assembly. The induction AC motor derives its name from currents flowing in
the secondary member (rotor) that are induced by alternating currents flowing
in the primary member (stator). The combined electromagnetic effects of the
stator and rotor currents produce the force to create rotation.
ACIMs typically feature rotors, which consist of a laminated, cylindrical iron

core with slots for receiving the conductors. The most common type of rotor
has cast-aluminum conductors and short-circuiting end rings. This AC motor
“squirrel-cage” rotates when the moving magnetic field induces a current in
the shorted conductors. The speed at which the AC motor magnetic field
rotates is the synchronous speed of the AC motor and is determined by the
number of poles in the stator and the frequency of the power supply: ns = 120f/
p, where ns = synchronous speed, f = frequency, and p = the number of poles
(that is 120*60 Hz] / 4 = 1800 RPM). To control motor speed other than the
fixed utility frequency requires a variable frequency drive (VFD).
Synchronous speed is the absolute upper limit of AC motor speed. If the AC

motor’s rotor turns exactly as fast as the rotating magnetic field, then no lines
of force are cut by the rotor conductors, and torque is zero. When AC induction
motors are running, the rotor always rotates slower than the magnetic field.
The AC motor’s rotor speed is just slow enough to cause the proper amount of
rotor current to flow, so that the resulting torque is sufficient to overcome
windage and friction losses, and drive the load. The speed difference between
the AC motor’s rotor and magnetic field, called slip, is normally referred to as a
percentage of synchronous speed: s = 100 (ns - na)/ns, where s = slip, ns =
synchronous speed, and na = actual speed. Or it is listed on the nameplate as a
base speed (1780 RPM) at rated FLA, frequency, and based on the number of
poles.
Polyphase AC Induction Motors
Polyphase squirrel-cage AC motors are basically constant-speed machines, but

some degree of flexibility in operating characteristics results from modifying
the rotor slot design. These variations in AC motors produce changes in
torque, current, and full-load speed. Evolution and standardization have
resulted in four fundamental types of AC motors.

There are five basic NEMA designs for AC motors: A, B, C, D, and F. The speed-
torque curves for all five designs are shown on the following graph.
300
275
250
225
D
200
Torque - Percent of Full-Load

C
A B
175
F
150
125
Full-Load Torque
100
75
50
25
0
0 10 20 30 40 50 60 70 80 90 100
Speed - Percent
Speed - Torque Curves of NEMA A, B, C, D, and F Motors
AC Motors - Designs A and B are general-purpose AC motors with normal

starting torques and currents and low slip. As shown, the characteristics of
designs A and B are quite similar. The primary difference between these two
designs is that the starting current for design B is limited by NEMA standards,
but there is no limitation on the starting current for design A.
AC Motors - Design C have high starting torque with normal starting current
and low slip. NEMA design C motor has a higher starting torque than either
the A or B designs. This torque is in the vicinity of 225% of full-load torque.
Design C AC motors are normally used where breakaway loads are high at
starting, but which normally run at rated full load and are not subject to high
overload demands after running speed has been reached.
AC Motors - Design D exhibit high slip AC motor starting torque, which is

approximately 280% of full-load torque, low starting current, and low full-load
speed. Because of the high slip, speed can drop when fluctuating loads are
encountered. The high starting torque of the design D motor makes it
particularly suited to handle hard-to-start loads. Another useful characteristic
of this motor is the sloping shape of its speed-torque curve. This lets the motor
slow down during periods of peak loads, enabling any flywheel energy that has
been stored by the load to be released. Typical applications include punch
presses and press brakes.
AC Motors - Design F exhibit low starting torque, low starting current, and low
slip. These AC motors are built to obtain low locked-rotor current. Both locked-
rotor and breakdown torque are low. Normally these AC motors are used
where starting torque is low and where high overloads are not imposed after
running speed is reached.

In summary, we see that when matching an AC motor to the requirements of a

specific load it is important to check the torque requirements of the load and
the torque capabilities of the motor in addition to speed and horsepower.
At least three torque values are important:

• Starting torque
• Breakdown torque
• Full-load torque
Wound-rotor AC Motors
Squirrel-cage AC motors are relatively inflexible with regard to speed and

torque characteristics, but a special wound-rotor AC motor has controllable
speed and torque. Application of wound-rotor AC motors is markedly different
from squirrel-cage AC motors because of the accessibility of the rotor circuit.
AC motor performance characteristics are obtained by inserting different
values of resistance in the rotor circuit.
Wound-rotor AC motors are generally started with secondary resistance in the

rotor circuit. The AC motor resistance is sequentially reduced to permit the
motor to come up to speed. Thus, AC motors can develop substantial torque
while limiting locked-rotor current. This secondary AC motor resistance can
be designed for continuous service to dissipate heat produced by continuous
operation at reduced speed, frequent acceleration, or acceleration with a large
inertia load. External resistance gives AC motors a characteristic that results in
a large drop in rpm for a fairly small change in load. Reduced AC motor speed
is provided down to about 50% rated speed, but efficiency is low.
Retrofitting a Wound-rotor motor with a VFD is possible by eliminating the

switching and resistor control infrastructure and shorting the slip rings
connected to the rotor windings.
IMPORTANT Because wound-rotor motors were not originally designed for use with
inverters, the dielectric strength of the motor construction cannot
withstand the reflected wave voltages that can get subjected at the
motor connections (1.5 to 2.5 times drive’s bus voltage).
Appropriate mitigation must be considered. General rule of thumb, size the

VFD so that it can provide continuous current at 125 to 135% of FLA of the
motor, due to elimination of resistors and its design for higher starting torque.

Multi-speed AC Motors
Consequent-pole AC motors are designed for one speed. By physically

reconnecting the leads, a 2:1 speed ratio can be obtained. Typical synchronous
speeds for 60 Hz AC motors are: 3,600/1,800 rpm (2/4 pole), 1,800/900 rpm (4/8
pole), and 1,200/600 rpm (6/12 pole).
Two-winding AC motors have two separate windings that can be wound for
any number of poles so that other speed ratios can be obtained. However,
ratios greater than 4:1 are impractical because of AC motor size and weight.
Power output of multispeed AC motors can be proportioned to each different

speed. These AC motors are designed with output horsepower capacity in
accordance with one of the load characteristics.
When retrofitted with a VFD, the motor is generally wired for the speed range
intended to be optimized. Autotuned per representative nameplate
information and operated as a single winding single speed induction motor.
Synchronous AC Motors
Synchronous AC motors are inherently constant-speed electric motors, and

they operate in absolute synchronism with line frequency. As with squirrel-
cage induction AC motors, speed is determined by the number of pairs of poles
and is always a ratio of the line frequency.
Synchronous AC motors are made in sizes ranging from sub-fractional self-

excited units to large-horsepower, direct-current-excited AC motors. In the
fractional-horsepower range, synchronous AC motors are used primarily
where precise constant speed is required.
In large horsepower sizes applied to industrial loads, synchronous AC motors

serve two important functions. First, AC motors provide highly efficient
means of converting AC energy to mechanical power. Second, AC motors can
operate at leading or unity power factor, thereby providing power-factor
correction.
There are two major types of synchronous AC motors: non-excited and direct-
current excited electric motors. Application of a VFD is to vary the desired
synchronous speed of the machine.

Permanent Magnet Motor Control
Permanent magnet motor control is selected by setting parameter 0:65 [Pri

MtrCtrl Mode] and/or 0:67 [Sec MtrCtrl Mode] to the appropriate choices of
motor type.
Motor data and an autotune are required for correct operation in these modes.
For detailed information about how to use each of these features, see the
PowerFlex 755T Flux Vector Tuning Application Technique, publication
750-AT006.
Surface Permanent Magnet Motor (SPM) or Permanent Magnet

Synchronous Motor (PMSM)
following surface-mounted permanent magnet motor options.
• 6 = ‘SPM FV’
• 7 = ‘PM VHz’
• 8 = ‘PM SV’
SPM or PMSM is a rotating electrical machine that has the stator phase
windings and rotor permanent magnets. The air gap magnetic field is
provided by these permanent magnets therefore it remains constant.
The conventional DC motor commutates itself with the use of a mechanical

commutator whereas SPM / PMSM needs electronic commutation for the
direction control of current through the windings. Because the SPM/PMSM
motors in effect have their armature coils at the stator, they need to be
commutated externally with the help of an external switching circuit. A three
phase PWM inverter (VFD) topology is used for this purpose.
The torque is produced because the interaction of the magnetic fields causes
the rotor to rotate. In permanent magnet motors, one of the magnetic fields is
created by permanent magnets and the other is created by the stator coils. The
maximum torque is produced when the magnetic vector of the rotor is at 90
degrees to the magnetic vector of the stator.
The permanent magnet synchronous motor (PMSM) can be thought of as a

cross between an AC induction motor and a brushless DC motor (BLDC). They
have rotor structures similar to BLDC motors which contain permanent
magnets. However, their stator structure resembles that of its ACIM cousin,
where the windings are constructed in such a way as to produce a sinusoidal
flux density in the air gap of the machine. As a result, they perform best when
driven by sinusoidal waveforms. However, unlike their ACIM relatives, PMSM
motors perform poorly with open-loop scalar V/Hz control, because there is no
rotor coil to provide mechanical damping in transient conditions.
PMSM motors provide higher power density for their size compared to ACIMs.
This is because with an induction machine, part of the stator current is
required to “induce” rotor current in order to produce rotor flux. These

additional currents generate heat within the motor. In a PMSM, the rotor flux
is already established by the permanent magnets on the rotor.
Field Oriented Control is the most popular control technique used with
PMSMs. As a result, torque ripple can be extremely low, on par with that of
ACIMs. Most PMSMs utilize permanent magnets which are mounted on the
surface of the rotor. This makes the motor appear magnetically “round,” and
the motor torque is the result of the reactive force between the magnets on the
rotor and the electromagnets of the stator. This results in the optimum torque
angle being 90 degrees, which is obtained by regulating the d-axis current to
zero in a typical FOC application.
Interior Permanent Magnet Motor
following interior permanent magnet motor option.
• 5 = ‘IPM FV’
Some PMSMs have magnets that are buried inside of the rotor structure. These
motors are called Interior Permanent Magnet, or IPM motors. As a result, the
radial flux is more concentrated at certain spatial angles than it is at others.
This gives rise to an additional torque component called reluctance torque,
which is caused by the change of motor inductance along the concentrated and
non- concentrated flux paths.
This causes the optimum Field Oriented Control torque angle to be greater
than 90 degrees, which requires regulating the d-axis current to be a fixed
negative ratio of the q-axis current. This negative d-axis current also results in
field weakening, which reduces the flux density along the d-axis, which in turn
partially lowers the core losses. As a result, IPM motors boast even higher
power output for a given frame size.
These motors are becoming increasingly popular as traction motors in hybrid

vehicles, as well as variable speed applications for appliances and HVAC. In the
servo motor world, more and more designs are shifting away from SPM to IPM
to take advantage of inherent advantages. In principle, there are no size
limitations to IPM designs and these can be developed from small fractional
horsepower to large – hundreds of Hp ratings, creating potential applications
that can benefit from variable speed IPM control.

Synchronous Reluctance Motors
following synchronous reluctance motor option.
• 9 = ‘SynR VHz’
• 10 = ‘SynR SV’
Synchronous reluctance motors have an equal number of stator and rotor

poles. The projections on the rotor are arranged to introduce internal flux
“barriers,” holes which direct the magnetic flux along the so-called direct axis.
Typical numbers of poles are 4 and 6.
As the rotor is operating at synchronous speed and there are no current-

conducting parts in the rotor, rotor losses are minimal compared to those of an
induction motor, thus potential energy savings in appropriate applications.
Once started and rotating at synchronous speed, the motor can operate with
sinusoidal voltage. So, to start and control speed at frequencies other than
utility requires a variable-frequency drive.

Selecting Velocity The PowerFlex 750-Series Products with TotalFORCE Control support the
Feedback selection of two feedback sources: primary source and alternate source.
Parameter 10/11:1000 [Pri Vel Fb Sel] selects the port and parameter of the
feedback channel to be the primary source of motor velocity feedback. This
becomes the source for parameters 10/11:1044 [Motor Vel Fb] and 10/11:1042
[Vel Fb Active].
Parameter 10/11:1006 [Alt Vel Fb Sel] selects the port and parameter of the
feedback channel to be the alternate source of motor velocity feedback. This
becomes the source for parameters 10/11:1044 [Motor Vel Fb] and 10/11:1042
[Vel Fb Active] when an ‘Automatic Switchover’ has occurred.
Parameters 10/11:1000 [Pri Vel Fb Sel] and 10/11:1006 [Alt Vel Fb Sel] become
available in the Flux Vector (FV) selections of the motor control modes.
Feedback Modes
The PowerFlex 750-Series Products with TotalFORCE Control provide several
feedback modes depending on the selection of the parameter 0:65 [Pri MtrCtrl
Mode] (and the parameter 0:67 [Sec MtrCtrl Mode] if this parameter isn’t set to
‘None’). This parameter is only editable on the Dynamic Features Page.
Possible selections include: 10/11:1048 [Open Loop Fb], 10/11:1050 [Simulator

Fb], and any port that contains a feedback module (for example, Encoder). The
selection of ‘Simulator Fb’ is useful for drive operational checkout and test
when motor movement is undesired. In simulation mode, gating of the power
inverter section of the drive is disabled.
Automatic Feedback Loss Switchover
The PowerFlex 750-Series Products with TotalFORCE Control are featured

with ‘Automatic Feedback Loss Switchover’ functionality. Parameter 10/11:1019
[Fb Loss Action] selects the mode of the Feedback Loss Switchover function.
Parameter 10/11:1019 [Fb Loss Action] options include:

• 0 = ‘Primary Only’ – Use primary feedback source exclusively
• 1 = ‘Alt Only’ – Use alternate feedback source exclusively
• 2 = ‘Auto Tach SW’ – Switch from primary to alternate upon loss of
primary

Chapter 2
TotalFORCE Control Features
This chapter discusses common control topographies used with PowerFlex®

products.
Topic Page
Adaptive Control 57
CIP Security 66
Secondary Motor Control 67
Energy Pause Function 71
Predictive Maintenance 76
Predictive Maintenance CIP Objects 91
DeviceLogix 99
Emergency Override Function 106
Reference Motion Planners 110
Adaptive Control A brief overview of Load Observer, Adaptive Tuning, and Autotune is provided
in this section. For detailed information about how to use each of these
features, see the PowerFlex 755T Flux Vector Tuning Application Technique,
publication 750-AT006.
Load Observer
The load observer feature is a control loop inside the drive that estimates the
mechanical load on the motor and compensates for it while the drive is
running. This feature allows high performance and control loop tuning
simplicity similar to that of a mechanically disconnected motor. Its primary
function is to:
• Automatically compensate for unknown inertia, compliance, and low
frequency resonance
• Automatically compensate for disturbances and changes in inertia
• Force consistent dynamic behavior, which makes the drive easier to tune
Benefits
You can use load observer with out-of-box control loop gains, where the load is
unknown or compliant and thus 10/11:901 [Load Ratio] = 0. You can also use
load observer with autotuned control loop gains where 10/11:901 [Load Ratio] >
0. This value can be a known positive value or one that is calculated by
performing an autotune procedure.

Chapter 2 TotalFORCE Control Features
When load observer is enabled with the recommended out-of-box control loop
gains:
• A tuning expert is not needed
• Commissioning time is reduced, especially for high drive count
• Relatively high performance control is provided without tuning
• Changes in inertia, compliance, and low frequency resonances are
compensated for automatically
• Periodic retuning to account for machine wear over time is not needed
When load observer is enabled with autotuned control loop gains:

• Load disturbances are compensated for automatically
• Tracking errors, machine vibration, and power consumption are
minimized
• Bandwidth and line speeds can be increased
• Tighter control of moving parts reduces wear and saves material costs
Adaptive Tuning
The adaptive tuning feature is an algorithm that continuously monitors and, if

necessary, adjusts filter parameters and control loop gains to compensate for
unknown and changing load conditions. Adaptive tuning performs the
following functions:
• Monitors motor-side resonances
• Automatically adjusts torque loop notch and low pass filter parameters to
suppress resonances
• Automatically tunes control loop gains to avoid instability
Benefits
When you enable adaptive tuning with the recommended out-of-box control
loop settings, you do not need a tuning expert. You also gain the following
benefits:
• Reduced commissioning time, especially for high drive count
• Automatically suppressed continuously changing resonances
• Periodic identification of resonances and retuning is not needed
• Periodic retuning of filters is not needed
• Minimized tracking errors, machine vibration, and power consumption
• Increased bandwidth and line speeds
• Tighter control of moving parts reduces wear and saves material costs
Autotune
The Autotune function is used to measure motor characteristics. It is
composed of several individual tests, each of which is intended to adjust one or
more motor parameters. These tests require you to enter motor nameplate
information into the drive parameters. Although you can change some of the
parameter values manually, measured values can provide improved
performance. Autotuning is often unnecessary when you apply Load Observer
with the recommended default settings.

Position and Velocity Regulators
The PowerFlex 755T utilizes a series form of a Proportional-Integral (PI)

controller for the Position Regulator (PReg) and the Velocity Regulator (VReg).
The proportional and integral gains are expressed in units of Hz. The
proportional gains have been normalized by removing inertia and represent
bandwidth which is a readily understood and measureable value. Relating the
proportional gains to bandwidth makes the tuning experience more intuitive.
Figure 9 - Regulator Schemes
2 KPP 2 KVP
1 [Hz] 1 [Hz]
2 KPI 2 KVI
s s
[Hz] [Hz]
Position Regulator Velocity Regulator
The recommended method for tuning the position and velocity regulators is
adjusting the System Bandwidth parameter 10/11:906 [System BW]. By
adjusting the System bandwidth, the proportional and integral gains for the
position and velocity regulators are automatically calculated, which eliminates
the need to adjust each gain individually. For more information on the
Position and Velocity regulators and how to tune them, refer to the PowerFlex
755T Flux Vector Tuning Application Technique, publication 750-AT006.
Bus Observer
The bus observer feature is available in the PowerFlex 755TM regenerative bus
supplies and the PowerFlex 755TL low harmonic and 755TR regenerative
products. Bus observer was added to compensate for unknown capacity
changes in the system demand. Enhanced DC bus voltage regulation and
repeatability of control loop performance in the presence of unknown AC line
conditions are the main goals of the bus observer, rather than command
tracking, which allows for lower gain settings. Bus observer performs the
following functions:
• Enhances the regulation of the DC bus voltage control.
• Compensates for unknown capacity changes in the system demand.
• Compensates for the external connected capacitance that is less than
three times the bus supply.
• Uses current feedback to feed forward the bus voltage regulator.
PowerFlex 755TL/TR drives use power feed forward to enhance the DC bus
regulation. The inverter load is fed forward into the converter to improve DC
bus voltage regulation.
When the bus observer is not used, higher gain settings are required for a
sufficiently robust system. Higher gain settings cause heating of the inductors
and capacitor resonance trips. The accuracy of the total bus capacitance that is
entered directly affects overall performance.

Example: The bandwidth = 400 Hz with bus observer disabled. However, the
bandwidth = 150 Hz with bus observer enabled for equivalent DC bus voltage
regulation with lower inductor temperatures.
Bus Observer Limitations

• If the external capacitance is greater than three times the supply, DC bus
regulation can become unstable.
• Do not enter an external capacitance value greater than what is
connected or stability can be affected. It is recommended to use the
lowest estimated value. Bus observer can compensate for increased line
capacitance, but it cannot reduce line capacitance.
• Cannot be enabled or disabled while the converter is active (running).
Figure 10 and Figure 11 show the Bus Observer function.
Figure 10 - Voltage Control (VoltCtrl) Block Diagram

Volt Reg C/U Sel Selector:
0- Calculated
1- User Entered
Port 0,DC Bus Volts

Metering [D5]
3
BusObsConfig(320):
BusObsConfig
320 BusRegIntegTerm
0- Disabled
1- BusObsOnly.
2- BusObsVltEst. 0,1 DC Bus Command BusRegPropTerm
50 VbusErr
BusObs Volt Est 2 IqRefVbusReg
DC Bus Obs VoltRefGen [G3] DC Bus Obs

PI Regulator
[H5] A[2]
Volt Reg C/U Sel 54

VbusRegKi
c Volt Reg Ki 60
Volt Reg BW 55 0
Volt Reg Damping 56

u Volt Reg Ki 59 1
Auto Gain
Calculation
VbusRegKp
c Volt Reg Kp 58
0
u Volt Reg Kp 57 1
Internal Bus Capacitance Total Sys Cap

DcBusObs [C1]
Ext Bus Cap 52

Figure 11 - DC Bus Observer Block Diagram

Total Sys Cap
VoltCtrl [C4]
LscCtrlCfg [C5]
IqRefVbusReg
IqRefDcBusObs
+ X
- Limit
Cur Lmt Command

101
BusObsConfig(320):
-1
BusObs Curr Est
0- Disabled X 325
1- BusObsOnly.
2- BusObsVltEst.
X
0
0 1,2 0 1,2
320
BusObsConfig 0
1.0
VoltCtrl [F3]
1,2 BusObs Volt Est
Port 0
DC Bus Volts
3 + X
-
c BusObs Kp 321 323 cBus Obs Ki

u BusObs Kp 322 324 u BusObs Ki
X X
Feed Forward Power
Feed forward power is a drive function that you can use to improve DC bus
voltage regulation in response to changes in the load on the inverter section of
the drive.
Technical Overview
Feed forward power uses the inverter section power demand, parameters 10/
11:4 [Output Power] and 13:44 [FF Power Gain], to command the converter side
of the drive. This command improves DC bus voltage regulation by letting the
DC Bus PI regulator react before the DC Bus voltage sags.
Feed forward power is not used in a PowerFlex 755TM regenerative bus supply
because it does not have the inverter control on the same control board.

Figure 12 - Feed Forward Power Block Diagram

IqRefOpSel
40 2
Conv Options Cfg

CurRefGen [F2]
VoltCtrl [H2]
Converter Mode Select

FFPwr Curr Calc PFC [A2,E2,A4,E4]
X 326
3
Metering [D5]
300 Port 0,DC Bus Volts
PwrFeedFwdConfig 0
0
FF Power Gain 13:44

1 X
X
Output Power 10:4
Metering [D1]
Vq X
3/2
BusObsConfig
320
0
0
DC Bus Obs[H2]
IqRefDcBusObs 1,2
Table 3 - Feed Forward Power Parameters

Parameter No. Parameter Name Setting Description
0 = ‘Disabled’ The control uses no special method.
Feed forward power calculates and compensates for
the power demand from the Motor Side Inverter. This
sends a signal for power demand from the Motor Side
Inverter control to the Line Side Converter control.
13:300 PwrFeedFwdConfig This is not available with PowerFlex 755TM
1 = ‘Enabled’ regenerative bus supplies. This feature works in
combination with Bus Observer Configuration to
reject disturbances on the DC bus.
This setting is recommended for PowerFlex 755TL/TR
drives.
0 = ‘Disabled’ Bus Observer disabled.
Bus Observer Only mode. In this mode, the Bus
Observer compensates for the unknown capacitance
and it only decouples that load. The voltage control
loop uses the actual measured DC bus voltage as the
1 = ‘BusObsOnly feedback signal. The DC bus voltage regulator BW
and damping are set based on parameter
13:306 [BusObs Sys BW] and parameter
13:307 [BusObsSysDamping].
13:320 BusObs Config
Bus Observer with voltage estimate mode. In this
mode, the Bus Observer compensates for unknown
capacitance to decouple that load. In addition, the
voltage control uses the estimated DC bus voltage as
2 = ‘BusObsVltEst’ the feedback signal. Parameter 13:52 [Ext Bus Cap] is
not used in this mode. The DC bus voltage regulator
BW and damping are set based on parameter
13:306 [BusObs Sys BW] and parameter
13:307 [BusObsSysDamping].
Reference Notch Filters
PowerFlex 755T products include two reference notch filters. There are three
instances in which these two filters share a set of common parameters. The
instances are located in the Velocity, Position, and Process PI command paths.
These reference notch filters help prevent the velocity command from
introducing a resonance into the mechanical system or sway into a crane/hoist
system.

You can use the reference notch to counter the pendulum effect that is caused
by the movement of the trolley or gantry in crane and hoist applications. See
Anti-Sway Applications on page 191 information about configuring notch
filters for crane/hoist applications.
Technical Overview
The two notch filters in the velocity reference and position reference paths can
be used to notch out command frequencies that can cause resonance or
instability in mechanical systems. The notch filters have the following
restrictions:
• Available in Flux Vector control modes only.
• Cannot be used in Sensorless Vector or Volts/Hz modes.
Figure 13 and Figure 14 show that the notch filters are located in the reference
command of both the position and velocity command paths.
Figure 13 - Position Reference 2 (PRef2) Block Diagram

PRef EGR Out
PRef NF Out
15
Ref NF 1 Ref NF 2 ¦ 1731 Position Command
PRef NF Out
PReg [C3]
942 Ref NF1 Freq 948 Ref NF2 Freq
943 Ref NF1 Width 949 Ref NF2 Width
944 Ref NF1 Depth 950 Ref NF2 Depth
945 Ref NF1 Gain 951 Ref NF2 Gain
Figure 14 - Velocity Reference – Flux Vector (VRef Vect)

Start/Stop
Motor Side Sts 1 (Running) Velocity Ramp and Move Profiles (VRef Move)
354 16 Vel Ctrl Options
Motor Side Sts 1 OR (Delayed Ref)
(Stopping)
355 9 VRef Ramp In 1950 8
354 18 Motor Side Sts 2 1923 VRef Ramped
1
0 (Autotuning) 1 Proc 2 [C2] 0
Not Stopping
and Active
Virtual Encoder
0
0
1 VRef Delayed
0 One 1
Stopping LinScurve 1924
or Not Active Scan
SineSquared Delay PRef 1 [C5]
Virtual Enc EPR Virtual Enc Psn
Poly5 (Edges Per Rev)
Cubic 1018 1046
931 One
1017
Ref NF2 Freq 948 Ref Move Type Scan
Ref NF2 Width 949 Delay Virtual EncDelay
Virtual Encoder
950 PRef 1 [C5]
Ref NF2 Depth
Ref NF2 Gain 951
VRef Filter
VRef NF In
1925
36
Ref NF2 Ref NF1
Accel FF Output
Velocity Comp
2070
Vel Comp Sel

Figure 15 - Process PID (Proc1) Block Diagram Block Diagram

PID Ref Sel
9:25 Ref NF1 Freq 942 948 Ref NF2 Freq
Option
Ref NF1 Width 943 949 Ref NF2 Width
Port:
PID Ref PID Ref Ref NF1 Depth 944 950 Ref NF2 Depth Digital In
AnlgHi AnlgLo
Ref NF1 Gain 945 951 Ref NF2 Gain
PID
9:29 9:30
Deadband
9:9
Option Parameter
Port: Selection 9:1 1 PID Cfg
Analog In (Ramp Ref)
Analog Types
0 Ref Ref
x NF1 NF2 +-
MOP [G3] Scale Error Deadband
MOP Reference 1
1823 9:27 0
Float Types Ramp
PID Ref
PID Setpoint Mult
9:28 Default 9:26 9:3 0
9:10
PID Ref PID Status Filter
PID LPF
Meter (PID Enabled)
LPass BW
Table 4 - Notch Filter Parameters

Parameter No. Parameter Name Setting Min/Max Description
10/11:942 Ref NF1 Freq Reference Notch Filter Frequency
0.00/32767.00 Hz Enter the center frequency of the first reference
10/11:948 Ref NF2 Freq notch filter in units of Hz.
10/11:943 Ref NF1 Width Reference Notch Filter Width
Enter the width of the first reference notch filter
around the center frequency.
0.000/10000.000 This value determines the denominator damping
10/11:949 Ref NF2 Width of its second order transfer function.
A typical value of 0.4 produces a narrow width and
a value of 1.0 produces a wide width.
10/11:944 Ref NF1 Depth Reference Notch Filter Depth
Enter the depth of the first reference notch filter
at the center frequency.
This value determines attenuation level and the
0.000/10000.000 numerator damping of its second order transfer
10/11:950 Ref NF2 Depth function.
The minimum depth occurs when this value is the
same value as the width, turning off the filter. The
maximum depth occurs when this value is zero.
10/11:945 Ref NF1 Gain Command (Reference) Notch Filter Gain
Enter the gain of the first reference notch filter.
This value sets the mode of the filter and gain of
its second order transfer function.
For a notch filter, enter a value of 1.
-20.00/+20.00 For a second order low pass filter, enter a value of
10/11:951 Ref NF2 Gain 0.
For a second order lag-lead filter, enter a value
from 0 to 1.
For a second order lead-lag filter, enter a value
greater than 1.
Notch Filters Examples
These graphs show a velocity command before and after the reference notch
filter. The command going into the filter is a ramp to 50 rpm in 0.5 seconds
and the first notch filter is set to a frequency of 0.5 Hz.

Figure 16 - Velocity Command – Before Reference Notch Filter
0.03
10/11:381 [Testpoint REAL 1]
0.025
0.02
0.015
0.01
0.005
0.0
-1 999 1999 2999 3999
Milliseconds
60
10/11:1925 [VRef Filtered]
40
RPM
20
0
-1 999 1999 2999 3999
Milliseconds
Figure 17 - Velocity Command – After Reference Notch Filter

0.03
10/11:381 [Testpoint REAL 1]
0.025
0.02
0.015
0.01
0.005
0.0
-1 999 1999 2999 3999
Milliseconds
60
10/11:1925 [VRef Filtered]
40
RPM
20
0
-1 999 1999 2999 3999
Milliseconds

CIP Security PowerFlex 755T products with firmware revision 10.001 or later are CIP Secure
Capable with secure hardware devices and code that is embedded into control
and communication.
Overview
CIP Security is an ODVA standardized method of protecting industrial
automation control systems (IACS) through Ethernet/IP™ and device
authentication, integrity, and confidentiality. As EtherNet/IP becomes a
growing standard, evolving these isolated IACS networks towards smart
manufacturing, network convergence, and industrial security become a
necessity.
CIP Security is configured through FactoryTalk® Policy Manager software.
For more information on how to deploy CIP Security with PowerFlex 755T
products and at scale across an industrial automation control system, see the
CIP Security with Rockwell Automation Products Application Technique,
publication SECURE-AT001.
Supported Attributes
PowerFlex 755T products with firmware revision 10.001 or later support these
attributes.
Property Description
Certificate that is based on the X.509 v3 standard is used to provide identity.
Device Identity and Pre-shared keys are shared secrets that are shared among trusted entities that are
Authentication used to provide identity.
The TLS protocol facilitates mutual authentication to create trusted endpoints.
Keyed-Hash Message Authentication Code (HMAC) is used as a cryptographic method of
Data Integrity providing data integrity and message authenticity to EtherNet/IP traffic.
Data encryption is used to encode messages or information to help prevent reading or
Data Confidentiality viewing of EtherNet/IP data by unauthorized parties.

Secondary Motor Control Secondary Motor Control functionality is added to PowerFlex 755T drives as
modular control profiles in firmware revision 5 and later. The Secondary
Motor Control modular control profile is installed in port 11 of the PowerFlex
755T drive. When defining the motor control type to be used with the
Secondary Motor Control profile, only parameters for that type of motor
control are present in the profile, similar to port 10 Primary Motor Control.
When used with the primary motor control profile, you can define different
control types, motor types, or motor parameters to increase the flexibility of
the PowerFlex 755T drive.
Secondary Motor Control Configuration
The Secondary Motor Control modular control profile in port 11 is defined in

0:67 [Sec MtrCtrl Mode]. The same motor control types that are available in the
primary motor control profile are configurable in the secondary motor control
profile. Motor control profiles include Induction VHz, Induction SV,
Induction Economizer, Induction FV, IPM FV, and SPM FV. The active motor
control type that is configured in the Secondary Motor Control profile port 11 is
displayed in 0:68 [Sec MtrCtrl Act].
The motor control type that is defined for the Secondary Motor Control profile
determines the parameters that are accessible in port 11. All motor data and
application tuning configuration of the Secondary Motor Control profile is
done in port 11. You can see the parameter list in the PowerFlex 750-Series
Drives with TotalFORCE Control programming manual, publication
750-PM100.
Switching Between Motor Control Profiles
The active motor control profile is defined in 0:74 [Motor Ctrl Sel]. There are
two methods you can use to change between the primary and secondary motor
control profiles.
Logix Configuration
The motor control profile that is actively being used can be changed by writing
to 0:74 [Motor Ctrl Sel] either through a datalink or with an explicit message
instruction. You can verify that the active motor control profile has changed as
expected by doing a readback from the PowerFlex 755T drive by using 0:75 [Mtr
Ctrl Sel Act].
Discrete-Wired Digital Input
You can wire a digital input to an I/O option module installed in the PowerFlex
755T drive. The digital input is configured to 0:169 [DI Mtr Ctrl Sel] to switch
between the primary and secondary motor control profiles. If the input is open
or de-energized, the drive selects the Primary Motor Control profile.

Interaction between Logix and Digital Input
If both methods to control the active motor control profile are being used, the
digital input that is configured in 0:169 [DI Mtr Ctrl Sel] takes priority.
Application Use Cases
Secondary Motor Control profiles can be used for various applications.

Applications that require one drive to control two different-sized motors
independently, multi-axis storage and retrieval systems, or single motor to
multi-motor are several examples that can leverage the two motor control
profiles.
One Drive, Two Independent Motors
You can use the Secondary Motor Control profile to change motor size without
the need to reprogram the drive. In this example, one PowerFlex 755T drive is
used to control a 100 Hp motor, but can be electrically switched over to a 150
Hp motor. The primary motor control profile is configured with the 100 Hp
motor characteristics and tuning requirements. The secondary motor control
profile is configured with the 150 Hp motor characteristics and tuning
requirements.
The drive is configured to switch between the primary and secondary motor
control profiles that are based on which contactor is closed and electrically
connected to the specified motor.
Figure 18 - One Drive, Two Independent Motors

PowerFlex 755T Drive
Port 10 Port 11
Pri Mtr Ctrl Sec Mtr Ctrl
100 Hp 150 Hp
Power Structure
100 Hp 150 Hp

One Drive, Two Motor Control Types
You can use secondary motor control when one PowerFlex 755T drive is used to
switch from two different motor control types. For this example, the
PowerFlex 755T drive is configured to switch between controlling an induction
motor and an SPM permanent magnet motor. Induction Flux Vector is
configured in the Primary Motor Control profile, and SPM Motor Flux Vector
is configured in the Secondary Motor Control profile.
Figure 19 - One Drive, Two Motor Control Types

Port 10 Port 11
Induction Motor SPM Motor

Flux Vector Flux Vector
Power Structure
Induction SPM

One Drive, One Motor, and Multi-Motor Control
You can use secondary motor control when one PowerFlex 755T drive is used to
switch from controlling one motor to controlling a multi-motor system. For
this example, the PowerFlex 755T drive is configured to switch between
controlling one motor in induction flux vector mode and controlling a multi-
motor system in induction VHz mode. Induction Flux Vector is configured in
the Primary Motor Control profile, and Induction VHz is configured in the
Secondary Motor Control profile.
Figure 20 - One Drive, One Motor, Multi-Motor

Port 10 Port 11
Induction Motor Induction Motor

Flux Vector Volts per Hertz
Motors

Energy Pause Function The Energy Pause function sends the drive or bus supply to and from a low-
energy state on command. This function saves energy, reduces wear on parts,
and reduces fan noise.
Components that save energy:

• LCL filter and line side converter heatsink fans
• Balancing resistors
• Power module power supplies
• LCL filter module inductors
For frames 5 and 6 of the PowerFlex 755TR/TL/TM and all frame sizes of the
PowerFlex 755TS, an external input contactor can be controlled to disconnect
the drive from the AC line when in energy pause mode.
For frames 7…15 of the PowerFlex 755 TR/TL drives, the line side converters are
disconnected from the AC line and the fans are in a low-energy state when in
energy pause mode.
Table 5 - Total Energy Savings—PowerFlex 755TR/TL/TM Products
Common Bus Inverters [kW]
Frame Drives [kW] Bus Supplies [kW]
IP21, UL Type 1 IP54, UL Type 12
5 0.4 — — —
6 0.6 0.6 — —
7 1.4 1.1 — —
8 1.3 1.1 0.3 0.7
9 2.2 1.8 0.6 1.0
10 3.5 2.5 0.9 1.6
11 4.5 3.7 1.2 2.0
12 5.8 4.8 1.4 2.6
13 7.1 5.9 1.7 3.3
14 8.9 7.3 2.2 3.7
15 11.5 9.6 2.6 5.0
System Requirements
The Energy Pause function is available in PowerFlex 755TL low harmonic
drives, 755TR regenerative drives, 755TM common bus inverters, and 755TS
drives.
• Firmware revision 3 or later is installed for PowerFlex 755TL low
harmonic drives, 755TR regenerative drives, and 755TM bus supplies.
• Firmware revision 10 or later is installed for PowerFlex 755TM common
bus inverters.
• Firmware revision 11 or later is installed for PowerFlex 755TS drives
• A customer-supplied 24V DC auxiliary power source is connected. See
Auxiliary Power Supply on page 41 for more information on using an
auxiliary power supply.

Monitor Status with Energy Pause
Three machine states govern the energy pause function: Owned, Paused, and
Resuming. These states are a subset of the states that are required to support
the CIP Energy Power Management object. The names come from that object.
Monitor the status of the state machine with parameter 0:59 [Energy Status].
FW Revision
Access Level
Display Name
Read-Write
Data Type
No. Extended Name Values
Description
59 Energy Status RO Bit 3.x 2
Energy Status
Displays the state of the energy function.
Cls Ext Cont
Resuming
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
Options
Paused
Owned
Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Bit 1 ‘Owned’ – indicates that the product (drive or bus supply) is in the ‘Owned’ state. AC precharge is complete and the product is operational. The product moves
to the ‘Paused’ state if it receives an Energy Pause command.
Bit 2 ‘Paused’ – indicates that the product is in the ‘Paused’ state. In this state, the product disconnects from three-phase AC power to save energy. The product
moves to the ‘Resuming’ state if it receives an Energy Resume command (removal of Energy Pause).
Bit 4 ‘Resuming’ – indicates that the product is in the ‘Resuming’ state. This state means that the product is transitioning from the ‘Paused’ to the ‘Owned’ state. In
this state, the product connects to three-phase AC power and performs the AC precharge function. The product moves to the ‘Owned’ state when it successfully
completes the AC precharge function.
Bit 16 ‘Cls Ext Cont’ – the energy function sets this bit to close an external contactor to connect the line side converter to three-phase power. Connect a digital
output function that energizes to close an external contactor. For example, in the I/O card set parameter 10 [RO0 Sel] to this parameter and address. Connect the
relay output to the contactor to energize the coil that closes the contactor. The energy function clears this bit in the Paused state. The bit is set in the ‘Resuming’
and ‘Owned’ states.
Power Off Power up and AC precharge successful.
Energy Pause Command Owned
AC precharge successful.
Paused Energy Resume Command Resuming

(Not Energy Pause)
Owned State
After powerup and when AC precharge is complete, the function moves to the
Owned state. The Owned state is the traditional operating state. The line side
converter is energized and can modulate. The motor side inverter is energized
and can modulate.
In the Owned state, the function waits for an Energy Pause command. If it
receives one, it moves to the Paused state. An Energy Pause command is
ignored if the line side converter and the motor side inverter are modulating.
For the PowerFlex 755TL low harmonic drives, 755TR regenerative drives, and
755TM bus supplies you must set parameter 0:63 [LS Start Mode] to 2 ‘Conv

Logic’ to use energy pause. PowerFlex 755TM common bus inverters and 755TS
drives do not have this parameter.
Paused State
In the Paused state, the product disconnects three-phase power from the LCL
filter module and line side converter. In frames 7...15, it disconnects three-
phase power by opening the precharge circuit breaker (MCB). It also lowers the
speed of the heatsink fans in the LCL filter and power modules.
Frame 5…6 drives do not have internal precharge circuit breakers. A digital
output controls a contactor that disconnects the whole product from three-
phase power.
To operate the contactor pilot coil, the contactor is wired to a digital output on
an I/O option module.
In this state, the function clears faults that naturally occur as a result of the
three-phase power being disconnected.
In the Paused state, the product waits for an Energy Resume command. If it
receives one, it moves to the Resuming state. For frame 5…7 drives the HMI
indicates a drive status of ‘in precharge’.
Resuming State
The Resuming state moves the product from the Paused state back to the
Owned state. It reconnects three-phase power and then performs the AC
precharge.
In this state, the Energy Pause function clears faults that occur as a result of
the three-phase power being disconnected.
The function moves to the Owned state when AC precharge is complete.
Activate Energy Pause
You can activate the Energy Pause function by setting a bit in the controller, or
by using a discrete-wired digital input. The product must be stopped before an
energy pause request can be sent. If a converter or inverter is modulating, the
drive ignores the request to enter energy pause mode and remains in the
Owned state. The product must detect a rising edge of the energy pause
command after the converter and inverter have been stopped.
Logic Command
For PowerFlex 755TM bus supplies, 755TM common bus inverters, and 755TS
drives:
• Program the Logix project to set bit 21 ‘Energy Pause’ of the logic
command word to request an Energy Pause command. For more
information on the logic command word, see the Logic Command and

Logic Status tabs in the PowerFlex Drives with TotalFORCE Control

Parameters Reference Data, publication 750-RD101.
• Program the project to clear the bit to request an Energy Resume
command.
For PowerFlex 755TL/TR drives:

• Set parameter 0:63 [LS Start Mode] to 2 ‘ConvLogic’
• Set an output datalink to parameter 0:64 [LS Manual Ctrl]
• Program the Logix project to set parameter 0:64 [LS Manual Ctrl] bit 21
‘Energy Pause]’of word to request an Energy Pause command.
• Program the project to clear the bit to request an Energy Resume
command.
Discrete-wired Digital Input
Use parameter 0:135 [DI Energy Pause] to select a digital input on an I/O
option card in one of the option slots. Wire the input to circuitry that closes or
energizes to create an Energy Pause command, and opens or de-energizes to
create an Energy Resume command.
Discrete-wired Digital Output—PowerFlex 755TS All Frames and 755TR/TL/TM Frames 5

and 6
The Energy Pause function sets parameter 0:59 [Energy Status] bit 16 ‘Cls Ext
Cont’ to close an external contactor to connect the line side converter to three-
phase power.
Example: Connect a digital output function that energizes to close an external

contactor.
• Set I/O card parameter nn:10 [RO0 Sel] to 000059.16.
This value is the address of parameter 0:59 [Energy Status] bit 16.
• Connect the relay output to the contactor to energize the coil that closes
the contactor.
• The energy function clears this bit 16 in the Paused state.
Bit 16 is set in the Resuming and Owned states.
Interaction Between Logic Command and Digital Input
Parameter 0:267 [EnergyPauseOwner] indicates which ports are issuing valid

energy pause commands. By default, bit 15 = 1, which is the embedded Ethernet
port.
When both methods (logic command and digital input) are used, an OR
function of the two signals determines the Energy Pause request. An Energy
Pause request results if either signal detects the request. A Resume request
results if both signals are cleared.
Table 6 - Energy Pause Request Results
Logic Command Bit 21 ‘Energy Pause’ DI Energy Pause Digital Input Request Result
0 (cleared) 0 (open or de-energized) Resume Command
0 (cleared) 1 (closed or energized) Energy Pause Command
1 (set) 0 (open or de-energized) Energy Pause Command
1 (set) 1 (closed or energized) Energy Pause Command

Energy Pause on Common Bus Systems
When using Energy Pause on a common bus system, pause and resume
commands must be coordinated between the bus supply and common bus
inverters. To pause a common bus system:
• Stop all devices (not modulating)
• Send pause command to common bus inverters
• Wait for all devices to report they are in the Paused state
• Send pause command to the bus supply
• Bus supply reports it is in the Paused state
A resume command for a common bus system must be done in the reverse
order that is used for pause. To resume a common bus system:
• Send resume command to the bus supply
• Wait for the bus supply to report it is in the Owned state
• Send resume command to the common bus inverters
• Common bus inverters report they are in the Owned state
• Devices are ready to start

Predictive Maintenance The overall goal of the predictive maintenance function is to enable regular
maintenance of drives, motors, and machines.
The predictive maintenance function monitors the lifespan of various

components that are used in PowerFlex 755T products that are running
firmware revision 6.xxx or earlier. The function uses prior usage patterns to
calculate the component lifespan. For firmware revisions 10.xxx and later, see
Predictive Maintenance CIP Objects on page 91.
The predictive maintenance function allows you to set the event action and
event levels. The event level changes how much of the total life of a component
is consumed before the predictive maintenance function notifies you to
replace the component.
The predictive maintenance function can monitor the following components:

• Insulated-gate bipolar transistors (IGBTs)
• Fans and blowers
• DC bus capacitors
• Circuit breaker
• LCL capacitors
• Filters (airflow health)
The predictive maintenance function calculates the remaining life of

components. The calculation is based on the following application factors:
• Temperature
• Air quality
• Airflow
• Voltage
• Runtime
• Cycles
• Drive size
In each of the predictive maintenance functions, there are several parameters

that are used to configure levels, actions, inputs, and outputs. The following
sections describe those functions and parameters. The following descriptions
are the same for all parameters. For example, Event Level functions are the
same for all parameters, in that it determines when the event that it is
monitoring occurs based on percentage of life used.

Setting the Event Levels and Event Actions
There is an event level and event action for each type of predictive
maintenance function. The event level and event action parameters are in port
0, because it is logical for all events of the same type to occur at the same level.
For example, it is logical for all heatsink fan events to happen at the same level.
Heatsink fans are in the line side converter and the motor side inverter.
Event Level
The event level determines when the event occurs. The level is expressed in
percent of life used.
The event occurs when the component has used up this amount of predicted
life. The default is 80%. If you leave it at the default setting, the event occurs
when 80% of the component life is used. If you change a level to 50%, the event
occurs when half of the component life is used.
You can change these values to almost any level. Select a level that is
appropriate for your application and drive section. If the drive section is
critical or the application cannot tolerate unplanned downtime, you can use
lower event level values.
Event Action
The event action determines what happens when the event occurs. There are
two choices: Ignore and Alarm. If you select alarm, the event triggers an alarm.
Alarms are notifications and do not interrupt product operation. The alarm
number and alarm text appear on the HIM and in any connected software.
They are also recorded in the alarm queue.
You could choose Ignore if you wanted to use another means to track
remaining life and create a notification. One possible option is to use your own
logic in a controller to monitor elapsed life and remaining life parameters, and
then create a notification on a Human Machine Interface screen.
Monitor Elapsed Life and Remaining Life
There is an elapsed life and a remaining life parameter for each component
that is covered by predictive maintenance.
Elapsed Life
The values of these parameters represent the accumulated damage that the
components experience.
The unit of measure is unique for each type of component.

• Hours for fans, bus capacitors, and filter capacitors.
• Cycles for relay contacts, IGBTs, precharge contactors, switches, and
breakers.

The values reflect the runtime on the components and the running conditions.
For example, elapsed life values for fans increment faster when the
temperature is higher and the fan speed is higher. Elapsed life values for IGBTs
increment faster when temperature, load, and carrier frequency are higher.
Elapsed life values for bus capacitors increment faster when temperature,
load, and DC bus ripple are higher.
Remaining Life
The value of this parameter represents a prediction of how much life is

remaining in the component. Changes you make to the event level for each
predictive maintenance function directly affect this value.
The unit of measure for these parameters is always hours, regardless of the
component type. Measuring time in hours helps you schedule replacement
during planned downtime.
Predicted values are based on the rate of change of accumulated damage. For
example, remaining life values for fans are lower when recent temperature and
speed are higher. Remaining life values for IGBTs are lower when recent
temperature, load, and carrier frequency are higher. Remaining life values for
bus capacitors are lower when recent temperature, load, and DC bus ripple are
higher.
These predicted values are similar to the ‘fuel range’ displayed on many
automotive dashboards. The value is high, for a given amount of fuel, when
you are cruising efficiently on the highway. It is low, for the same amount, if
you are stuck in ‘stop and go’ city traffic.
Predictive Maintenance Function Details
This section describes the details of the predictive maintenance functions of

PowerFlex 755T products.
IGBT Modules
Table 7 - Event Level and Event Action Parameters
Parameter No. Parameter Name Units Definition
Enter a value to determine when a Predictive
Maintenance IGBT event in the power modules takes
0:566 IGBT Event Level % place. The event notifies you to replace the power
module.
0 = ‘Ignore’ Select the action taken when the Predictive Maintenance
0:567 IGBT Event Actn 1 = ‘Alarm’ IGBT event in the power modules takes place.
Output Parameters (Port 12 and 14)
Remaining Lifetime and Elapsed Lifetime: The calculation uses Event Level
and the record of operating conditions from the past 30 days. These conditions
include component data, temperature, load (current), and runtime. Positive
values indicate the estimated number of hours until the event occurs. These
values count down.

Negative values indicate the number of hours that have passed since the event
occurred. The precision of this parameter is limited to the eight most
significant digits. The three least significant digits are rounded. For example,
an internal value of 18760230188 is represented in this parameter as
18760230000.
Table 8 - Output Parameters
Units Definition Parameters
Displays the remaining life for the IGBTs in the line side power
module.
IGBTs in power module L0 14:140 [L0IGBT RemainLif]
Hours IGBTs in power module L1 14:240 [L1IGBT RemainLif]
… …
IGBTs in power module L9 14:1040 [L9IGBT RemainLif]
Displays the unprocessed elapsed life of the IGBTs in the line side
power module.
IGBTs in power module L0 14:139 [L0IGBT ElpsdLife]
Hours IGBTs in power module L1 14:239 [L1IGBT ElpsdLife]
… …
IGBTs in power module L9 14:1039 [L9IGBT ElpsdLife]
Displays the unprocessed elapsed life of the IGBTs in the motor side
power module.
IGBTs in power module M0 12:139 [M0IGBT ElpsdLife]
Cycles IGBTs in power module M1 12:239 [M1IGBT ElpsdLife]
… …
IGBTs in power module M9 12:1039 [M9IGBT ElpsdLife]
Fan or Blower
The following fans have the proposed fan life model implemented:
• Heatsink fan (Power module and LCL filter module blower)
• Control pod fan
• Power bay roof fan: IP54 only (frame 8…12)
• Input bay roof fan: Input bay (frame 8…9) and Control bay (frame 8…12)
• Door fan: Input bay (frame 10…12), Entry wire bay (frame 8…12), and Exit
wire bay (frame 8…12)
The firmware calculates by averaging the measured ambient temperature

parameters from the power modules in the motor side inverter and the line
side converter.
Table 9 - Input Parameters
Units Definition Motor Side Power Module Fans Line Side Power Module Fans LCL Filter Module Fans
Module M0 = 12:131 [M0 Meas Amb Tmp] Module L0 = 14:131 [L0 Meas Amb Tmp] Module LCL0 = 14:1241 [F0 Meas Amb Tmp]
°C Temperature … … …
Module M1 = 12:1031 [M9 Meas Amb Tmp] Module L9 = 14:1031 [L9 Meas Amb Tmp] Modlue LCL5 = 14:2141 [F9 Meas Amb Tmp]
Units Definition Control Pod Power Bay Roof Input Bay Fan Control Bay Roof Wiring Bay Fans
°C Temperature 0:25 [Ctrl Pod Temp] 0:503 [Meas Amb Temp] 0:503 [Meas Amb Temp] 0:503 [Meas Amb Temp] 0:503 [Meas Amb Temp]

Units Definition Heatsink Fans Control Pod Power Bay Roof Input Bay Fan Control Bay Roof Wiring Bay Fans
Event Level 0:562 0:514 0:534 0:524 0:554 0:544
% [HSFan EventLevel] [PodFan Event Lvl] [PwrRfFanEventLvl] [In Fan EventLvl] [CtrlFanEventLvl] [WrgFanEventLvl]
Event Action 0:563 0:515 0:535 0:525 0:555 0:545
1 or 0 [HSFan EventActn] [PodFan EventActn] [PwrRfFanEvntActn] [In FanEventActn] [CtrlFanEvntActn] [WrgFanEvntActn]


Module M0 = 12:136 [M0HSFanRemainLif] Module L0 = 14:136 [L0HSFanRemainLif] Module LCL0 = 14:1246 [F0HSFanRemainLif]
Remaining Module M1 = 12:236 [M1HSFanRemainLif] Module L1 = 14:236 [L0HSFanRemainLif] Module LCL1 = 14:1446 [F2HSFanRemainLif]
Hours Life … … …
Module M9 = 12:1036 [M9HSFanRemainLif] Module L9 = 14:1036 [L0HSFanRemainLif] Module LCL5 = 14:2146 [F9HSFanRemainLif]
Remaining 0:513 0:533 0:523 0:553 0:543
Hours Life [PodFan RemainLif] [PwrRfFanRem Life] [In FanRemainLif] [CtrlFanRem Life] [WrgFanRem Life]
Module M0 = 12:135 [M0HSFanElpsdLife] Module L0 = 14:135 [L0HSFanElpsdLife] Module LCL0 = 14:1245 [F0HSFanElpsdLife]
Elapsed Life Module M1 = 12:235[M1HSFanElpsdLife] Module L1 = 14:235 [L1HSFanElpsdLife] Module LCL1 = 14:1445 [F2HSFanElpsdLife]
Hours … … …
Module M9 = 12:1035 [M9HSFanElpsdLife] Module L9 = 14:1035 [L9HSFanElpsdLife] Module LCL5 = 14:2145 [F9HSFanElpsdLife]
Hours Elapsed Life 0:512 [PodFan ElpsdLife] 0:532 [PwrRfFanElpsdLif] 0:522 [In FanElpsdLife] 0:552 [CtrlFanElpsdLif] 0:542 [WrgFanElpsdLif]
DC Bus Capacitors
To help support planned maintenance schedules, predictive parameters issue

an alarm when it is time to replace bus capacitors.
Temperature Module M1 = 12:231 [M1 Meas Amb Tmp] Module L1 = 14:231 [L1 Meas Amb Tmp] Module LCL1 = 14:1441 [F2 Meas Amb Tmp]
°C … … …

Units Definition Heatsink Fans
% Event Level 0:570 [Bus Cap EventLvl]
1 or 0 Event Action 0:571 [BusCap EventActn]

Units Definition Motor Side Power Module Line Side Power Module
Module M0 = 12:143 [M0BusCapRmngLife] Module L0 = 14:143 [L0BusCapRmngLife]
Remaining Module M1 = 12:243 [M1BusCapRmngLife] Module L1 = 14:243 [L1BusCapRmngLife]
Hours Life … …
Module M9 = 12:1043 [M9BusCapRmngLife] Module L9 = 14:1043 [L9BusCapRmngLife]
Module M0 = 12:142 [M0BusCapElpsdLif] Module L0 = 14:142 [L0BusCapElpsdLif]
Elapsed Life Module M1 = 12:242 [M1BusCapRmngLife] Module L1 = 14:242 [L1BusCapElpsdLif]
Hours … …
Module M9 = 12:1042 [M9BusCapRmngLife] Module L9 = 14:1042 [L9BusCapElpsdLif]

Airflow Health
The goal of the predictive maintenance function is to be able to assess the

health of the airflow system with the ability to detect abnormal conditions that
are based on deviations from an expected temperature rise.
The following warnings are generated by comparing the actual temperature

rise with the upper and lower expected temperature rise limits.
• High Temperature Rise warning
• Low Temperature Rise warning
Several conditions can cause a high temperature rise warning, including:

• Blocked air filter
• Mismatch of air filter and IP class of drive
• Internal recirculation caused by damaged or missing baffles or gaskets
• Debris in the IGBT airflow path
• Excessive pre-heating of air
• Missing LCL filter or power module covers
• Roof fan failures
Several conditions can cause a low temperature rise warning, including:

• Missing air filter
• Mismatch of air filter and IP class of drive
Units Definition Motor Side Power Module Fans Line Side Power Module Fans Motor Side Heatsink Line Side Heatsink
M0 = 12:131 [M0 Meas Amb Tmp] L0 = 14:131 [L0 Meas Amb Tmp] M0 = 12:118 [M0 HeatsinkTempV] L0 = 14:118 [L0 HeatsinkTempS]
Temperature M1 = 12:231 [M1 Meas Amb Tmp] L1 = 14:231 [L1 Meas Amb Tmp] M1 = 12:218 [M1 HeatsinkTempV] L1 = 14:218 [L1 HeatsinkTempS]
°C … … … …
M9 = 12:1031 [M9 Meas Amb Tmp] L9 = 14:1031 [L9 Meas Amb Tmp] M9 = 12:1018 [M9 HeatsinkTempV] L9 = 14:1018 [L9 HeatsinkTempS]

Units Definition High Temperature Rise Low Temperature Rise
1 or 0 Event Action 0:590 [Hi TR EventActn] 0:591 [Lo TR EventActn]
Circuit Breakers
Circuit breakers generally have a fixed number of cycles available. This number
varies based on whether the breaker disconnect operation occurs under
electrical load.
Units Definition AC Precharge Main Circuit Breaker AC Precharge Contactor DC Precharge Molded Case Switch
% Event Level 0:578 [MCB LifeEvntLvl] 0:582 [PCC LifeEvntLvl] 0:574 [MCS Event Level]
1 or 0 Event Action 0:579 [MCB LifeEvntActn] 0:583 [PCC LifeEvntActn] 0:575 [MCS Event Action]


Units Definition AC Precharge Main Circuit Breaker AC Precharge Contactor DC Precharge Molded Case Switch
Module M0 = 12:146 [DCP0MCS Rem Life]
Remaining 14:1143 [ACP0 MCB RmngLif] 14:1146 [ACP0 PCC RmngLif] Module M1 = 12:246 [DCP1MCS Rem Life]
Hours Life 14:1153 [ACP1 MCB RmngLif] 14:1156 [ACP1 PCC RmngLif] …
Module M9 = 12:1046 [DCP9MCS Rem Life]
Module M0 = 12:145 [DCP0MCS ElpsdLif]
Elapsed Life 14:1142 [ACP0 MCBElpsdLif] 14:1145 [ACP0 PCCElpsdLif] Module M1 = 12:245 [DCP1MCS ElpsdLif]
Cycles 14:1152 [ACP1 MCBElpsdLif] 14:1155 [ACP1 PCCElpsdLif] …
Module M9 = 12:1045 [DCP9MCS ElpsdLif]
LCL Capacitors
The calculation of line capacitor life is simplified. The only operating

parameter is ambient temperature.
Units Definition Motor Side Power Module Fans
Module LCL0 = 14:1241 [F0 Meas Amb Tmp]
Ambient Temperature Module LCL1 = 14:1441 [F2 Meas Amb Tmp]
°C …
Module LCL5 = 14:2141 [F9 Meas Amb Tmp]
% Event Level 0:586 [LCL Cap EventLvl]
1 or 0 Event Action 0:587 [LCLCap EventActn]

Units Definition DC Precharge Molded Case Switch
Module LCL0 = 14:1250 [F0 Cap RmngLife]
Hours Remaining Life …
Module LCL0 = 14:1249 [F0 Cap ElpsdLif]
Hours Elapsed Life …

Resetting the Meters After Component Replacement
Rockwell Automation has made the following components field replaceable: all
types of fans, DC bus capacitors, LCL filter capacitors, main circuit breakers in
AC precharge, precharge contactors in AC precharge, and molded case
switches in DC precharge.
IMPORTANT Do not perform a reset while the product is in an Energy Pause paused
state. See Energy Pause Function on page 71 for details.
General Instructions
Reset the Elapsed Life and Remaining Life parameters for a component after
proper replacement. Follow this general procedure to reset the parameters.
1. Go to port 0 and open parameter 0:504 [PredMain Rst En]. Set the bit for
the area that contains the new component.
2. Go to the port and area that contains the parameters that are related to
the new component.
3. Find the parameter for Predictive Maintenance Reset in that area. Then
select the component type that you just replaced.
4. Return to parameter 0:504 [PredMain Rst En] in port 0. Then clear the bit
you set in step 1.

Reset Examples
This section provides instructions about how to reset Predictive Maintenance

function parameters after you replace a component.
M0 Power Module Heatsink Fan Example
Follow these steps to reset the Elapsed Life and Remaining Life parameters for
the heatsink fan in the M0 power module in the motor side inverter.
1. Go to port 0 and open parameter 0:504 [PredMain Rst En]. Set bit 10 ‘M0’.
2. Go to the Predictive Main group in the M0 Power Module file in port 12.
3. Find parameter 12:130 [M0PredMaintReset]. Then select 1 ‘M HSFan Life’
in the drop-down menu.
Parameter 12:130 [M0PredMaintReset] returns to 0 ‘Ready’ after the reset

is performed.
4. Return to parameter 0:504 [PredMain Rst En] in port 0. Then clear bit 10
‘M0’.

Control Pod Fan Example
Follow these steps to reset the Elapsed Life and Remaining Life parameters for
the pods on the control pod.
1. Go to port 0 and open parameter 0:504 [PredMain Rst En]. Set bit 0 ‘Port
0’.
2. Stay in port 0, and go to parameter 0:505 [Pred Maint Reset]. Then select
1 ‘PodFan Life’.
Parameter 0:505 [Pred Maint Reset] returns to 0 ‘Ready’ after the reset is
performed.
3. Return to parameter 0:504 [PredMain Rst En] in port 0. Then clear bit 0
‘Port 0’.

Configuration Examples
This section provides instructions for configuring the Predictive Maintenance

Event Level and Event Action.
Heatsink Fan Example
Go to the Predictive Maintenance group in the Protection file of port 0.
Go to parameter 0:562 [HSFan EventLevel]. Change the value to 70%.
Now all heatsink fan events occur when 70% of the fan life is consumed. The
heatsink fan events affect the fans in the M0 motor side inverter power
module, the L0 line side converter power module, and the F0 LCL filter.
Go to parameter 0:563 [HSFan EventActn]. The value is set to ‘Alarm’ with an

internal value of 1.
When this parameter is set to alarm, a heatsink fan event results in a

numbered alarm with text to indicate which heatsink fan is affected.

IGBT Example
Go to parameter 0:566 [IGBT Event Level]. Change the value to 60%.
Now all IGBT events occur when 60% of the IGBT life is consumed. The IGBT
events affect IGBTs in the M0 Motor Side Inverter power module and the L0
Line Side Converter power module.
Go to parameter 0:567 [IGBT Event Actn]. The value is set to ‘Alarm’ with an
When set to alarm, an IGBT event results in a numbered alarm with text to
indicate which power module is affected.

Control Pod Fan Example
Go to parameter 0:514 [PodFan EventLevel]. Change the value to 70%.
Now the control pod fan event occurs when 70% of the fan life is consumed.
Go to parameter 0:515 [PodFan EventActn]. The value is set to ‘Alarm’ with an

When set to alarm, a Control Pod Fan event results in a numbered alarm with
text.

Monitoring Examples
This section provides instructions for monitoring the Elapsed Life and
Remaining Life.
M0 Power Module Heatsink Fan Example
Follow these steps to view the Elapsed Life and Remaining Life parameters for
the heatsink fan in the M0 power module in the motor side inverter.
1. In the programming tool, go to the port 12 parameters.
2. Go to the Predictive Main group in the M0 Power Module file.
This group lists all of the parameters that are related to predictive
maintenance on the M0 power module.
3. Double-click parameters 12:135 [M0HSFanElpsdLife] and 12:136
[M0HSFanRemainLif].
The value for the parameter you selected appears.
L0 Power Module Bus Capacitor Example
Follow these steps to view the Elapsed Life and Remaining Life parameters for
the bus capacitors in the L0 power module in the line side converter.
1. In the programming tool, go to the port 14 parameters.
2. Go to the Predictive Main group in the L0 Power Module file.

This group lists all of the parameters that are related to Predictive
Maintenance on the L0 Power Module.
3. Double-click parameters 14:142 [L0BusCapElpsdLife] and 14:143
[L0BusCapRmngLife].
The value for the parameter you selected appears.

Predictive Maintenance CIP This section describes the details of the Predictive Maintenance using CIP
Objects Objects for PowerFlex 755T and 755TS products that are running firmware
revision 10.xxx and later. The names and function of the Predictive
Maintenance CIP Objects are the same as the Predictive Maintenance
Parameters, the difference is in how the data is collected. CIP Objects are like
parameters in that they’re locations where data is stored but the
communication route or mapping for these locations are different. To access
CIP Objects, explicit messaging is required. Configuring these message
instructions requires the Class, Service, Instance, and Attribute for each
Predictive Maintenance data location. The PowerFlex 755T Predictive
Maintenance CIP objects are classified into three levels: Predictive
Maintenance Environmental, Predictive Maintenance Component Group, and
Predictive Maintenance Component Levels.
The predictive maintenance feature uses the mathematical physics of failure

models to predict more accurately (based on actual operating conditions)
when to perform maintenance on a product component, thus saving cost over
routine (fixed) time-based preventative maintenance. Predictive maintenance
information also allows customers to help prevent the occurrence of downtime
due to unexpected failures by alerting them in advance when maintenance is
required to avoid a failure.
The Predictive Maintenance Objects are a set of CIP objects that provide a way
to organize and characterize product components and their associated
predictive maintenance data. These CIP objects are designed to be applicable
to a range of products from simple devices with a single component to large
multi-frame products with dozens of components of different types, which
provide a rich set of data for customer predictive maintenance purposes.
Figure 21 shows an hierarchical device example of the relationship between the
predictive maintenance CIP objects within a product.
Figure 21 - Predictive Maintenance Object Hierarchy

Product Level
Predictive Maintenance
Environmental
Conditions
Logical Group
Predictive Maintenance Predictive Maintenance

Component Group
(Instance 1—Type: Fan)
Component Group
(Instance 2—Type: Power
Device)
… Component Group
(Instance n—Type:
Capacitor)
Sub-assembly Level
Physical Fans Physical Power Device Physical Capacitor Assemblies
Component (Instance 1…3)
Component (Instance 4…6)
… Predictive Maintenance
Component (Instance 7…n)

The Predictive Maintenance Environmental Conditions Object, class 413 (hex),

provides a configuration interface. Use this interface to identify the
environment in which products are installed and operating. The attribute
values that are provided by this object allow for the adjustment and
appropriate derating that is associated with the environment to be introduced
into the predictive maintenance algorithms (physics of failure models) which
calculate the life of the components in a product. Some algorithms use this
additional environmental information in their implementation and some do
not. If no predictive maintenance algorithms require environmental
information in a product, this object does not have to be implemented. The CIP
objects in this class require a power cycle or device reset is for the configured
changes to take effect.
Table 21 - Class 413—Environmental Conditions
Class:
Data Access Data
hex Name Instance Attribute Attribute Name Classif. Rule Type Description Settings/Values (1)
(dec)
0 = IP00, NEMA/UL Open Type
1 = IP21, NEMA/UL Type 1
Selects the ingress protection (IP) rating for the standalone
1 Enclosure Rating — Set USINT product. Enclosure rating does not refer to any additional 2…3 = Reserved
4 = IP54, NEMA/UL Type 12
protective cabinet where the product is installed. 5 = IP65, NEMA/UL Type 4X
6…255 = Reserved
Selects the severity level of airborne contaminants in the
environment to which the product is exposed. 0 = G1
‘G1’ (0) – Severity level is mild. 1 = G2
Airborne
‘G2’ (1) – Severity level is moderate. 2 = G3
2 Contaminants — Set USINT ‘G3’ (2) – Severity level is harsh. 3 = GX
Severity Level
‘GX’ (3) – Severity level is severe. 4 = GX+
Predictive ‘GX+’ (4) – Severity level is extreme (Rockwell extension to ANSI/ 5…255 = Reserved
0x413 Maintenance 1=Product ISA-71.04).
(1043) Environmental Supported
Conditions STRUCT Selects a limited list of supported ingress protection ratings that 0 = False (Not supported)
3 Enclosure — Get OF can be set in the Enclosure Rating attribute. 1 = True
Ratings
No. of Supported
3 Enclosure — Get USINT Selects the number of supported enclosure ratings enumeration —
values to be included in the list.
Ratings
Supported The array of listed enclosure ratings enumeration values
ARRAY supported by the product. Valid enumeration values are listed in
3 Enclosure — Get of USINT attribute 1 to be included in the list. The length of array entries is —
Ratings List
limited by the data type of USINT or a maximum value of 255.
Reset Required Selects if the device requires a type 0 reset service or a power 0 = Off
4 — Get BOOL cycle, to apply configuration changes to any of the settable
Status instance attributes. 1 = On
(1) The Settings/Values in this column are instances.
The Predictive Maintenance Component Object, class 0x414 (hex), provides a

way to indicate predictive maintenance data and status for an individual
physical component in a product. The information can then be communicated
to users through various human interfaces to provide the necessary insight for
maintaining the product in their facility. Additionally, this object allows
predictive maintenance data to be reset after a component maintenance
action (service or replacement) is performed. Multiple instances of this object
can be required to represent the various physical components with predictive
maintenance information in a product.

Table 22 - Class 414—Predictive Maintenance Component

Class:
Data Access Data
hex Name Instance Attribute Attribute Name Classif. Rule Type Description Settings/Values (1)
(dec)
Select the type of physical component this instance represents.
The type of physical component determines the type of
predictive maintenance algorithm used to calculate component
1 Component Type Constant Get UINT life. Groups 0x0000…0x0800 (2)
Additionally, components of the same type are often grouped
together using the Predictive Maintenance Component Group
object (0x0415).
Displays the amount of predicted remaining life of the
2 Predicted Accumul Get DINT component. Remaining Life Units (for example, hours) to —
Remaining Life ator
anticipated failure.
Indicates the units used to define the Remaining Life of the
component.
Predicted Hours are the preferred units, but counts may be more 0x1001 = General/Count
3 Remaining Life Constant Get UINT
Units appropriate for simple components. 0x1104 = Time/Hour
For example, Counts could indicate the number of cycles
between operating and non-operating states.
Accumul Displays the life, in hours or counts, that the component has
4 Elapsed Life Get UDINT —
ator been in operation.
Indicates the units used to define the elapsed life of the
Elapsed Life component. 0x1001 = General/Count
5 Units Constant Get UINT Counts could indicate the number of cycles between operating 0x1104 = Time/Hour
and non-operating states.
Percentage of the total life of the component that has been
used.
Displays the consumed life of the component as a percentage of
Consumed Life Accumul its total life.
6 Get REAL A value of 0% indicates a component has never been in %
Percentage ator
operation. A value of 100% indicates the component has been in
Predictive operation for its expected total life.
0x414 Maintenance — Values greater than 100% are possible and indicate that the
(1044)
Component component has exceeded its expected total life.
Indicates whether the remaining life of the component has
fallen below a user configured threshold level.
The threshold level is configured in the Predictive Maintenance
Remaining Life
7 Below Threshold Status Get BOOL Component Group object (0x0415). —
The Remaining Life Threshold attribute from the group instance
along with the Remaining Life attribute from this instance
determine the state of this flag.
0 = Not operating or not in
operational state.
1 = Operating or in operational
8 Operating Status Get BOOL Indicates whether the associated physical component is state. The component
operating or is actively running. remaining life is decreasing
at a rate based on the
predictive maintenance
algorithm.
Accumul Indicates the number of times the component has had its
9 Reset Count ator Get UDINT predictive maintenance data reset via the Reset service. —
Instance number of the Identity object instance that represents
10 Identity Instance Constant Get UINT the device containing the physical or serviceable component —
(device where the physical component is located).
Component
11 Number Constant Get UINT Differentiates between components when multiple components —
are associated with one Identity instance.
Reference
12 Location Constant Get SHORT_ Identifies the location of the component within a product, —
STRING device, or subsystem.
Replacement SHORT_ If a component is replaceable or serviceable, this is the catalog
13 Catalog Number Constant Get STRING number of the part that can be ordered to replace or service it. —
(2) Instances for Component Type attribute are found in the respective tab in the PowerFlex Drives with TotalFORCE Control Parameters Reference Data, publication 750-RD101.
The Predictive Maintenance Component Group Object, class 0x415 (hex), is

one object in a set of predictive maintenance CIP objects that provide a way to
organize and characterize product components and their associated predictive
maintenance data. These CIP objects are applicable to a range of products
from simple devices with one component to large multi-frame products with
dozens of components of different types, which provide a rich set of data for
customer predictive maintenance purposes. Figure 21 shows a hierarchical

device example of the relationship between the predictive maintenance CIP

objects within a product.
Table 23 - Class 415—Predictive Maintenance Component Group
Class: Data Access Data
hex Name Instance Attribute Attribute Name
Classif. Rule Type
Description Settings/Values (1)
(dec)
Component
1 Constant Get UINT Specifies the type of components in the component group. Groups 0x0000…0x0800
Group Type
2 Number Of Constant Get USINT Number of components (Predictive Maintenance Component —

Components object instances) included in this component group instance.
This attribute defines the list of Predictive Maintenance
3 Component Constant Get ARRAY of Components to be monitored within this Predictive Maintenance —
Instance List UINT
Component Group.
4 Enabled Constant Set BOOL Enable or disable the component group. 0 = Disabled
1 = Enabled (Default)
Select a remaining life level below which components in this
Remaining Life group report a predictive maintenance event.
5 Config. Set UDINT —
Threshold The units applied to this attribute are determined though the
Remaining Life Threshold Units attribute.
Predictive
0x415 Maintenance Select the action that components in this group take when their
(1045) Component — remaining life falls below the configured threshold.
Group Remaining Life ‘Ignore’ (0) – The device behavior ignores exceeding the 0 = Ignore
6 Config. Set USINT Remaining Life Threshold specified level.
Threshold Action ‘Event’ (1) – The device behavior produces an event to indicate 1 = Event
that the Remaining Life Threshold has been exceeded, which
could trigger an alarm.
Remaining Life Indicates the engineering units being used for the Remaining 0x1001 = General/Count
7 Threshold Units Constant Get UINT Life Threshold attribute. 0x1104 = Time/Hour
User
Specifies a user defined Maximum life for all components in the
8 Maintenance Config. Set UDINT —
Maximum Life group.
User
9 Maintenance Constant Get UINT Indicates the engineering units being used for the User 0x1001 = General/Count
Maximum Life Maintenance Maximum Life attribute. 0x1104 = Time/Hour
Units
For detailed information and a complete list of the Predictive Maintenance

CIP Objects, see the PowerFlex Drives with TotalFORCE Control Parameters
Reference Data, publication 750-RD101.
CCW/AOP Predictive Maintenance Example
When connected to a drive via Connected Components Workbench software

(CCW) or Logix Designer application, select Predictive Maintenance. A page
opens up that shows the Predictive Maintenance items in the drive. Pull-down
menus allow for filtering to show Predictive Maintenance items by location or
component type. Choose an environmental setting of Mild, Harsh, Severe, or
Extreme to select which derate the Predictive Maintenance items use. The
Notification setting section allows you to set thresholds and actions for each
Predictive Maintenance item. See the following figures.

Figure 22 - Main Predictive Maintenance Screen
Figure 23 - Select Location of Predictive Maintenance Object
Figure 24 - Select the Component Type

Figure 25 - Set the Enclosure Type
Figure 26 - Set the Environmental Contaminants Level
Figure 27 - Set Notifications, Enable/Disable, Remaining Life Threshold, Remaining Life Action
CIP Messaging Example

Explicit (CIP) messaging can be used to read or write Predictive Maintenance
items. See the PowerFlex Drives with TotalFORCE Control Parameters
Reference Data, publication 750-RD101 for detailed information and a
complete list of the Predictive Maintenance CIP Objects. The example uses a
PowerFlex 755TS frame 2. Heatsink Fan Remaining Life is read using explicit
messaging from a Logix processor. Currently, the Heatsink Fan Remaining life
is shown as being 682,699 Hours from the graphical user interface.

Figure 28 - CIP Explicit Message
Use the Pred Maint Objects tab in the PowerFlex Drives with TotalFORCE
Control Parameters Reference Data, publication 750-RD101, to select the class
and attribute: Class 0x414 Component Objects, Attribute 2 Remaining Life.
Figure 29 - Select Class and Attribute
The instance is gathered from the respective component tab. In this case the
heatsink fan is listed in the Fan Group tab. Instance = 1 Heatsink Fan.
Figure 30 - Select the Instance
Create a message instruction in Logix. Message Type = CIP Generic, Service

Type = Get Attribute Single, Instance = 1, Class = 414, Attribute = 2. Create a tag
for the destination element tag based on the Data Type as listed in the
reference tables = DINT.

Figure 31 - Create a MSG Instruction
Execute the MSG instruction and capture the desired value as shown below the
value captured matches the value the graphical user interface displayed. The
value captured is 682699.
Figure 32 - Captured Value

DeviceLogix PowerFlex 755T products (firmware revision 4 or later) have embedded

DeviceLogix™ (DLX) capability that provides built-in control capacity for local
application and supplementary supervisory control. DeviceLogix functionality
enhances productivity for standalone applications or complimentary
operation to a controller. DeviceLogix functionality is configured using either
function block or ladder logic programming.
Figure 33 - Function Block Programming
Figure 34 - Ladder Logic Programming
Some examples of DeviceLogix functionality are:

• Controls Logic Command bits and Speed Reference
• Monitors Logic Status bits and Speed Feedback
• Reads inputs
• Writes outputs
• Reads and writes to parameters
DeviceLogix functionality supports the most frequently used instructions in

the industry to build a logic program, including: Logical, Move, Timer,
Counter, Compare, and Math. You can configure up to 500 instruction blocks
to support application requirements.
DeviceLogix functionality also supports custom instructions that encapsulate

logic you develop with the built-in instruction set. This feature is called a
Macro instruction, with which you can design application instructions for the
target device.

Tag Binding in PowerFlex 755T Products
DeviceLogix functionality includes tag binding. This tag-mapping capability

allows you to create tags for any parameter in the drive that is needed for
programming. This new feature provides a consistent programming
experience in the DeviceLogix function for PowerFlex 755T drives and option
modules.
Benefits of DeviceLogix
Local control at the drive level allows for simple local control functions without
the need for programmable logic and automation controllers.
Some of the benefits of the DeviceLogix feature include:

• Improves control system performance
• Performs logic on the drive that reduces loading on the centralized
controller and reduces drive-related traffic on the network
• Faster reaction. Capable of achieving response times of 2 ms (with 100
instructions blocks)
• Increases system reliability
• Improves diagnostics and reduces troubleshooting time
• Continues to run a process during network interruptions
• Increases system/machine modularity
• Divides control responsibility in the controller for smaller programs that
save memory and reduce scan times
DeviceLogix functionality can be powered through three-phase input power or

auxiliary 24V DC control power.
Some of the typical applications for DeviceLogix functionality include:

• Material handling
• Cascade pump control
• PID control
• Selector switch functions
• Signal conditioning and scaling
• Fault handling

DeviceLogix Configuration Tool
DeviceLogix functionality is set through the DeviceLogix editor that runs on a

workstation. You can access the DeviceLogix editor through a Studio 5000®
Add-on Profile (AOP) or Connected Components Workbench™ software.
Launch the DeviceLogix Editor Tool

1. In the Drive Properties, select Edit peripherals.
2. Add the Application DLX Only option module in the Peripherals list.
DeviceLogix (DLX) functionality is added in port 9.

3. To close the window, click OK.

4. Select DeviceLogix and click the Launch Editor icon.
5. When the editor starts, select the editor style.
6. To enter edit mode, click in the taskbar.

7. Click the blocks or instructions and drag and drop elements on the sheet
to add code.
8. Click one connection pin and move the cursor to another pin and then
release to interconnect items. Notice that the editor makes a connection
line.
Double-click the inputs and outputs to define the tags to use, or double-
click the function blocks to see the parameters.
DeviceLogix Tag Database
Use the Tag Editor to add the tags to be used in the code.
There are four categories of tags within the database.

• Produced Network Data is the data that is to be sent to the drive, such as
Start and Stop.
• Consumed Network Data is the data that is read from the drive, such as
Faulted, Ready, and Direction.
• Status Input is the data that comes from the clock/calendar of the drive.
• User Defined Tag are local tags that you create.

1. Select the Show Tag Database option from the Tools menu.
The Tag Database window opens.
2. To open the editor, click Launch Tag Editor.

Use the Tag Editor to select any drive parameter needed for
programming. These tags are called User Selected Tags.
For example, to select digital input 0 from an I/O module in port 4, select
4:1 [Dig In Sts] bit 0 ‘Input 0’ and click Add.
3. To add other drive parameters to the Tag database, repeat step 1

and step 2.

4. To close the window, click OK.

All added tags appear in the DeviceLogix Editor workspace.
Download and Enable the Logic

1. When the code is completed, click in the task bar to verify the logic.
After the verification, a window appears with the result.
The message-log window displays any errors.
2. If there are no errors, click in the taskbar to exit edit mode.
3. To download the logic, click in the taskbar.

A confirmation window opens.
4. Click Yes.
5. To enable the logic, click in the taskbar.

The logic is executed in the drive.
To disable the logic, click in the taskbar.
See DeviceLogix Technology for Industrial Applications Application

Techniques, publication 193-AT001, for more information.

Emergency Override The purpose of the function is to allow the drive or bus supply to override its
Function internal protections (faults) in emergency situations. This function is
important for applications where customers would trade product longevity for
continued running during an emergency situation.
ATTENTION: The emergency override function allows you to configure the

drive to bypass internal protections when operating in emergency override
mode. When the emergency override mode is enabled and active, protections
that are selected are bypassed. Do not use the emergency override function
without considering applicable local, national, and international codes,
standards, regulations, or industry guidelines.
IMPORTANT The emergency override of protections and faults can reduce the life of
the product (drive or bus supply). Their purpose is to help protect the
product from conditions that can damage the product.
The person or company that configures the override assumes
responsibility for the damage to the product from the conditions that
would otherwise have triggered the protections.
Configuration
There are two modes for the function: Only Override and Purge Frequency.
The following parameters are used to configure the Emergency Override

function.
• 0:454 [Emerg OVRD Mode]
• 0:455 [Emerg Prot OVRD]
• 0:456 [EmergMode Status]
• 0:457 [Purge Frequency]
See PowerFlex Drives with TotalFORCE Control Programming Manual,

publication 750-PM100, for full descriptions of these parameters.
Go to the Overrides group in the Protection file on port 0.

Go to parameter 0:454 [Emerg OVRD Mode] and select the desired mode.
Only Override
In Only Override mode, the product overrides faults to continue running. The
product uses its normal methods for starting and stopping. The product
follows its regular position/velocity/torque mode.
Purge Frequency
In the Purge Frequency mode, the product overrides faults to continue

running. It switches to velocity mode and uses the Purge Frequency as its
velocity reference. The function treats the Emergency Override command like
a Run command. The product runs at the Purge Frequency when the command
is set, and stops when the command is cleared.
To set the Purge Frequency, go to parameter 0:457 [Purge Frequency] and enter
the speed value.
Activate the Emergency Override Feature

The Emergency Override function can be activated by setting a bit in the
controller, or by a discrete-wired digital input.
Logic Command
Program the Logix project to set bit 15 ‘Emerg OVRD’ to create an Emergency
Override command.
Program it to clear the bit to remove the Emergency Override command.

Discrete-Wired Digital Input
Use parameter 0:134 [DI EmergencyOVRD] to select a digital input on an I/O

option card in one of the option slots. To create an Emergency Override
command, wire the input to circuitry that closes or energizes. To remove the
Emergency Override command the circuitry opens or de-energizes.
Go to the Command group in the Feedback and I/O file on port 0.
Go to parameter 0:134 [DI EmergencyOVRD] and map the function to the

input on the option card you have wired to the circuit.
Interaction between Logic Command and Digital Input
You cannot use both logic command and digital input in the same
configuration. The digital input takes priority over the logic command. If you
choose to configure the digital input function, selecting a nonzero value in
parameter 0:134 [DI EmergencyOVRD], disables bit 15 ‘Emerg OVRD’ in the
Logic Command.

Decide Which Protections to Override
The person or company that designs the drive or bus supply configuration is
responsible for deciding which protections the function can override. That
person or company takes responsibility for the damage to the product from the
conditions that would otherwise trigger the protections.
Go to the Overrides group in the Protection file on port 0.
Go to parameter 0:455 [Emerg Prot OVRD].
Set bits in parameter 0:455 [Emerg Prot OVRD] to configure the product to
override classes of protection. Each bit represents a class of protections or
faults. Set a bit to override that class of faults. Clear a bit to allow the class of
faults to stop the drive or bus supply. For example:
• Bit 0 ‘LS Ctrl Flts’ represents the faults from line-side control (port 13). If
the engineer sets this bit, these events do not stop the product (drive or
bus supply). If the engineer leaves it cleared, these events stop the
product.
• Bit 1 ‘LS Pwr Flts’ represents the faults from the line-side power (port 14)
that you can override.
The PowerFlex Drives with TotalFORCE Control programming manual,

publication 750-PM100, describes which faults are covered by each bit. See the
description for parameter 0:455 [Emerg Prot OVRD]. Also, see the fault and
alarm tables in the troubleshooting chapter.

Reference Motion Planners PowerFlex 750-Series drives with TotalFORCE® control provide built-in
motion planners with features for flexible configuration and generation of
Position and Velocity Reference trajectories across a wide range of
applications.
New Features
Overviews on how to use the Position Reference and Velocity Reference

Motion Planners are provided, each highlighting new features to:
• Provide a selection of useful move profile types with easy switching
between them
• Allow users to enter acceleration and deceleration times directly
• Complete decoupling of acceleration and deceleration profiles, making it
easier to generate asymmetric move profiles
• Smoothly transition in and out of velocity, acceleration, and jerk limits
• Create a simple way to balance smoothness, energy, and peak dynamics
• Automatically increase move final time for best performance when
inputs generate constrained circumstances
Benefits
Leveraging these new features to balance energy efficiency, peak dynamics,

and smoothness in a simple way, Position Reference and Velocity Reference
motion planners do the following:
• Prevent steps in jerk that beat up mechanical components over time. This
often leads to less frequent re-tuning of servo loops and down time to
replace components.
• Steps in jerk and other discontinuities generate odd harmonics that
excite mechanical resonances. This leads to servo loops working harder
to remove these self-induced resonances. As a result, the drive consumes
more energy.
• Balance peak dynamics which translates to lower energy requirements
for some applications.
• Configure motion profiles to operate closer to machine limits, while
preserving high dynamics.
• Configure motion profiles to generate torque-speed curves that improve
motor utilization and use more of its operating range.
Some applications that benefit from the resulting smooth motion are listed:
• Liquid slosh control
• Crane and hoist anti-sway control
• Cantilevered load vibration suppression
• Robot end effector oscillation
• Material and web handling
• Unidirectional anti-backup applications
• Repetitive motion profiles
• Belt and chain driving applications

Position Reference Motion Planner
This section describes how to use the Point-To-Point (PTP) Position Reference
Motion Planner. Instructions are given on how to configure each of the new
features in the order they are listed in the first section. A block diagram of the
PTP Planner is given, showing relevant parameters.
Figure 35 - PTP Planner Block Diagram

Ref Move Type Point to Point parameter initializations
performed with Position Regulator
931 INACTIVE
Max Speed Fwd 1392 PTP Reference [1404], PTP Feedback

1393 [1396], PTP Command [1391] are
Max Speed Rev PTP Feedback
loaded with Position Actual [1745].
Virtual
PTP Vel Override 1402 Encoder
1396
These parameters apply to all Move Types
PTP Accel Time 1398 PTP PRef Status

1380 0 ZeroFFSpdRef
PTP Decel Time 1399 LinScurve (0)
1 Ref Complete
PTP S Curve 1403 2 PTP Int Hold
3 SpdFFRef En
PTP VRef Fwd

PTP 1405
Command
PRef 1 [E2] 1391 ¦ 1404 PRef 1 [G2]
Ref Time Base PTP Reference
933
0 = Rate
1406 PTP Vel Max
1 = Time 1407 PTP Accel Max

Ref Accel Time 934
1408 PTP Decel Max
0 = Rate 1409 PTP Move Time PTP Move Status
1410 0 Vel Limited
1 = Time
Ref Decel Time 935 1411 PTP Move Seg 1 AccelLimited
SineSquared (1)
0 = Rate Poly5 (2) 2 DecelLimited
Cubic (3) 0- Accel Decel
1- Dwell Decel 3 Zero Move
RefEnergyBalance 932
2- Decel
Ref Max Accel 936 3- Reversing 4 Move Failed
Ref Max Decel 937 24 PTP VelMax Time

25 PTP AccMaxTime
26 PTP DecMaxTime
27 PTP Time Left
28 PTP Iterations
Ref Fault Config 941

Step 1—Configure Move Type
Adjust parameters described in the following table to setup the base PTP move
profile.
Table 24 - PTP Configuration Parameters

Parameter Description
Select the move type used for generating position and velocity reference commands.
‘LinScurve’ (0) – Selects the Linear move type with optional S-curve smoothing. This is the
LinScurve move type used in 750 series drives.
‘SineSquared’ (1) – Selects the Sine Squared move type. This produces the smoothest
possible motion to reduce mechanical wear.
10/11:931 ‘Poly5’ (2) – Selects the Fifth Order Polynomial move type. This produces smooth motion,
[Ref Move Type] but trades some smoothness at the beginning and end of each move for lower peak
dynamics.
‘Cubic’ (3) – Selects the Cubic move type. This is Third Order Polynomial move type that is
similar to LinScurve, however it can leverage new features and can be adjusted by 10/
11:932 [RefEnergyBalance] through 10/11:941 [Ref Fault Config].
Select the drive action for position and velocity reference commands when 10/11:1410 [PTP
Move Status], bit 4 [Move Failed] = 1 or 10/11:1938 [VRef Move Status], bit 4 [Move Failed] =
1.
‘Ignore’ (0) – No action is taken
‘Alarm’ (1) – A Type 1 Alarm is indicated
10/11:941 ‘Flt Minor’ (2) – A minor fault is indicated. The drive continues to run if it is currently
[Ref Fault Config] running.
‘FltCoastStop’ (3) - A major fault indicated. The drive coasts to a stop if it currently running.
‘Flt CL Stop’ (4) - A major fault indicated. The drive does a current limit to a stop if it
currently running.
This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Sets and clear bits to control the point-to-point position planner.
Bit 0 ‘Vel Override’ – Applies the velocity override in 10/11:1402 [PTP Vel Override] to the
forward velocity limit in 10/11:1392 [Max Speed Fwd] and the reverse velocity limit in 10/
11:1393 [Max Speed Rev] as a gain. When the velocity override in 10/11:1402 [PTP Vel
Override] is 1.1 and the forward velocity limit in 10/11:1392 [Max Speed Fwd] is 30 Hz, the bit
sets the maximum forward velocity to 33 Hz.
Bit 1 ‘Move’ – Sets scaled point-to-point position reference to the point-to-point point
reference in 10/11:1391 [PTP Command]. When the point-to-point mode selection in 10/
11:1382 [PTP Mode] is absolute mode (Option 0), the absolute position is set to the point-to-
point reference in 10/11:1391 [PTP Command] when this bit rises. When the point-to-point
mode selection in 10/11:1382 [PTP Mode] is index mode (Option 1), the index position is set
to the point-to-point reference in 10/11:1391 [PTP Command] when this bit rises.
10/11:1381 Bit 2 ‘Reverse Move’ – Changes direction of the index position when the point-to-point
[PTP Control] mode selection in 10/11:1382 [PTP Mode] is index mode (1). Set the direction with this bit,
then set bit 1 ‘Move” to 1 to move.
Bit 3 ‘Preset Psn’ – Sets index preset 10/11:1386 [PTP Index Preset] to the point-to-point
position command 10/11:1391 [PTP Command] when the point-to-point mode
selection 10/11:1382 [PTP Mode] is index mode (1).
Bit 4 ‘Intgrtr Hold’ – Holds integrator in the velocity control.
Bit 5 ‘Ref Pause’ – Pauses the point-to-point control function. The point-to-point speed
forward reference becomes zero, and the position selected reference in 10/11:1684 [PRef
Selected] keeps the current position.
Bit 6 ‘Ref Sync’ – Sets initial value to the point-to-point feedback in 10/11:1396 [PTP
Feedback]. When motor feedback reaches zero speed, the planner resets 10/11:1404 [PTP
Reference] and 10/11:1396 [PTP Feedback] to 10/11:1745 [Position Actual].
Enter a value to select the mode of the Point to Point Position Planner function:
‘Absolute’ (0) – selects the absolute position mode. When the move bit is set the planner
moves the scaled position reference to the position command.
‘Index’ (1) – Selects index position mode. When 10/11:1381 [PTP Control] bit 1 ‘Move’ is set, the
10/11:1382 reference source, selected by 10/11:1383 [PTP Ref Sel], is multiplied by 10/11:1385 [PTP Ref
[PTP Mode] Scale] and 10/11:1391 [PTP Command] is incremented by the result.
‘Immediate’ (2) – Selects absolute immediate position mode. When 10/11:1381 [PTP Control]
bit 1 ‘Move’ is set, and the reference source selected by 10/11:1383 [PTP Ref Sel] changes,
10/11:1391 [PTP Command] is immediately set.
10/11:931 [Ref Move Type] provides a selection of useful move profile types with
easy switching between them.
When 10/11:931 [Ref Move Type] = 0 ‘LinScurve’, it provides the standard

motion profile type used in 750 series drives. A similar move can be generated

simply by selecting a different move type. Figure 36 shows different move

types for a 10,000 count index move with 1 second acceleration and
deceleration times and a maximum velocity of 150 RPM (5Hz for an 1800 RPM
motor).
Figure 36 - Index Moves with Different Move Types

Compare Trajectories
10000
[counts]
Pos
Sine Squared
5000
Poly5
0 LinScurve and Cubic
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
[RPM]
100
Vel
50
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
5
[rev/sec 2 ]
Accel
0
-5
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
20
[rev/sec 3 ]
Jerk
-20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
[rev 2 /sec3 ]
Energy
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]
Note the following relationships:

• Sine Squared is the smoothest. It trades maximum velocity and
acceleration for smoothness.
• Poly5 trades end point smoothness for lower maximum velocity,
maximum acceleration, minimum jerk, and energy.
• LinScurve and Cubic are the least smooth. They generate trapezoidal
moves and trade smoothness for lower maximum jerk.
Step 2—Configure Move Distance
Adjust parameters described in the following table to define your target

distance. You can enter a constant set point or select an input signal. Note that
as an input signal changes, the PTP reference motion planner acts as a filter
with a combined cam-on-cam effect.
Table 25 - PTP Distance Parameters

10/11:1383 Select a source for the Point to Point Position Planner reference.
[PTP Ref Sel] Select the port and parameter of the source.
Enter a value to set a constant Point to Point Position Planner reference.
10/11:1384 You can select this parameter as a source for the Point to Point Position Planner reference
[PTP Setpoint] in 10/11:1385 [PTP Ref Scale].

Table 25 - PTP Distance Parameters

10/11:1385 Enter a value to set the scale value for the Point to Point Position Planner reference.
[PTP Ref Scale] The planner multiplies this value with the reference selected by 10/11:1383 [PTP Ref Sel].
Enter a constant value to set the Preset Index step size.
10/11:1386 The planner uses this as the step size (in index mode) when 10/11:1381 [PTP Control] bit 3
[PTP Index Preset] ‘Preset Psn’ is set.
Displays the position command produced by the Point to Point Position function.
10/11:1391 The Point to Point Position Planner consumes this signal in order to produce the Velocity
[PTP Command] Feed Forward signal and the final Point to Point Position Reference.
Step 3—Configure Move Time
Overall move time is segmented into two times: acceleration time and
deceleration time. Acceleration time is applied when a trajectory is moving
away from zero velocity, while deceleration time is applied when moving
toward zero velocity. There are two ways to configure move time. Parameter
10/11:933 [Ref Time Base] can be set to ‘Rate’ or ‘Time’.
Rate Based Move
When 10/11:933 [Ref Time Base] = ‘Rate’, acceleration and deceleration times
are calculated as a function of target distance and parameters in the following
table. This is standard functionality in 750 series drives.
Table 26 - PTP Rate Based Move Parameters

Select how acceleration and deceleration times are calculated for position and velocity
reference commands.
10/11:933 ‘Rate’ (0) – Calculates acceleration and deceleration rates equivalent to LinScurve
[Ref Time Base] behavior.
10/11:1392 Enter the maximum forward speed limit coming from the position reference.
[Max Speed Fwd]
10/11:1393 Enter the maximum reverse speed limit coming from the position reference.
[Max Speed Rev]
10/11:1398 Enter the acceleration ramp time used by the Point to Point (PTP) position planner.
[PTP Accel Time] This value is the time to go from zero to the velocity in 10/11:1392 [Max Speed Fwd].
Enter the deceleration ramp time used by the Point to Point (PTP) position planner.
10/11:1399 This value is the time to go from the velocities in 10/11:1392 [Max Speed Fwd] or 10/11:1393
[PTP Decel Time] [Max Speed Rev] to zero.
Enter a value to set the multiplier to both forward parameters 10/11:1392 [Max Speed Fwd]
10/11:1402 and 10/11:1393 [Max Speed Rev].
[PTP Vel Override] This parameter applies to the speed limits when Bit 0 ‘Vel Override’ of 10/11:1381 [PTP
Control] is set.
Enter a value to set the S-curve duration for Point-to-Point (PTP) position reference
10/11:1403 commands.
[PTP S Curve] This value is used to calculate acceleration and deceleration rates equivalent to LinScurve
behavior when 10/11:933 [Ref Time Base] = ‘Rate’.
Figure 37 shows different distances for a LinScurve indexing move with 1

second acceleration and deceleration rates and a maximum velocity of 150
RPM (5Hz for an 1800 RPM motor).

Figure 37 - Rate Based Index Moves with Different Distances

104 Compare Trajectories
2
3000 counts
[counts]
Pos
1 6000 counts
10000 counts
20000 counts
0
0 0.5 1 1.5 2 2.5 3
150
[RPM]
100
Vel
50
0
0 0.5 1 1.5 2 2.5 3
5
2
[rev/sec ]
Accel
0
-5
0 0.5 1 1.5 2 2.5 3
20
[rev/sec 3 ]
Jerk
-20
0 0.5 1 1.5 2 2.5 3
Time [sec]

• Acceleration and deceleration times are calculated based on a constant
maximum acceleration (velocity rate).
• Once the move distance increases enough to hit maximum velocity 10/
11:1392 [Max Speed Fwd], the acceleration rate remains constant.
• Rate based move times are good when continually indexing to various
target distances.
Time Based Move
When 10/11:933 [Ref Time Base] = ‘Time’, you can enter acceleration and
deceleration times directly using parameters in the following table. However,
this only affects commands that are generated when 10/11:931 [Ref Move Type]
= ‘SineSquared’, ‘Poly5’, or ‘Cubic’. Rate based calculations are always applied
when 10/11:931 [Ref Move Type] = ‘LinScurve’.
Table 27 - PTP Time Based Move Parameters

10/11:933 reference commands.
[Ref Time Base] ‘Time’ (1) – 10/11:934 [Ref Accel Time] and 10/11:935 [Ref Decel Time] are applied directly as
acceleration and deceleration times.
10/11:934 Enter the acceleration time that is directly applied to position and velocity reference
[Ref Accel Time] commands when P933 [Ref Time Base] = ‘Time’.
10/11:935 Enter the deceleration time that is directly applied to position and velocity reference
[Ref Decel Time] commands when P933 [Ref Time Base] = ‘Time’.
You can completely decouple acceleration and deceleration parts of a move,

making it easier to generate asymmetric move profiles.

Figure 38 - Asymmetric Index Moves

5000
[counts]
Pos
Acc= 0.5sec Dec= 1.5sec
Acc= 1.0sec Dec= 1.0sec
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4Acc= 1.5sec
1.6 Dec=
1.8 0.5sec2
50
[RPM]
Vel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
5
[rev/sec 2 ]
Accel
0
-5
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
3
[rev/sec ]
20
Jerk 0
-20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.5
3
[rev /sec ]
Energy
2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]

• Asymmetry trades maximum acceleration and jerk for minimum
acceleration and jerk
• Asymmetry lets you adjust maximum and minimum acceleration and
jerk times
• Asymmetry does not affect energy directly
Step 4—Configure Dynamic Limits (optional)
Adjust parameters described in the following table to set and balance dynamic
limits. Parameters 10/11:1392 [Max Speed Fwd] and 10/11:1393 [Max Speed Rev]
apply to all move types, while the remaining parameters apply when 10/11:931
[Ref Move Type] = ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Table 28 - PTP Dynamic Limit and Balance Parameters

10/11:1392 Enter the maximum forward speed limit coming from the position reference.
[Max Speed Fwd]
10/11:1393 Enter the maximum reverse speed limit coming from the position reference.
[Max Speed Rev]
Enter the maximum acceleration limit for position and velocity reference commands.
10/11:936 This value only affects commands that are generated when 10/11:931 [Ref Move Type] =
[Ref Max Accel] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Enter the maximum deceleration limit for position and velocity reference commands.
[Ref Max Decel] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Enter a skew factor applied to position and velocity reference commands that shifts the
acceleration and deceleration peaks forward or backward in time. A lower value allows the
acceleration peak to occur at lower velocity for saving energy. A higher value allows the
10/11:932 acceleration peak to occur at higher velocity for more aggressive moves. The deceleration
[RefEnergyBalance] peak mirrors the acceleration peak.

Limits are typically set high to protect drive systems from dynamics they
cannot handle. Slower moves are unaffected by limits, however move
dynamics approach limits and then become limited as move times are
decreased or move distance is increased.
You can also apply limits proactively by intentionally lowering them to balance
dynamics and energy. When limited, a dwell is added to ensure the correct
area under the curve and therefore the correct trajectory. The final move time
is automatically increased for best performance if required when inputs
generate constrained circumstances. Moves will smoothly transition in and
out of velocity and acceleration limits when 10/11:931 [Ref Move Type] =
The following example shows what happens when acceleration and

deceleration limits are lowered below what is required by an unconstrained 2
second move.
Figure 39 - Acceleration Limiting

5000
[counts]
Pos
Not Limitied
AccDec Lim = 1.5
AccDec Lim = 1.0
0
0 0.5 1 1.5 2 2.5
50
[RPM]
Vel
0
0 0.5 1 1.5 2 2.5
2
[rev/sec 2 ]
Accel
-2
0 0.5 1 1.5 2 2.5
10
3
[rev/sec ]
Jerk
-10
0 0.5 1 1.5 2 2.5
Time [sec]
Acceleration and deceleration times can be readjusted to make up for the

added dwell time if required. However, times quickly go to zero when the limit
approaches about half the required maximum acceleration because the area
under the curve becomes square. Any further lowering of the limit beyond this
point forces a velocity dwell to be added, which increases acceleration and
deceleration times.

Figure 40 - Acceleration Limiting with Adjusted Times

5000
[counts]
Pos
Not Limitied
AccDec Lim = 1.5
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 AccDec 1.8
1.6 Lim = 1.0 2
50
[RPM]
Vel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
2
[rev/sec 2 ]
Accel
0
-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
10
3
[rev/sec ]
Jerk
0
-10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.5
3
[rev /sec ]
Energy
2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]

• Acceleration Limiting trades maximum jerk for lower maximum
acceleration
• Acceleration Limiting automatically induces acceleration dwells with
smooth transitions, which extends the move time
• Acceleration Limiting does not affect energy directly
The following example shows what happens when velocity limits are lowered
below what is required by an unconstrained move with adjusted acceleration
and deceleration times.
Figure 41 - Velocity Limiting with Adjusted Times

5000
[counts]
Pos
Not Limitied
Vel Lim = 40
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
50
[RPM]
Vel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
[rev/sec 2 ]
2
Accel
0
-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
[rev/sec ]
20
3
Jerk
0
-20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0.5
3
[rev /sec ]
Energy
2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]


• Velocity Limiting trades maximum acceleration and jerk for lower
maximum velocity and energy
• Velocity Limiting automatically induces a velocity dwell with a smooth
transition, which extends the move time
• Velocity Limiting affects energy directly
The following example shows the effect of Energy Balance.
Figure 42 - Energy Balance

5000
[counts]
Pos
EnergyBalance = 1.5
0 EnergyBalance = 1.0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 EnergyBalance
1.6 1.8= 0.5 2
[RPM]
50
Vel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
[rev/sec 2 ]
2
Accel
0
-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
[rev/sec ]
10
3
Jerk
0
-10
-20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
1
3
[rev /sec ]
Energy
0.5
2
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]

• Energy Balance moves the maximum acceleration point horizontally so
that it occurs lower or higher in velocity
• For PTP moves, Energy Balance adjusts maximum velocity to balance out
area under the curve, which affects energy directly
• For PTP moves, Energy Balance trades max jerk for lower maximum
velocity, maximum acceleration, and energy
• Energy Balance does not induce dwells or extend move time

Step 5—Monitor Outputs (optional)
Parameters described in the following table are used to monitor the shape and
behavior of the configured move profile. Parameters 10/11:1404 [PTP
Reference] and 10/11:1405 [PTP VRef Fwd] apply to all move types, while the
remaining parameters apply when 10/11:931 [Ref Move Type] = ‘SineSquared’,
‘Poly5’, or ‘Cubic’.
Table 29 - PTP Output Parameters

Displays the position reference output of the Point to Point Position Planner.
10/11:1404 This is the final Point to Point Position Reference.
[PTP Reference] It becomes the position reference for the Position Regulator.
10/11:1405 Displays the velocity reference output of the Point to Point Position Planner.
[PTP VRef Fwd] It becomes the velocity reference for the Velocity Regulator.
Displays the maximum velocity of the most recent position reference command.
[PTP Vel Max] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the maximum acceleration of the most recent position reference command.
[PTP Accel Max] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the maximum deceleration of the most recent position reference command.
[PTP Decel Max] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the total time required to complete the most recent position reference command.
[PTP Move Time] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the status of the most recent position reference command.
Bit 0: ‘Vel Limited’ – Indicates velocity is limited.
Bit 1: ‘AccelLimited’ – Indicates acceleration is limited.
Bit 2: ‘DecelLimited’ – Indicates deceleration is limited.
10/11:1410 Bit 3: ‘Zero Move’ – Indicates that the new command calculated is zero (no move).
[PTP Move Status] Bit 4: ‘Move Failed’ – Indicates that the new command calculation failed. See 10/11:941 [Ref
Fault Config] to select the drive response when this condition is true.
Displays the move segment composition (general shape) of the most recent position
reference command.
‘Accel Decel’ (0) – Indicates the command accelerates to a peak velocity with an optional
dwell, followed by decelerating to the specified value.
‘Dwell Decel’ (1) – Indicates the command is composed of a dwell at initial velocity, followed
10/11:1411 by decelerating to the specified value.
[PTP Move Seg] ‘Decel’ (2) – Indicates the command decelerates to the specified value.
‘Reversing’ (3) – Indicates the command decelerates past the specified value, then
reverses direction to the specified value. This condition typically occurs when a command
currently in progress is interrupted late by a new move command.
Typical trajectories moving from rest to rest accelerate to a peak velocity and
then decelerate back to zero. When this occurs, parameter 10/11:1411 [PTP Move
Seg] = ‘AccelDecel’. However, when a move profile is initiated while another is
in motion, the new move will start at an initial velocity matching the velocity of
the previous move profile at the point of transition. When the initial velocity is
high enough, there may only be time to perform a velocity dwell and decelerate
to the new target. When this occurs, parameter 10/11:1411 [PTP Move Seg] =
‘DwellDecel’.

Figure 43 - Index Moves with Initial Velocity

5000
[counts]
Pos
AccelDecel
DwellDecel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
50
[RPM]
Vel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
2
[rev/sec 2 ]
Accel
0
-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
10
3
[rev/sec ]
Jerk
-10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]
Initial velocities increase as the target distance becomes closer. In this case,
there may only be time to decelerate to the new target or decelerate to the new
target while hitting the deceleration limit. When this occurs, parameter 10/
11:1411 [PTP Move Seg] = ‘Decel’ or ‘DecelLimited’, respectively.
Figure 44 - Index Moves that Decelerate Only

5000
[counts]
Pos
Decel
DecelLimited
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
500
[RPM]
Vel
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
0
2
[rev/sec ]
Accel
-50
-100
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
2000
[rev/sec 3 ]
Jerk
-2000
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time [sec]
Initial velocities can increase so much with respect to the approaching target
distance, that there may only be time to decelerate past the new target, then
reverse back to it. When this occurs, parameter 10/11:1411 [PTP Move Seg] =
‘Reversing’.

Figure 45 - Index Move that Reverses

104 Compare Trajectories
2 Reversing
[counts]
Pos
1
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
1000
[RPM]
500
Vel
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
2
[rev/sec ]
0
Accel
-20
-40
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
200
[rev/sec 3 ]
Jerk
-200
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time [sec]
Velocity Reference Motion Planner
This section describes how to use the Velocity Reference Motion Planner.
Instructions are given on how to configure each of the new features in the
order they are listed in the first section. A block diagram of the Velocity
Reference Planner is given, showing relevant parameters.
Figure 46 - Velocity Reference Planner Block Diagram

Ref Move Type
Motor Side Sts 1 354 17 Jogging
931
0
VRef Accel Time1 1915 1,0 VelRamp Rate
2
0,1
VRef Accel Time2 1916 Vel Ctrl Options 1950
MS Logic Rslt (Ramp Hold) 0
0:200 8 9
(Accel Time 1, 2)
1 (Ramp Disable) 1
Jog Acc Dec Time 1896 (StpNoSCrvAcc) 2
0 (NoSCrvSpdChg) 9
Logic [H3] 1917 1,0
VRef Decel Time1
VRef Decel Time2 0,1
1918 LinScurve (0)
MS Logic Rslt
0:200 10 11
(Decel Time 1, 2)
Logic [H3]
VRef Accel Jerk 1919
VRef Decel Jerk 1920
VRef Ramped
VRef Ramp In 1923
1
Proc 2 [C2]
VRef Vect [E1] VRef Vect [G1]
Ref Time Base
933
0 = Rate
1934 VRef Accel Max
1 = Time 1935 VRef AccJerk Max

Ref Accel Time 934
1936 VRef DecJerk Max
0 = Rate 1937 VRef Move Time VRef Move Status
1938 0 AccelLimited
1 = Time
Ref Decel Time 935 1939 VRef Move Seg 1 AccelJerkLim
SineSquared (1)
0 = Rate Poly5 (2) 2 DecelJerkLim
Cubic (3) 0- Accel Decel
1- Dwell Decel 3 Zero Move
RefEnergyBalance 932
2- Decel
Ref Max Accel 936 3- Reversing 4 Move Failed
Ref Max Decel 937 4 VRefAccelMaxTime

5 VRefAcJrkMaxTime
Ref Max AccJerk 938
6 VRefDcJrkMaxTime
Ref Max DecJerk 939 7 VRef Time Left
8 VRef Iterations
Ref Fault Config 941

Step 1—Configure Move Type
Adjust parameters described in the following table to setup the base Velocity
Reference move profile.
Table 30 - Velocity Reference Configuration Parameters

Select the move type used for generating position and velocity reference commands.
‘LinScurve’ (0) – Selects the Linear move type with optional S-curve smoothing. This is the
LinScurve move type used in 750 series drives.
‘SineSquared’ (1) – Selects the Sine Squared move type. This produces the smoothest
possible motion to reduce mechanical wear.
10/11:931 ‘Poly5’ (2) – Selects the Fifth Order Polynomial move type. This produces smooth motion,
[Ref Move Type] but trades some smoothness at the beginning and end of each move for lower peak
dynamics.
‘Cubic’ (3) – Selects the Cubic move type. This is Third Order Polynomial move type that is
similar to LinScurve, however it can leverage new features and can be adjusted by 10/
11:932 [RefEnergyBalance] through 10/11:941 [Ref Fault Config].
Select the drive action for position and velocity reference commands when 10/11:1410 [PTP
Move Status], bit 4 [Move Failed] = 1 or 10/11:1938 [VRef Move Status], bit 4 [Move Failed] =
1.
‘Ignore’ (0) – No action is taken
‘Alarm’ (1) – A Type 1 Alarm is indicated
10/11:941 ‘Flt Minor’ (2) – A minor fault is indicated. The drive continues to run if it is currently
[Ref Fault Config] running.
‘FltCoastStop’ (3) - A major fault indicated. The drive coasts to a stop if it currently running.
‘Flt CL Stop’ (4) - A major fault indicated. The drive does a current limit to a stop if it
currently running.
Set and clear bits to configure options in the Velocity Regulator.
Bit 0 “Ramp Hold” – set this bit to stop the Velocity Reference Ramp from changing and to
hold constant. Clear this bit to allow the Velocity Reference Ramp to change. If this bit is
set while 10/11:1923 [VRef Ramped] is in an S-curve region, the S-curve completes before
the output is held.
Bit 1 ‘Ramp Disable’ – Set this bit to bypass the Velocity Reference Ramp. 10/11:1923 [VRef
Ramped] tracks the Input to the ramp function.
Bit 2 ‘StpNoSCrvAcc’ – Set this bit to force the velocity regulator to immediately
discontinue acceleration when the drive receives a stop command. Clear this bit to finish
accelerating, as part of the S-curve profile, before decelerating in response to a stop
10/11:1950 command.
[Vel Ctrl Options] Bit 9 ‘NoSCrvSpdChg’ – Set this bit to interrupt the S-curve if the drive is accelerating and a
new velocity reference is commanded less than the current velocity. The drive will
immediately decelerate. Setting this bit will also interrupt the S-curve if the drive is
decelerating when the new velocity reference is more than the current velocity. Clearing
this bit configures the drive to complete the S-curve before decelerating or accelerating.
Note to Tech Writing use NoSCrvSpdChg figure.
Bit 10 ‘FastZeroCrs’ – Set this bit to allow the velocity command to cross zero without
ramping to zero acceleration. Clear this bit to generate two moves: a first move that
ramps to zero acceleration when approaching zero velocity and a second move to ramp
from zero acceleration after crossing zero velocity and move to the final velocity.
10/11:931 [Ref Move Type] provides a selection of useful move profile types with
easy switching between them.
When 10/11:931 [Ref Move Type] = 0 ‘LinScurve’, it provides the standard

motion profile type used in 750 series drives. A similar move can be generated
simply by selecting a different move type. Figure 47 shows different move
types for an 1800 RPM velocity move with a 10 second acceleration time.

Figure 47 - Velocity Moves with Different Move Types

• Sine Squared is the smoothest. It trades maximum jerk and snap for
smoothness.
• Poly5 trades end point smoothness for lower maximum acceleration,
maximum jerk, and minimum snap.
• LinScurve and Cubic are the least smooth. They generate trapezoidal
moves and trade smoothness for lower maximum snap.
Step 2—Configure Move Target Velocity
Adjust parameters described in the following table to define your move target
velocity. You can enter a constant set point or select an input signal. Note that
as an input signal changes, the Velocity Reference motion planner acts as a
filter with a combined cam-on-cam effect.
Table 31 - Velocity Reference Distance Parameters

Displays the operating condition of the Motor Side Inverter:
Bit 9 ‘Manual’ indicates the Auto/Manual function is in the Manual mode.
Bit 10 ‘SpdRef Bit 0’ indicates the state of the Speed (Velocity) reference selection bit 0.
10/11:354 Bit 11 ‘SpdRef Bit 1’ indicates the state of the Speed (Velocity) reference selection bit 1.
[Motor Side Sts 1] Bit 12 ‘SpdRef Bit 2’ indicates the state of the Speed (Velocity) reference selection bit 2.
These bits work together to select a velocity reference.
Select a source for Velocity Reference A.
Select the port and parameter of the source.
10/11:1800 This is the typical Automatic reference.
[VRef A Sel] Digital input functions for and bits in the Logic Command select between Velocity
Reference A and Velocity Reference B.
A Manual selection will override this.

Table 31 - Velocity Reference Distance Parameters

Enter a constant value to be used as a source for Velocity Reference A.
10/11:1801 You can select this constant as a reference in 10/11:1800 [VRef A Sel]. This is similar to
[VRef A Stpt] using a Preset.
10/11:1804 Enter a value to define a multiplier for Velocity Reference A.
[VRef A Mult] The value from the source selected by 10/11:1800 [VRef A Sel] will be multiplied by this.
10/11:1914 Displays the value of the Velocity Reference after the Skip Speed function.
[VRef Commanded]
Step 3—Configure Move Time
Overall move time is segmented into two times: acceleration time and
deceleration time. Acceleration time is applied when a trajectory is moving
away from zero velocity, while deceleration time is applied when moving
toward zero velocity. There are two ways to configure move time. Parameter
10/11:933 [Ref Time Base] can be set to ‘Rate’ or ‘Time’.
Rate Based Move
When 10/11:933 [Ref Time Base] = ‘Rate’, acceleration and deceleration times
are calculated as a function of target velocity and parameters in the following
table. This is standard functionality in 750 series drives.
Table 32 - Velocity Reference Rate Based Move Parameters

reference commands.
10/11:933 ‘Rate’ (0) – Calculates acceleration and deceleration rates equivalent to LinScurve
[Ref Time Base] behavior.
10/11:403 Enter the rated RPM shown on the motor nameplate.
[Motor NP RPM]
Enter the first acceleration ramp time that is applied to velocity reference commands.
This value is defined as the time to accelerate from zero to the value in 10/11:403 [Motor
10/11:1915 NP RPM].
[VRef Accel Time1] Digital input functions and bits in the Logic Command select between the first and second
ramp times.
Enter the second acceleration ramp time that is applied to velocity reference commands.
This value is defined as the time to accelerate from zero to the value in 10/11:403 [Motor
10/11:1916 NP RPM].
[VRef Accel Time2] Digital input functions and bits in the Logic Command select between the first and second
ramp times.
Enter the first deceleration ramp time that is applied to velocity reference commands.
This value is defined as the time to decelerate from the value in 10/11:403 [Motor NP RPM]
10/11:1917 to zero.
[VRef Decel Time1] Digital input functions and bits in the Logic Command select between the first and second
ramp times.
This value is also used for these stop modes: Ramp, Ramp to Hold, and DecelToHold.

Table 32 - Velocity Reference Rate Based Move Parameters

Enter the second deceleration ramp time that is applied to velocity reference commands.
This value is defined as the time to decelerate from the value in 10/11:403 [Motor NP RPM]
10/11:1918 to zero.
[VRef Decel Time2] Digital input functions and bits in the Logic Command select between the first and second
ramp times.
This value is also used for these stop modes: Ramp, Ramp to Hold, and DecelToHold.
Enter the percentage of acceleration time applied to the acceleration ramp of velocity
10/11:1919 reference commands. Increasing this value softens changes in acceleration and reduce
[VRef Accel Jerk] jerk. Half of the time associated with this percentage is added at the beginning of the
ramp and half is added at the end of the ramp.
Enter the percentage of deceleration time applied to the deceleration ramp of velocity
10/11:1920 reference commands. Increasing this value softens changes in deceleration and reduce
[VRef Decel Jerk] jerk. Half of the time associated with this percentage is added at the beginning of the
ramp and half is added at the end of the ramp.
Figure 48 shows different target velocities for a LinScurve velocity move with a
10 second acceleration time.
Figure 48 - Rate Based Velocity Moves with Different Distances

• Acceleration and deceleration times are calculated based on a constant
maximum jerk (acceleration rate).
• Rate based move times are good when continually indexing to various
target velocities.
Time Based Move
When 10/11:933 [Ref Time Base] = ‘Time’, you can enter acceleration and
deceleration times directly using parameters in the following table. However,
this only affects commands that are generated when 10/11:931 [Ref Move Type]
= ‘SineSquared’, ‘Poly5’, or ‘Cubic’. Rate based calculations are always applied
when 10/11:931 [Ref Move Type] = ‘LinScurve’.

Table 33 - Velocity Reference Time Based Move Parameters

10/11:933 reference commands.
[Ref Time Base] ‘Time’ (1) – 10/11:934 [Ref Accel Time] and P935 [Ref Decel Time] are applied directly as
acceleration and deceleration times.
10/11:934 Enter the acceleration time that is directly applied to position and velocity reference
[Ref Accel Time] commands when 10/11:933 [Ref Time Base] = ‘Time’.
10/11:935 Enter the deceleration time that is directly applied to position and velocity reference
[Ref Decel Time] commands when 10/11:933 [Ref Time Base] = ‘Time’.
Individual acceleration and deceleration times allow you more control over
decoupling acceleration and deceleration moves. The following example shows
various moves with 5 second acceleration times and 10 second deceleration
times.
Figure 49 - Velocity Moves that Accelerate and Decelerate

• Acceleration time is applied when moving away from zero velocity
• Deceleration time is applied when moving towards zero velocity
• When crossing zero velocity and 10/11:1950 [Vel Ctrl Options] bit 10
‘FastZeroCrs’ is not set, two independent moves are created: one move
decelerates to zero velocity and acceleration, while a second move
accelerates to the final velocity target. However, when 10/11:1950 [Vel Ctrl
Options] bit 10 ‘FastZeroCrs’ is set, one move will accelerate through zero
velocity from initial to final target.
• Both acceleration and deceleration times are applied when crossing zero
velocity. When 10/11:933 [Ref Time base] = ‘Time’, these times are simply
added during fast zero crossing.

Step 4—Configure Dynamic Limits (optional)
Adjust parameters described in the following table to set and balance dynamic
limits. Parameters apply when 10/11:931 [Ref Move Type] = ‘SineSquared’,
Table 34 - Velocity Reference Dynamic Limit and Balance Parameters

10/11:936 Enter the maximum acceleration limit for position and velocity reference commands.
[Ref Max Accel]
10/11:937 Enter the maximum deceleration limit for position and velocity reference commands.
[Ref Max Decel
10/11:938 Enter the maximum jerk limit during acceleration for velocity reference commands. It is
[Ref Max AccJerk] the change of acceleration with respect to time.
10/11:939 Enter the maximum jerk limit during deceleration for velocity reference commands. It is
[Ref Max DecJerk] the change of deceleration with respect to time.
Enter a skew factor applied to position and velocity reference commands that shifts the
acceleration and deceleration peaks forward or backward in time. A lower value allows the
10/11:932 acceleration peak to occur at lower velocity for saving energy. A higher value allows the
[RefEnergyBalance] acceleration peak to occur at higher velocity for more aggressive moves. The deceleration
peak mirrors the acceleration peak.
Limits are typically set high to protect drive systems from dynamics they
cannot handle. Slower moves are unaffected by limits, however move
dynamics approach limits and then become limited as move times are
decreased or move distance is increased.
You can also apply limits proactively by intentionally lowering them to balance
dynamics and energy. When limited, a dwell is added to ensure the correct
area under the curve and therefore the correct trajectory. The final move time
is automatically increased for best performance when inputs generate
constrained circumstances. Moves will smoothly transition in and out of
acceleration and jerk limits when 10/11:931 [Ref Move Type] = ‘SineSquared’,
The following example shows what happens when minimum and maximum
jerk limits are lowered below what is required by an unconstrained 10 second
move.

Figure 50 - Jerk Limiting
Acceleration and deceleration times can be readjusted to make up for the

added dwell time if required. However, times quickly go to zero when the limit
approaches about half the required maximum jerk because the area under the
curve becomes square. Any further lowering of the limit beyond this point
forces an acceleration-dwell to be added, which increases acceleration and
deceleration times.
Figure 51 - Jerk Limiting with Adjusted Times

• Jerk Limiting trades maximum snap for lower maximum jerk

• Jerk Limiting automatically induces jerk dwells with smooth transitions,

which extends the move time
• Jerk Limiting does not affect energy directly
The following example shows what happens when acceleration limits are
lowered below what is required by an unconstrained move with adjusted
acceleration time.
Figure 52 - Acceleration Limiting with Adjusted Times

• Acceleration Limiting trades maximum jerk and snap for lower
maximum acceleration
• Acceleration Limiting automatically induces an acceleration dwell with a
smooth transition, which extends the move time
• Acceleration Limiting does not affect energy directly
The following example shows the effect of Energy Balance.

Figure 53 - Energy Balance

• Energy Balance moves the maximum acceleration point horizontally so
that it occurs lower or higher in velocity
• For Velocity moves, target velocity is unaffected and, as a result, energy is
unaffected
• Energy Balance does not induce dwells or extend move time
• For Velocity moves, Energy Balance creates asymmetry
• Asymmetry trades maximum acceleration and jerk for minimum
acceleration and jerk
• Asymmetry lets you adjust maximum and minimum acceleration and
jerk times

Step 5—Monitor Outputs (Optional)
Several parameters described in the following table are used to monitor the
shape and behavior of the configured move profile. Parameter 10/11:1923 [VRef
Ramped] applies to all move types, while the remaining parameters apply
when 10/11:931 [Ref Move Type] = ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Table 35 - Velocity Reference Output Parameters

10/11:1923 Displays the value of the Velocity Reference after the Ramp and Jerk functions.
[VRef Ramped]
Displays the maximum acceleration of the most recent velocity reference command.
10/11:1934 This value only affects commands that are generated when P931 [Ref Move Type] =
[VRef Accel Max] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the maximum jerk in the acceleration region of the most recent velocity
10/11:1935 reference command.
[VRef AccJerk This value only affects commands that are generated when P931 [Ref Move Type] =
Max] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the maximum jerk in the deceleration region of the most recent velocity
10/11:1936 reference command.
[VRef DecJerk This value only affects commands that are generated when P931 [Ref Move Type] =
Max] ‘SineSquared’, ‘Poly5’, or ‘Cubic’.
Displays the total time required to complete the most recent velocity reference
10/11:1937 command.
[VRef Move Time] This value only affects commands that are generated when P931 [Ref Move Type] =
Displays the status of the most recent velocity reference command.
Bit 0: ‘AccelLimited’ – Indicates acceleration is limited.
Bit 1: ‘AccelJerkLim’ – Indicates acceleration jerk is limited.
Bit 2: ‘DecelJerkLim’ – Indicates deceleration jerk is limited.
10/11:1938
[VRef Move Status] Bit 3: ‘Zero Move’ – Indicates that the new command calculated is zero (no move).
Bit 4: ‘Move Failed’ – Indicates that the new command calculation failed. See P941 [Ref
Fault Config] to select the drive response when this condition is true.
This value only affects commands that are generated when P931 [Ref Move Type] =
Displays the move segment composition (general shape) of the most recent velocity
reference command.
‘Accel Decel’ (0) – Indicates the command accelerates to a peak acceleration with an
optional dwell, followed by decelerating to the specified value.
‘Dwell Decel’ (1) – Indicates the command is composed of a dwell at initial acceleration,
10/11:1939 followed by decelerating to the specified value
[VRef Move Seg] ‘Decel’ (2) – Indicates the command decelerates to the specified value.
‘Reversing’ (3) – Indicates the command decelerates past the specified value, then
reverses direction to the specified value. This condition typically occurs when a
command currently in progress is interrupted late by a new move command.
This value only affects commands that are generated when P931 [Ref Move Type] =
Typical trajectories moving from constant velocity to constant velocity

accelerate to a peak acceleration and then decelerate back to zero. When this
occurs, parameter 10/11:1939 [VRef Move Seg] = ‘AccelDecel’. However, when a
move profile is initiated while another is in motion, the new move will start at
an initial acceleration matching the acceleration of the previous move profile
at the point of transition. When the initial acceleration is high enough, there
may only be time to perform an acceleration dwell and decelerate to the new
target. When this occurs, parameter 10/11:1939 [VRef Move Seg] = ‘DwellDecel’.

Figure 54 - Velocity Moves with Initial Acceleration

2000
[RPM]
Vel
1000
AccelDecel
DwellDecel
0
0 1 2 3 4 5 6 7 8 9 10
[rev/sec 2 ]
Accel
0
0 1 2 3 4 5 6 7 8 9 10
[rev/sec 3 ]
Jerk
0
-2
0 1 2 3 4 5 6 7 8 9 10
2
[rev/sec 4 ]
Snap
-2
0 1 2 3 4 5 6 7 8 9 10
Time [sec]
Initial accelerations increase as the target velocity becomes closer. In this case,
there may only be time to decelerate to the new target or decelerate to the new
target while hitting the jerk limit. When this occurs, parameter 10/11:1939
[VRef Move Seg] = ‘Decel’ or ‘DecelLimited’, respectively.
Figure 55 - Velocity Moves that Decelerate Only

2000
[RPM]
Vel
1000
Decel
DecelLimited
0
0 0.5 1 1.5 2 2.5 3 3.5 4
50
[rev/sec 2 ]
Accel
0
0 0.5 1 1.5 2 2.5 3 3.5 4
0
[rev/sec 3 ]
Jerk
-50
-100
0 0.5 1 1.5 2 2.5 3 3.5 4
500
[rev/sec 4 ]
Snap
-500
0 0.5 1 1.5 2 2.5 3 3.5 4
Time [sec]

Initial accelerations can increase so much with respect to the approaching

target velocity, that there may only be time to decelerate past the new target,
then reverse velocity back to it. When this occurs, parameter 10/11:1939 [VRef
Move Seg] = ‘Reversing’.
Figure 56 - Velocity Move that Reverses

5000
Reversing
[RPM]
Vel
0
0 1 2 3 4 5 6 7 8 9 10
30
[rev/sec ]
2
20
Accel
10
0
-10
[rev/sec ] 0 1 2 3 4 5 6 7 8 9 10
0
3
Jerk
-10
-20
0 1 2 3 4 5 6 7 8 9 10
20
[rev/sec ]
4
Snap
-20
0 1 2 3 4 5 6 7 8 9 10
Time [sec]

Chapter 3
Active Front End TotalFORCE Control
This chapter discusses commissioning and configuration of Active Front End

converters in TotalFORCE® control. Active Front End products with
TotalFORCE control include the PowerFlex® 755TL and 755TR drives, and
PowerFlex 755TM regenerative bus supplies.
Topic Page
AC Line Commissioning 135
Droop Control for Parallel Operation of Bus Supplies 138
AC Line Tuning 143
Backup Generator Configuration 150
AC Line Commissioning This section covers the steps that are required to tune PowerFlex 755TL, 755TR,
and 755TM regenerative and low harmonic converters to one AC supply source.
It is a procedural guide for configuration only and therefore excludes the
detailed operational information for the parameters being adjusted.
Configuration is supported through direct parameter access as detailed in this
section or through the Regenerative Converter Setup Wizard accessible
through the Studio 5000 Logix Designer® application Add-on Profile or
Connected Components Workbench™ software. For more information on
tuning the drive to the AC line, see AC Line Tuning on page 143.
Basic Configuration
To configure the PowerFlex 755T active front end, enter basic information
about the AC Supply. The information is needed so that the drive can calculate
the system impedance and adjust the current regulator gains accordingly.
1. Enter the nominal AC line frequency in 13:30 [Nom Line Freq]
2. Verify that the selected AC Line Source in 13:31 [AC Line Source] is set to
‘AC Line A’
3. Enter the apparent power rating of the mains AC Supply transformer in
13:32 [AC Line kVA A].
4. Enter the percent impedance of the mains AC Supply transformer in
13:34 [AC Line Imped% A].
External DC Bus Capacitance

In common bus installations and some applications, there is more capacitance
that is connected to the bus than the inverter is pre-configured to operate with.
If the application does not have additional bus capacitance, skip this step.

Chapter 3 Active Front End TotalFORCE Control
The PowerFlex 755T regenerative and low harmonic products have a couple of
methods to address this additional capacitance. If the additional capacitance
value is known, it can be directly inputted into the inverter configuration. If
the actual value is not known, the Bus Observer feature can be enabled to
compensate for the additional capacitance automatically. For more
information see Bus Observer on page 59.
5. Enter the additional capacitance value in 13:52 [Ext Bus Cap]
And/or
Enable the Bus Observer Feature by setting parameter 13:320 [BusObs
Config] to 1 ‘BusObs Only’
Limits
For most applications, the converter limits do not need to be modified from
their default values. If your application requires more restrictive limits, follow
these steps to reduce the settings. For more information about the converter
limits, see the PowerFlex Drives with TotalFORCE Control Programming
manual, publication 750-PM101.
6. Verify and adjust as required the Converter Current Limit in 13:100
[Current Limit].
7. Verify and adjust as required the Regenerative Power Limit in 13:104
[Regen Power Lmt].
8. Verify and adjust as required the Motoring Power Limit in 13:105 [Motor
Power Lmt].
Start Mode and Reference Source
While the defaults setting works in most applications, PowerFlex 755T

products allow for different converter start modes and DC bus voltage
reference sources. See the PowerFlex Drives with TotalFORCE Control
Programming manual, publication 750-PM101 for an explanation of the
available options. For guidance on applications that would benefit from non-
default settings, see the Drives in Common Bus Configurations with
PowerFlex 755T Bus Supplies Application Technique, publication
DRIVES-AT005.
9. Select the desired Line Side Start Mode in 0:63 [LS Start Mode].
10. Select the desired DC bus voltage reference source in
13:45 [DC Bus Ref Sel].
Tuning
For many applications, the default settings work well. In installations with
higher system impedance, the default settings can cause resonance current in
the LCL filters. There are two approaches for reducing this resonance.
The first is to de-tune by adjusting the voltage and current bandwidths and the
second is to use the Active Damping feature. Both methods require you to
monitor the band pass filter current and adjust until the current is below the

fault threshold values that are specified in the tables in the AC Line Tuning
section of this manual. For optimum performance, it is possible to use a
combination of de-tuning and Active Damping.
Review tuning for both sources. Ideally, there is a combination that works for
both the AC line and the generator. If not, the bandwidths and/or Active
Damping values can be changed based on the currently selected AC source
through datalinks.
11. Start the drive. It is preferable that the motor is connected to the load for
the remaining steps.
12. Monitor the LCL resonance current in parameters 14:1216 [F0 Cap BPF
Cur R], 14:1217 [F0 Cap BPF Cur S], and 14:1218 [F0 Cap BPF Cur T], and
the bus voltage in parameter 14:109 [L0 DC BusVoltage].
13. Slowly adjust 13:55 [Volt Reg BW] and 13: 75 [Cur Reg BW] down by the
same percentage until the resonance current is below the fault levels.
Or, slowly reduce 13:81 [Actv Damping Gain] until the resonance current
is below the fault levels.
14. Verify that the Bus Voltage is holding at the desired level without too
much fluctuation. If not, repeat step 7 but use the other method or a
combination of the two until the resonance current is below the fault
level and bus voltage is maintaining a steady level.
15. Stop the drive.
Configuration is complete.
Regenerative Converter Setup Wizard
Except for the tuning section, use the Regenerative Converter Setup Wizard in
Connected Components Workbench software for configuration. The wizard
groups the commonly modified parameters to help expedite the
commissioning process. If the wizard shown here is used, perform the
Tuning section steps afterward to avoid LCL filter resonance.

Droop Control for Parallel Droop control of the DC bus voltage reference level is an internal process for
Operation of Bus Supplies sharing the load between multiple AFE bus supplies that are working in
parallel to energize a common DC bus. Droop control provides consistent
current and power sharing between converters so that one converter is not
subjected to a larger share of the load than the other converters. To enable
droop control in the PowerFlex 755T, set parameter 13:45 [DC Bus Ref Sel] to 2
‘Droop Ctrl’.
Overview
As the load on the bus supplies increases, the droop function manages DC bus
voltage evenly between the parallel bus supplies. The droop function
manipulates the DC bus voltage reference to control the output current from
each bus supply. Droop control manipulates the DC bus voltage reference so
that a bus supply can produce a larger share of current when the load is low
and a smaller share of current when the load is high.
In the motoring direction, droop control increases the DC bus voltage

reference as the active current reference decreases in magnitude. As the active
current reference increases towards full load, droop control decreases the DC
bus reference towards the minimum DC bus voltage. The DC bus voltage
reference is greater when near zero load than it is when near full load. In this
way, the AFE bus supply tends to increase its share near zero load, and is less
likely to increase its share near full load.
In the regenerating direction, droop control increases the DC bus voltage

reference as the active current reference increases in magnitude (becomes
more negative). As the magnitude increases toward full negative load, droop
control increases the DC bus reference. The DC bus voltage reference is lower
when near zero load than it is when near full negative load. In this way, the
AFE bus supply tends to increase its share near zero load, and is less likely to
increase its share near full negative load.

In this simple example (Figure 57), we want AFE bus supply #1 to provide
roughly the same amount of current and power to the shared bus as AFE bus
supply #2. One cannot be certain the impedance from the mains to the shared
DC bus is the same between AFE bus supply #1 and AFE bus supply #2. Any
impedance mismatch can lead to a mismatch in current and power delivery. If
the path through AFE bus supply #1 has a lower impedance, then AFE bus
supply #1 delivers more power than AFE bus supply #2. Differences in loading
can produce issues with component wear and reliability, which can result in
unplanned downtime.
Figure 57 - Shared Bus Supply

AC Mains
AFE Bus Supply AFE Bus Supply

#1 #2
Shared DC Bus
Modes of Operation
There are two modes of operation: Linear and Nonlinear. The default mode of
operation is Linear. To change the mode of operation in the PowerFlex 755T,
adjust parameter 13:350 [DroopCtrlModeSel].
Linear Mode
The Linear Mode uses a piecewise linear function to determine the DC bus
voltage reference. In this function, the active current reference is the input
(X-axis). The DC bus voltage reference is the output (Y-axis).

Figure 58 - Linear Mode

DC Bus
Voltage
Reference
Minimum DC Bus
Voltage
Active Current
-Full Load -Trans Droop Zero Current +Trans Droop +Full Load Motoring
Regenerating
Current Current Current Current
Minimum DC bus voltage reference is the same as the automatic (optimized)

DC bus voltage reference. This is 2% above the peak of the naturally rectified
voltage level. For example, if the incoming voltage is 480 Vrms, then minimum
DC Bus voltage reference is 692.4V DC (VDC = VRMS x SQRT(2) x 1.02).
There are four regions of operation. The Motoring Full Load region is between
positive ‘Trans Droop Current’ and positive full load current. The Motoring No
Load region is between zero current and positive ‘Trans Droop Current’. The
Regen No Load region is between zero current and negative ‘Trans Droop
Current’. The Regen Full Load region is between negative ‘Trans Droop
Current’ and negative full load current. The value in parameter 13:353 [Trans
Droop Cur] defines the positive and negative ‘Trans Droop Current’ points on
the X-axis.
You determine the horizontal boundaries of the regions by entering the value
of parameter 13:353 [Trans Droop Cur]. This value determines the locations of
the inflection points on DC bus voltage droop curve.
In the Motoring Full Load and Regen Full Load regions, the value in parameter
13:351 [FullLd DroopGain] determines the slope of the curve. Set the value of
this parameter as percent increase in DC bus voltage reference (percent of
minimum DC bus voltage) over the positive current range (zero load to full
load).
In the Motoring No Load and Regen No Load regions, the value in parameter
13:352 [NoLd DroopGain] determines the slope of the curve. Set the value of
this parameter as percent increase in DC bus voltage reference (percent of
minimum DC bus voltage) over the positive current range (zero load to full
load).

Figure 59 - Full Load Regions
Slope of Droop
Function
0%
13:352 [NoLd DroopGain]

13:351 [FullLd DroopGain]
Active Current
-Full Load -Trans Droop Zero Current +Trans Droop +Full Load
Regenerating Motoring
Nonlinear Mode
The Nonlinear Mode uses a continuous curve to determine the DC bus voltage
reference. The function builds a slope curve using two of the parameters from
the Linear Mode. These are 13:351 [FullLd DroopGain] and 13:352 [NoLd
DroopGain]. It builds the slope curve with a slope at full load equal to 1.2 x
13:351 [FullLd DroopGain] and the slope at the no load point equal to 0.3 x 13:352
[NoLd DroopGain].
Figure 60 - Nonlinear Mode

Slope of Droop
Function
0%
0.3 x 13:352 [NoLd DroopGain]
1.2 x 13:351 [FullLd DroopGain]

Active Current

This results in a smooth and progressive curve for the DC bus voltage
reference.
Figure 61 - DC Bus Voltage Reference

DC Bus Voltage
Reference
Minimum DC Bus Voltage
Active Current
Derating for Voltage Boost
In standalone operation (not parallel), PowerFlex 755TM bus supplies are

designed to operate with the DC bus voltage reference equal to the optimized
or minimum DC bus level. This optimization maximizes energy efficiency.
Because the Droop function raises the DC bus voltage reference, you must
account for this when sizing the bus supplies.
Consider the DC bus voltage reference at full load in the regenerating direction
with default values. The reference at that operating point is:
Minimum DC Bus Voltage + (No Load Droop Gain/100) x Minimum DC Bus

Voltage + (Full Load Droop Gain/100) x Minimum DC Bus Voltage
Or
Minimum DC Bus Voltage x [1 + (No Load Droop Gain/100) + (Full Load Droop
Gain/100)]
Consider a 480Vrms example with default values in the gain parameters.

• Minimum DC Bus Voltage = 480 x SQRT(2) x 1.02 = 692.4V DC
• No Load Droop Gain = 1%
• Full Load Droop Gain = 5%
• Trans Droop Cur = 50%
• DC bus voltage reference = 692.4 x (1 + 0.01 + 0.05) = 733.9V DC
This is a considerable boost to the DC bus voltage. For information about

derating for this, see PowerFlex 750-Series Products with TotalFORCE Control,
publication 750-TD100.

AC Line Tuning PowerFlex 755T regenerative and low harmonic AFE products have parameters
that tune the converter to the AC supply. Tuning lets the converter work
reliably with a wider range of supplies. You can also configure the converter to
switch between two different supplies, which supports the use of backup
generators without having to reconfigure the system.
Overview
The goal of tuning the PowerFlex 755T converter is to obtain a robust bus
supply that provides protection against under voltage and over voltage
conditions without causing resonance or instability. In addition,
• The converter can be configured for two AC line sources to facilitate the
use of a backup generator.
• The robust default current regulator and voltage regulator bandwidths
work well in most installations.
• Gains automatically adjust to the line impedance of two different AC line
sources.
• The converter can switch between AC line sources with limited
interaction.
- Via HIM, Connected Components Workbench software, and Datalinks
– all versions
- Digital Input – firmware revision 4 and later
• The converter tuning capabilities and features of PowerFlex 755T
products accommodate one AC line source or a primary source with a
backup generator.
AC Source Configuration
The first step to configure the converter is to specify some basic information
about the AC source. This basic information is used to calculate the system
impedance, which is used to calculate the current regulator gains
automatically. Table 36 shows the basic AC line source information required.
Table 36 - AC Line Source Data
Parameter No. Parameter Name Definition
13:30 Nom Line Freq 0 = 50 Hz, 1 = 60 Hz
13:31 AC Line Source 0 = AC Line A, 1 = AC Line B
13:32 AC Line kVA A Apparent Power Rating for AC Line Source A
13:33 AC Line kVA B Apparent Power Rating for AC Line Source B
13:34 AC Line Imped% A Impedance of AC Line Source A in %
13:35 AC Line Imped% B Impedance of AC Line Source B in %
System impedance is derived from this information. The converter operates

best when system impedance is less than 10%. Use this equation to calculate
system impedance.
PowerFlex 755T KV A
System Impedance = × Transformer % Impedance
Transformer KV A
The Line Source A and Line Source B parameters accommodate situations

where the system is powered by two separate sources. An example is when the

system has a backup generator that switches on when the main AC line loses
power.
If the drive is not going to be powered by different sources, populate only one
set of line source data (A or B). Which set is populated does not matter as long
as 13:31 [AC Line Source] is pointing to the set with the correct line
information.
External Bus Capacitance

When tuning the converter, some analogies can be made to tuning the
inverter. One analogy is the similarity between external bus capacitance and
load inertia. Just like inertia resists changes in velocity on the motor side, bus
capacitance resists changes in DC Bus Voltage on the line side. Having the
correct external bus capacitance is as important to the Voltage Regulator gains
as having the correct load inertia is to the Velocity Regulator gains.
The total system capacitance is used in the automatic calculation of the voltage
regulator gains. Total system capacitance is the sum of all capacitance that is
connected to the DC bus. The drive knows its own capacitance and
automatically accounts for it in the calculations, but it does not know the
capacitance of external devices that are connected to the bus. Use parameter
13:52 [Ext Bus Cap] to specify the external capacitance so that the total system
capacitance is known. External bus capacitance is the sum of the individual
bus capacitance values for each drive and any external bus capacitors that are
connected to the DC bus.
IMPORTANT Do not overstate the external bus capacitance.
Specifying an external capacitance value that is higher than the actual

connected capacitance can cause instability. Also, incorrect values cause a
noticeable performance degradation. If you don’t know the exact capacitance,
specify the value on the low side and use the Bus Observer feature to account
for the remaining capacitance. See Bus Observer on page 59 for more
information. If the external bus capacitance is largely unknown, enter a zero
and enable the bus observer to estimate the entire value.
Bus Regulators
The converter uses a cascaded control loop for voltage regulation and current
regulation. The current regulator is the inner loop and the voltage regulator is
the outer loop. This method is similar to the cascaded control loop for torque
regulation that is employed on the inverter.
Voltage and Current Regulator Tuning
After the external bus capacitance is specified, the DC bus voltage and current
regulator are tuned by adjusting parameters 13:55 [Volt Reg BW] and 13:75 [Cur
Reg BW]. The default bandwidth values of these parameters work for most
applications. The regulator gains (Kp and Ki) are set to automatically calculate

from the voltage regulator bandwidth and current regulator bandwidth. The
regulator also supports manually entered gain values.
The automatically calculated gain values for the current regulator are
displayed by parameters 13:58 [c Volt Reg Kp] and 13:60 [c Volt Reg Ki]. The
automatically calculated gain values for the voltage regulator are displayed by
parameters 13:78 [c Cur Reg Kp] and 13:80 [c Cur Reg Ki]. These read-only
parameter values are recalculated when their respective bandwidth parameter
value is changed.
The spacing between Kp and Ki gains can be varied by adjusting the damping
factor with parameter 13:56 [Volt Reg Damping]. By default, the system is
critically damped (13:56 [Volt Reg Damping] = 1.000).
If an application has a high impedance supply, the default bandwidths can

cause the LCL filter to resonate and requires the converter to be de-tuned. To
de-tune, adjust 13:55 [Volt Reg BW] and 13:75 [Cur Reg BW] down by the same
percentage. As a rule, the current regulator bandwidth is 10 times larger than
the voltage regulator bandwidth (10:1 ratio) to avoid interaction and possible
resonance. However, in applications that require a fast dynamic response with
a soft line supply, you can reduce the ratio down to 6:1.
A good indication that the converter needs to be de-tuned is the presence of

14117 ‘CapResonanceArm’ and 14118 ‘CapResonanceFlt’ alarms. Monitor 14:1216
[F0 Cap BPF Cur R], 14:1217 [F0 Cap BPF Cur S], and 14:1218 [F0 Cap BPF Cur T]
to observe the LCL filter resonance. When de-tuning, lower the bandwidths
until these parameters are below the capacitor resonance fault threshold. The
thresholds are listed in the following tables.
Table 37 - Capacitor Resonance Fault Thresholds—400/480V Products
Resonance Current [A]
Frame 400V ND Rating Codes (1) 480V ND Rating Codes (1)
Alarm Fault
C015…C043 D014…D040 3 4
5
C060…C104 D052…D096 6 7
C140, C176 D125, D156 11 14
6
C205, C260 D186, D248 18 23
7 C302…C585 D302…D617 23 31
C302…C540 D302…D505 23 31
8
C585…C770 D545…D740 31 41
C920, C1K0 D800, D960 46 62
9
C1K1…C1K4 D1K0…D1K3 62 82
10 C1K6…C2K1 D1K4…D2K0 62 82
11 C2K8 D2K6 62 82
12 C3K5 D3K4 62 82
13 C4K2 D4K0 62 82
14 C5K6 D5K4 62 82
15 C7K0 D6K7 62 82
(1) Catalog number positions 7…10.

Table 38 - Capacitor Resonance Fault Thresholds—600/690V Products

Resonance Current [A]
Frame 600V ND Rating Codes (1) 690V ND Rating Codes (1)
Alarm Fault
5 E011…E062 F015…F061 5 6
6 E077…E144 F082…F142 10 13
7 E192…E395 F171…F370 23 31
8 E242…E545 F215…F505 23 31
E595…E760 F565…F735 31 41
9
E825, E980 F820, F920 46 62
10 E1K1…E1K5 F1K0…F1K4 46 62
11 E2K0 F1K8 46 62
12 E2K4 F2K3 46 62
13 E2K9 F2K7 46 62
14 E3K9 F3K6 46 62
15 E4K9 F4K5 46 62
(1) Catalog number positions 7…10.
Frames 10…15 have multiple LCL filter modules. The first filter module can be
used as a guide to de-tune all filter modules in the product. However, it is
recommended that you check the other modules to make sure that their
currents are below their respective threshold. Table 39 shows the parameter
numbers and thresholds for the additional modules that are based on frame
size. Table cells with a dash indicate that the frame does not have that LCL
module installed.
Table 39 - Resonance Current Thresholds
Resonance Current by Frame 400V/480V (600V/690V) [A]
LCL Module Parameters
10 11 12 13 14 15
F0 14:1216…14:1218 82 (62) 82 (62) 82 (62) 82 (62) 82 (62) 82 (62)
F1 14:1316…14:1318 — — — — — —
F2 14:1416…14:1418 41 (31) 82 (62) 82 (62) 41 (31) 82 (62) 82 (62)
F3 14:1516…14:1518 — — — 82 (62) — —
F4 14:1616…14:1618 — — 41 (31) — 82 (62) 41 (31)
F5 14:1716…14:1718 — — — 41 (31) — 82 (62)
F6 14:1816…14:1818 — — — — 82 (62) —
F7 14:1916…14:1918 — — — — — 82 (62)
F8 14:2016…14:2018 — — — — — —
F9 14:2116…14:2118 — — — — — 41 (31)
Voltage Regulator Gains—Manual Adjustment
PowerFlex 755T products allow individual manual adjustment of the

proportional and integral terms that are used by the voltage regulator. To
enable manual adjustment of the proportional and integral terms, set 13:54
[Volt Reg C/U Sel] to 1 ‘User Entered’. This setting switches the gains that are
used by the voltage regulator from the calculated values to values that are
entered in parameters 13:57 [u Volt Reg Kp] and 13:59 [u Volt Reg Ki].
It is recommended to begin manual adjustment with the suggested gain start

points. To initiate the transfer of these values, toggle 13:54 [Volt Reg C/U Sel] to
2 ‘LoadCalcData’. When this option is selected, the calculated gains values are
copied to the user entered gain parameters. When the transfer is complete,

13:54 [Volt Reg C/U Sel] will automatically set to 1 ‘User Entered’ for manual
adjustment.
Proper adjustment of the individual proportional and integral terms is more

difficult than adjusting the bandwidth because the ideal spacing between the
proportional and integral terms is not maintained. The theoretical ideal
spacing between the proportional and integral terms is where Z = 1 is the
desired damping factor. This creates a 4:1 spacing.
Figure 62 - Voltage Regulator and Gains Block Diagram

Volt Reg C/U Sel Selector:
0- Calculated
1- User Entered
Port 0,DC Bus Volts

Metering [D5]
3
BusObsConfig(320):
BusObsConfig
320 BusRegIntegTerm
0- Disabled
1- BusObsOnly.
2- BusObsVltEst. 0,1 DC Bus Command BusRegPropTerm
50 VbusErr
BusObs Volt Est 2 IqRefVbusReg
DC Bus Obs VoltRefGen [G3] DC Bus Obs

PI Regulator
[H5] A[2]
Volt Reg C/U Sel 54

VbusRegKi
c Volt Reg Ki 60
Volt Reg BW 55 0
Volt Reg Damping 56

u Volt Reg Ki 59 1
Auto Gain
Calculation
VbusRegKp
c Volt Reg Kp 58
0
u Volt Reg Kp 57 1
Internal Bus Capacitance Total Sys Cap

DcBusObs [C1]
Ext Bus Cap 52

13:54 Volt Reg C/U Sel 0 = Calculated, 1 = User Entered, 2 = Load Calculated Data
13:55 Volt Reg BW Voltage regulator bandwidth in Hz
13:56 Volt Reg Damping Voltage regulator damping factor
13:57 u Volt Reg Kp User entered voltage regulator proportional gain
13:58 c Volt Reg Kp Calculated voltage regulator proportional gain
13:59 u Volt Reg Ki User entered voltage regulator integral gain
13:60 c Volt Reg Ki Calculated voltage regulator integral gain
Current Regulator Gains—Manual Adjustment
PowerFlex 755T products allow individual manual adjustment of the

proportional and integral terms that are used by the current regulator. To
enable manual adjustment of the proportional and integral terms, set 13:74
[Cur Reg C/U Sel] to 1 ‘User Entered’. This setting switches the gains that are
used by the current regulator from the calculated values to values that are
entered in parameters 13:77 [u Cur Reg Kp] and 13:79 [u Cur Reg Ki].
It is recommended to begin manual adjustment with the suggested gain start

points. To initiate the transfer of these values, toggle 13:74 [Cur Reg C/U Sel] to
2 ‘LoadCalcData’. When this option is selected, the calculated gains values are
copied to the user entered gain parameters. When the transfer is complete,
13:54 [Volt Reg C/U Sel] will automatically set to 1 ‘User Entered’ for manual
adjustment.
Proper adjustment of the individual proportional and integral terms is more

difficult than adjusting the bandwidth because the ideal spacing between the
proportional and integral terms is not maintained. The theoretical ideal
spacing between the proportional and integral terms is where Z = 1 is the
desired damping factor. This creates a 4:1 spacing.
Figure 63 - Current Control (CurrCtrl) Regulator and Gains Block Diagram

Cur Reg C/U Sel Selector:
0- Calculated
1- User Entered IqSyncErr CurRegqOut
Active Cur Cmd 67
CurPwrLmt [G3] PI Regulator
Active Current
7
Cur Reg C/U Sel 74 CurRegKiIq
Metering [I1]
VqSyncRef
PFC [G3]
c Cur Reg Ki 80 CurRegKpIq
Cur Reg BW 75 0
P
Cur Reg Damping 76 W
u Cur Reg Ki 79 1
Auto Gain M
Calculation CurRegKpId
LCL Data c Cur Reg Kp 78 CurRegKiId

VdSyncRef
0
u Cur Reg Kp 77 1
IdSyncErr CurRegdOut
AC Line Source 31
Reactv Cur Cmd 73
CurPwrLmt [G4]
PI Regulator
AC Line kVA A 32
Reactive Current
AC Line Imped% A 34
Source
8
Impedance
AC Line kVA B 33 Processing Metering [I2]
PFC [G4]
AC Line Imped% B 35

13:74 Cur Reg C/U Sel 0 = Calculated, 1 = User Entered, 2 = Load Calculated Data
13:75 Cur Reg BW Current regulator bandwidth in Hz
13:76 Cur Reg Damping Current regulator damping factor
13:77 u Cur Reg Kp User entered current regulator proportional gain
13:78 c Cur Reg Kp Calculated current regulator proportional gain
13:79 u Cur Reg Ki User entered current regulator integral gain
13:80 c Cur Reg Ki Calculated current regulator integral gain
AC Line Source Switching
PowerFlex 755T regenerative AFE products can switch between two different
AC line sources. Set parameter 13:31 [AC Line Source] to point to the active AC
line (AC Line A or AC Line B). With firmware revision 3 and earlier, set
parameter 13:31 [AC Line Source] using the HIM, Connected Components
Workbench software, or datalinks.
With firmware revision 4 and later, you can use a digital input to switch
between AC line sources. Set parameter 0:136 [DI AC LineSource] to the digital
input that you want to use to switch sources. When the digital input is off, the
converter uses AC Line A and when it is on, it uses AC Line B.
IMPORTANT Do not switch AC line sources while the converter is modulating.
When switching between two AC line sources, it is important that the

converter is tuned to both sources. Individual AC line sources rarely have the
same electrical characteristics. Gains that work well for one source can cause
resonance when connected to the alternate source.
The converter does not have AC line source-specific gains. In most cases, the
bandwidth for the high impedance line source is sufficient when connected to
a robust source. The actual current regulator gains are scaled according to the
difference in system impedance. If higher performance is desired when

connected to the robust source, you can use datalinks to change the voltage
regulator bandwidth in parameter 13:55 [Volt Reg BW], and the current
regulator bandwidth in parameter 13:75 [Cur Reg BW], based on which source
the converter is using.
Power Loss Source Switching
When the drive is configured for generator switchover, consider how the drive
reacts to a power loss event. Use the power loss ride-through feature to pause
converter modulation and allow for switching from AC Line A to AC Line B and
vice versa. Use the application requirements and system dynamics to
configure the power loss action and power loss mode for the inverter. For
example, large inertia loads could be decelerated to keep the drive powered for
the time required for the generator to come online and start producing power.
If there is not sufficient inertia to keep the drive alive during the switchover,
you could use a separately sourced 24V DC supply to keep the drive powered
during this time. For information about configuring the drive for a power loss,
refer to the PowerFlex Drives with TotalFORCE Control programming manual,
publication 750-PM100.

Backup Generator This section covers information about how to size and select an appropriate
Configuration generator for use with a PowerFlex 755T drive along with drive configuration
guidance. Step-by-step instructions are provided in Configuration for Backup
Generator on page 152.
Generator Design Considerations
There are specific considerations when selecting a generator for use with an
AC drive. The first is impedance. Typically, generators have an impedance in
the range of 10% to 20% compared to 3% to 5% for a transformer that is
connected to the utility AC Supply. This higher impedance leads to larger
voltage drops when the generator is heavily loaded.
The second consideration is power factor. The industry standard for generator
manufacturers is to specify KW at a power factor of 0.8 lagging. It is important
to know the details of how the generator is rated because the PowerFlex 755T
family appears as a 0.95…0.98 power factor to the generator. When sizing the
generator, the real and apparent power must be considered. If the load power
factor is higher (closer to unity) than the rated power factor, the horsepower of
the prime mover limits the output. If the power factor is lower than the rated
power factor, the output is limited by the current rating of the generator.
Additionally, one must also consider that most synchronous generator

manufacturers do not make allowances for non-linear loads. Drives are
considered non-linear loads because their input current is not sinusoidal.
Because the voltage is being rectified, most of the current draw occurs when
the voltage waveform is near its peak value. Even though the RMS current can
be well below the generator’s capacity, the peak current could approach its full
load rating. The combination of the high impedance and higher peak currents
of the non-linear load is important because it causes distorted generator
output voltages. You can reduce the peak value for the distorted wave form by
30% or more in comparison to the no load voltage. The reduction in peak
voltage lowers DC Bus voltage levels in the drive, which could cause the drive to
cycle in and out of precharge. This distortion can also lead to frequency
tracking issues on active front end converters.
Generator Selection
When sizing the generator, the alternator portion of the typical generator
rating is 150% of the load KVA requirements. Considerations that require the
generator rating to be higher than the drive include reducing the observed
voltage drop at the drive terminals. Because the impedance is a measure of the
percentage voltage drop at full load versus no load voltage, an oversized
alternator reduces the percentage current draw which results in better voltage
and frequency regulation at the drive terminals.
Another factor is the need to compensate for the drive as a non-linear load.
Most generator manufacturers do not make allowances for non-linear loads.
Regardless generators have been proven to work with drives provided the non-
linear portion of their output is only a small percentage of generator rating.

Ideally, the drives and other non-linear loads would not exceed 20% of the
generator’s total capacity.
If you use six pulse drives, a phase shifting technique can increase the
percentage of non-linear loading of the generator. The phase shifting
technique is commonly accomplished by using an isolation transformer with
one primary winding (Delta) and two secondary windings (Delta/Y). When the
drives are split between the two secondary windings, the peak current that the
generator sees is reduced due to the 30° phase shift in voltage between the two
windings.
The use a harmonic trap filter is an accepted method to reduce the effects of
non-linear loads. The filter draws current from the generator at 60 Hz. This
stored energy is used to supply the non-linear current to the drives as needed.
When choosing a generator, a higher output voltage rating is advantageous. A

higher voltage helps reduce voltage distortion. A higher voltage requires less
current for a given load. Any reduction in current reduces the impact of the
generators higher impedance, which improves voltage characteristics.
Useful Drive Features for Generator Applications
When using a generator as a power source, the voltage distortion can make it
difficult for drives with a SCR bridge to synchronize with the generator
frequency. For this reason, it is important to select a drive that has a Phase
Locked Loop (PLL) as part of the tracking circuit to allow the drive to respond
quickly to line frequency changes. PowerFlex 755T products use a tunable PI
controller so that the frequency and angle of the incoming voltage are quickly
and accurately tracked even in applications with large frequency oscillations.
While the default settings work well in most cases, the response can be
modified by adjusting 13:86 [Basic PLL Kp] and 13:87 [Basic PLL Ki]) to
accommodate heavily distorted voltage signals if necessary.
The PowerFlex 755T PLL has a feature that helps with generator installations
called ‘Unbalance Rejection’. This feature is a filter that allows the drive to
reject the effects of unbalanced input line voltages. When enabled, it enhances
the performance of the PLL such that no detuning is required even in
installations where the input voltage is highly unbalanced. To enable
Unbalance Rejection set bit 1 of parameter 13:85 [PLL Config] high (1). To fine-
tune the filter, modify parameter 13:89 [Unbl Rej Filt BW]. The default
Bandwidth (BW) is 200 rad/s. Increase the Bandwidth (BW) to increase the
dynamic response for faster attenuation of the unbalance effect. However, this
adjustment introduces an overshoot. Decrease the BW to reduce the dynamic
response and decrease the overshoot.
Another PLL feature useful in generator applications is DC Offset

Cancellation. As the name implies, it is designed to eliminate the measured DC
offset of the input voltage. To enable DC Offset Cancellation set 13:85 [PLL
Config] bit 2 ‘PLL DC Ofst’ to 1. To fine-tune, modify the filter BW in parameter
13:90 [DC Offst Filt BW]. Increase the BW to decrease the response
(overdamped) and decrease the BW to provide a faster (underdamped)
response. There is also a Low Pass Filter that can be adjusted using parameter
13:91 [DC Offset LPF BW].

Typically, generators do not support products that regenerate back to the AC

supply. The PowerFlex 755T regenerative products can limit regeneration. Set
parameter 13:104 [Regen Power Lmt] to the percentage of regenerative energy
you want to return to the AC Line. Normally, the limit is set to 5% or less when
power is being supplied from a generator. Alternatively, select a non-
regenerative bus supply.
The PowerFlex 755T family lets you specify and switch between two different
AC line supplies. This capability is useful for backup generator applications
because it automatically adjusts the current regulator gains to accommodate
the difference in input impedance. There are two methods for switching the
line settings. The first is to change the value in parameter 13:31 [AC Line
Source] from the HIM, drive software, or a datalink. The second method is to
assign a physical input to parameter 0:136 [DI AC LineSource] and use a digital
input to select the source. The digital input method is only available with
firmware revision 4 and later.
Due to the high line impedance of typical generator supplies, de-tune Active
Front End converters to avoid the high resonance conditions that are caused
by an interaction between the harmonic filters and the converter control loops.
The PowerFlex 755T family of products has a feature that is called Active
Damping that mathematically creates a virtual resistor in series with the filter
capacitor, which effectively reduces the resonance without de-tuning. To use
this feature, adjust the Active Damping Gain in parameter 13:81 [Actv Damping
Gn]. Lower the gain from the default value of 1.0 to reduce resonance between
the filter and the supply due to the high impedance. By itself, it does not
provide much help with resonances due to line notching caused by other
devices that are connected to the line.
Configuration for Backup Generator
This section covers the steps that are required to configure the PowerFlex 755T
drive for use with a backup generator. It is a guide to configuration only and
excludes recommendations for sizing or design.
Basic Configuration
Enter basic information about the AC Supply and the generator to configure
the PowerFlex 755T for use with a backup generator. This information is
needed so that the drive can calculate the system impedance and adjust the
current regulator gains accordingly.
1. Enter the nominal AC line frequency in 13:30 [Nom Line Freq].
2. Enter the apparent power rating of the mains AC Supply transformer in
13:32 [AC Line kVA A].
3. Enter the apparent power rating of the generator in 13:33
[AC Line kVA B].
4. Enter the percent impedance of the mains AC Supply transformer in
13:34 [AC Line Imped% A].
5. Enter the percent impedance of the generator in 13:35
[AC Line Imped% B].

Configure the drive to switch between Source A and Source B
There are two methods that can be used to switch between the two AC sources
that do not require using Connected Components Workbench software or the
drive HIM to change the value in 13:31 [AC Line Source]. The method that you
chose depends on your system.
IMPORTANT Don’t change the AC line source when the converter is modulating.
The first method is to configure 13:31 [AC Line Source] as one of the datalinks
and use a programmable controller to change the value to 0 for Source A (AC
Line) or 1 for Source B (Generator). Datalinks are setup using parameters 0:321
[DL From Net 01] through 0:336 [DL From Net 16]. You can use this method
with all firmware revisions.
The second method is to configure a digital input to switch between the two
sources. When the digital input is open or de-energized, the drive uses
Source A (AC Line) data. When the digital input is closed or energized, the
drive uses Source B (Generator). This method is only available for firmware
revision 4 and later.
6. Select the first unused datalink and configure it for ‘Port13: AC Line
Source’. For example, if 0:321 [DL from Net 01] was the first datalink that
was set to ‘Disabled’, change it to ‘Port13: AC Line Source’.
Or
Configure 0:136 [DI AC LineSource] for the digital input you want to use
to facilitate the switch between sources. For example, if you wanted to
use digital input 0 on the I/O card installed in Port 4, change 0:136 [DI AC
LineSource] from ‘Disabled’ to ‘Port 4: Dig In Sts.Input 0’.
IMPORTANT If parameter 0:136 [DI AC LineSource] is configured, the drive

ignores the value in 13:31 [AC Line Source].
External DC Bus Capacitance

In common bus installations and some applications, there is more capacitance
that is connected to the bus than the inverter is pre-configured to operate with.
If the application does not have additional bus capacitance, skip this step.
The PowerFlex 755T regenerative and low harmonic products have a couple of
methods to address this additional capacitance. If the additional capacitance
value is known, it can be directly inputted into the inverter configuration. If
the actual value is not known, the Bus Observer feature can be enabled to
compensate for the additional capacitance automatically. For more
information on the Bus Observer feature, refer to the Bus Observer section in
the Adaptive Control chapter in this manual.
7. Enter the additional capacitance value in 13:52 [Ext Bus Cap]
And/or
Enable the Bus Observer Feature by setting 13:320 [BusObs Config] to
1 ‘BusObs Only’

Tuning
For many applications, the default settings work well. In installations with
higher system impedance, as in generator applications, the default settings
can cause resonance current in the LCL filters. There are two approaches for
reducing this resonance.
The first is to de-tune by adjusting the voltage and current bandwidths and the
second is to use the Active Damping feature. Both methods require that you
monitor the band pass filter current and adjust until the current is below the
fault threshold values that are specified in the tables in the AC Line Tuning
section of this manual. You can use a combination of de-tuning and Active
Damping for optimum performance.
IMPORTANT Consider tuning both sources. Ideally, there is a combination that works
for both the AC line and the generator. If not, the bandwidths and/or
Active Damping values can be changed based on the currently selected
AC source through datalinks.
Generator
8. Configure the drive to run from the generator.
9. Start the drive. It is preferable that the drive is run in a high load
condition.
11. Slowly adjust 13:55 [Volt Reg BW] and 13: 75 [Cur Reg BW] down by the
same percentage until the resonance current is below the fault levels.
Or
Slowly reduce 13:81 [Actv Damping Gn] until the resonance current is
below the fault levels.
12. Verify that the Bus Voltage is holding at the desired level without too
much fluctuation. If not, repeat step 9 but use the other method or a
combination of the two until the resonance current is below the fault
level and bus voltage maintains a steady level.
13. Stop the drive.
14. Record the values in 13:55 [Volt Reg BW], 13: 75 [Cur Reg BW], and 13:81
[Actv Damping Gn].
AC Line
15. Configure the drive to run from the AC Line.
16. Start the drive. It is preferable that the drive is run in a high load
condition.
18. If the bus voltage is at the desired level without too much fluctuation and
the LCL filter resonance current is below the fault levels, tuning is
complete, and you can skip ahead to the Exception Actions section. If
not, continue with the remaining steps to tune for the AC Line and then
programmatically change the bandwidths and Active Damping Gain
based on which source is selected.

19. Slowly adjust 13:55 [Volt Reg BW] and 13: 75 [Cur Reg BW] up by the same
percentage until the bus voltage is at the desired level without too much
fluctuation.
20. Slowly reduce 13:81 [Actv Damping Gn] until the resonance current is
below the fault levels.
21. Record the values in 13:55 [Volt Reg BW], 13: 75 [Cur Reg BW], and 13:81
[Actv Damping Gn].
22. Select the first three unused datalinks and configure them for ‘Port13:
Cur Reg BW’, ‘Port13: Volt Reg BW’, and ‘Port13: Actv Damping Gn’. For
example, if 0:321 [DL from Net 01] was the first datalink that was set to
‘Disabled’, change 0:321 [DL from Net 01] to ‘Port13: Cur Reg BW’, 0:322
[DL from Net 02] to “Port13: Volt Reg BW” and 0:323 [DL from Net 03] to
‘Port13: Actv Damping Gn’.
23. Write logic to switch between the values that are recorded for the
Generator and the AC Line based on which source is selected.
IMPORTANT This procedure assumes the use of a Logix Programmable

Automation Controller and Premier Integration. Switching
between gain values could also be accomplished with
DeviceLogix™ functionality.
Exception Actions
One of the things to consider when using a backup generator is how the drive
responds to a power loss. While the default settings for power loss work in
many applications, you can customize them for your application.
Converter
24. Review parameter 13:170 [PwrLoss Det Actn] to make sure it is set
correctly for your application and modify as required.
25. Review parameter 13:172 [RideThrough Time] to make sure it is set
Inverter
26. Review parameter 10/11:270 [Power Loss Actn] to make sure it is set
27. Review parameter 10/11:273 [Pwr Loss A Time] to make sure it is set
IMPORTANT See the PowerFlex Drives with TotalFORCE Control programming

manual, publication 750-PM101, for more information on the
exception action parameters.
Regeneration Power Limits
Typically, in generator applications you would select a PowerFlex 755TL Low

Harmonic drive because it does not transmit regenerative energy back to the
line. If too much regenerative energy is supplied back to a generator source, it
could act as a motor and damage the prime mover. Regenerative loads can be
supplied by generators provided the amount of regenerative energy that is
returned to the source is limited. Many generator manufacturers specify that
they can handle applications with 5%…10% regenerative loads.

The PowerFlex 755TR and 755TM products can limit the amount of
regenerative energy that gets transmitted back to the supply. This capability
makes them an option when it is desirable to regenerate back to the line when
connected to AC Line but limit regeneration when being supplied by a
generator. The recommendation is to set the Regenerative Power Limit to 5%
when being supplied by a generator. Through datalinks or DeviceLogix
functionality, the limits can be adjusted programmatically to allow full
regeneration when connected to the AC Line but still limit to 5% when
connected to the generator.
If you are using a PowerFlex 755TL, you can skip this section. If you are using a
PowerFlex 755TR or 755TM, follow the remaining steps to configure the
Regenerative Power Limit.
Static Limit
28. Set parameter 13:104 [Regen Power Lmt] to 5%.
Dynamic Limit
29. Select the first unused datalink and configure it for ‘Port13: Regen Power
Lmt’. For example, if 0:321 [DL from Net 01] was the first datalink that
was set to “Disabled”, change 0:321 [DL from Net 01] to ‘Port13: Regen
Power Lmt’.
30. Write logic to switch between 5% for the Generator and the desired
regeneration level for the AC Line based on which source is selected.
IMPORTANT This procedure assumes the use of a Logix Programmable

Automation Controller and Premier Integration. Switching
between Regenerative Power Limit values could also be
accomplished with DeviceLogix functionality.

Chapter 4
Diagnostics and Troubleshooting
This chapter discusses the tools that are available to evaluate and correct
performance issues with PowerFlex® products.
Topic Page
High Speed Trending 157
Faults and Alarms 164
Input Phase Loss Detection 168
High Speed Trending The high speed trending wizard configures the onboard trending feature
providing high sample rate data capture. The wizard allows you to download
the trend configuration to the drive, and uploads the trended data from the
drive when finished. This information is saved as a comma-delimited *.csv file
for use with Microsoft® Excel® or any other spreadsheet program.
The high speed trending can be configured to trend either four, eight, or
sixteen parameters. The number of parameters that are trended effects the
sample size and sample rate. See Table 40 to determine the high speed
trending tool capabilities are based on the number of parameters being
trended.
Table 40 - PowerFlex 755T High Speed Trend Configuration Options

Number of Parameters Number of Samples Minimum Sample Rate
4 1024 125 µs
8 4096 1 ms
16 1024 1 ms
The PowerFlex 755T drive can only run one instance of the onboard high speed
trending tool. Once the wizard has downloaded the high speed trend
configuration to the drive, you do not have to stay connected to the drive with
the software tool. The drive automatically captures data based on the triggered
event in the wizard configuration. You reconnect to the drive to upload the
trended data.
The configurable sample rate of the onboard high speed trending tool makes it
an alternative option to other trending tools available in Logix or Connected
Components Workbench™ software. The RPI (requested packet interval) of the
device defines the software tool sample rates. The PowerFlex 755T has a
minimum RPI of 2 ms. The onboard high speed trend tool in the PowerFlex
755T is a useful resource to:
• Determine application specific tuning characteristics
• Troubleshoot nuisance trip conditions
• Capture data before and after a triggered event
• Capture data when a user is not actively connected to the drive

Chapter 4 Diagnostics and Troubleshooting
Configuration Example
1. Connect to the PowerFlex 755T with the Connected Components
Workbench software tool.
2. Navigate to the Wizards on the left panel.
3. Select the High Speed Trend Wizard from the options.
4. Once the Welcome screen loads, click Next.
The Configuration Trend window lets you customize the following high-speed
trend details:
• Trend Mode – dictates number of trend butters, total number of samples,
and the minimum interval sample rate
• Pre-Trigger samples – dictates number of samples to include in the trend
before the trigger
• Sample Interval – the time interval between trend data samples
• Trigger Setup – dictates how the data trend is triggered
- Compares two parameters
- Compares a parameter against a constant
- A test bit in a parameter
• Trend Buffers – dictates the drive and/or peripheral parameters and
diagnostic items that are trended

5. To configure the Trigger Setup and Trend Buffers, click the Ellipse.
If you do not see the ellipse for the Trend Buffers, click in the first
row of ‘Not Used’, and the ellipse populates the row.
6. Select the parameter that you want to log by selecting the port, and then
scroll through the parameter lists, file folders, diagnostic items, or use
the find function. Once a parameter is selected, click Apply.

The best way to remove a parameter selection is to uncheck the checkbox

in the ‘Use’ column.
‘Not Used’ is downloaded instead of the selected parameter. The next

time that you launch the wizard, the buffer has no parameter set.
In the example below, the trend buffers are configured with five drive
parameters consisting of Output Frequency, Pri Vel Feedback, DC Bus
Volts, Output Current, and Output Voltage parameter values. The trend
is configured for a total of 4096 samples that include 500 samples before
the trigger, at a sample rate of 1 millisecond. The trigger of the high speed
trend is the Motor Velocity Feedback greater than zero.
This configuration for the trend does the following:

• The drive sets the trigger to monitor the primary velocity feedback.
• When you start the drive, the primary velocity feedback > zero.
• The Trend is triggered to pull the first 500 samples before the trigger
and continue collecting 3596 more samples for the five parameters
selected.
• Once 4096 samples have been collected, the trend stops. The drive
continues operating.
• The trend is ready to be uploaded from the drive.

7. Click Download to push the trend configuration to the PowerFlex 755T

drive. Once the Download Succeeded message appears, the ‘Trend
Status’ changes to ‘Ready’.
8. Click Start to start the trend tool. The ‘Trend Status’ changes to
‘Running.’ Upload and Start are unavailable when the trend is running.
Depending on the trigger configuration, the trend tool may not
start storing data until the trigger is tripped.

The ‘Trend Status’ changes to ‘Finishing’ after the buffers for all
parameters have filled, and the trend is processing the data. Press Stop at
any point to start the trend before the buffers are filled.
The ‘Trend Status’ changes to ‘Complete’ when the trend is done.

9. Click Upload. The wizard uploads the trend data from the drive and saves
the information as a comma-delimited *.csv file for use with Microsoft®
Excel® or any other spreadsheet program.
The following is an example of trended data. Use a spreadsheet program

to open the *.csv file.
Column C here aligns with what is displayed in Connected Components

Workbench software or any other drive software tool. Column D shows
the value that the drive is using internally. Column D has more accurate
data, but the extra precision is often not needed. You cannot get the data
in column D from any other wizard or software tool.
For more information on the High Speed Trend Wizard, reference the
block diagram that is published in the PowerFlex Drives with
TotalFORCE Control programming manual, publication 750-PM100.
Faults and Alarms This chapter provides information about the faults and alarms that are
accessible through software or the HIM, and status indicators that are used to
report the current operating condition of the PowerFlex product.
Faults
Faults are events or conditions occurring within and/or outside of the drive.
These events or conditions by default are considered to be of such significant
magnitude that drive operation is discontinued. The STS (Status) indicator on
the drive, a HIM, communications network, and/or contact outputs
annunciate faults.
With frames 7…15 drives and bus supplies, the power and precharge modules
use status indicators and a 7-segment display to report conditions. The fiber-
optic interface and transceiver circuit boards also use a status indicator to
report conditions.
See the Troubleshooting section of the PowerFlex Drives with TotalFORCE

Control programming manual, publication 750-PM101.
Detailed information on faults is provided in the PowerFlex Drives with

TotalFORCE Control Conditions Reference Data, publication 750-RD102.
Drive Response to Faults
When a fault occurs, the fault condition is latched, which requires that you or
the application perform a fault reset to clear the latched condition. The
condition that caused the fault determines the user response. If the condition
that caused the fault still exists after a fault reset, the drive faults again and the
fault condition is latched.
In response to a fault, the drive takes a predetermined action that is based on

fault type. The drive response to some fault types is configurable.
Non-configurable faults turn off the drive output and a ‘coast-to-stop’
sequence occurs.
The fault code is entered into the first buffer of the fault queue (see the Fault
Queue section for rules). Additional data on the status of the drive at the time
that the fault occurred is recorded. This information is always related to the
most recent fault queue entry captured by 0:610[Last Fault Code]. When
another fault occurs, this data is overwritten.
The following data/conditions are captured and latched into non-volatile drive
memory.
• Port 10/11:461[Fault Status A]
• Port 10/11:462 [Fault Status B]
• Port 13:240 [Fault Status A]
• Port 13:241 [Fault Status B]

Fault Queue
Faults are also logged into a fault queue, such that a history of the most recent
fault events is retained. Each recorded event includes a fault code (with
associated text) and a fault ‘time of occurrence.’ PowerFlex 755T drives have a
100-event queue.
The fault queue records the occurrence of each fault event that occurs while no
other fault is latched. Each fault queue entry includes a fault code and a time
stamp value. New fault events are not logged to the fault queue if a previous
fault has already occurred but has not yet been reset. Only faults that actually
trip the drive are logged. Faults that occur while the drive is faulted are not
logged.
The fault queue is a first-in, first-out (FIFO) queue. Fault queue entry 1 is
always the most-recent entry (newest). Entry 100 is always the oldest. As a new
fault is logged, each existing entry shifts by one. The previous entry 1 moves to
entry 2, previous entry 2 moves to entry 3, and so on. If the queue is full when a
fault occurs, the oldest entry is discarded.
The fault queue is saved in nonvolatile storage at power loss and its content is
retained when power is cycled.
Fault Code and Time Stamp
The fault code with descriptive text for each entry can be viewed with a HIM or
by software tools like Connected Components Workbench software (CCW) or
Logix Designer application.
Event numbers are displayed in one of three formats.

• Port 00 (Host Drive) displays the event number only. For example, Fault
21 ‘Clr Fault Queue’ is displayed as: Fault Code 21.
• Ports 01...09 use the format PEEE, which indicates port number (P) and
event number (EEE). For example, Fault 1 ‘Analog In Loss’ on an I/O
module that is installed in port 4 is displayed as: Fault Code 4001.
• Ports 10...14 use the format PPEEE, which indicates port number (PP)
and event number (EEE). For example, Fault 1 ‘Power Loss’ on port 10 is
displayed as: Fault Code 10001.
Once the fault code is displayed, pressing the enter key again on the HIM
displays the time stamp that is associated with that fault code. The time stamp
is the elapsed time since the fault occurred. When using one of the available
software tools, the fault code, descriptive text, and time stamp are displayed
simultaneously.
Reset or Clear a Fault
Clear a latched fault condition by the following methods.

• An off to on transition on a digital input that is configured as DI Clear
Fault.
• Press the CLR soft key or Stop on the HIM once a fault is displayed.
• From CCW or Logix Designer application tools, in the Fault/Alarms
section by clicking Clear Trip.

• Cycle power to the drive such that the control board goes through a
power-up sequence.
A fault reset clears the faulted status indication. If any fault condition still
exists, the fault is relatched and another entry is made in the fault queue.
Clearing the Fault Queue
A fault reset does not clear the fault queue. Clear the fault queue from a menu
selection on the HIM or click Clear Queue in the Fault/Alarms section of CCW
or Logix Designer application tools.
Event Actions
The drive can be configured such that some events or conditions do not trip
the drive.
The following is a list of the options that are available for the drive configurable
event actions.
• ‘Ignore’ – No action is taken.
• ‘Alarm’ – Type 1 alarm indicated.
• ‘Flt Minor’ – Minor fault indicated. If running, drive continues to run.
• ‘FltCoastStop’ – Major fault indicated. Coast-to-stop.
• ‘Flt RampStop’ – Major fault indicated. Ramp to Stop.
• ‘Flt CL Stop’ – Major fault indicated. Current Limit Stop.

The following is a brief list of configurable event actions that are listed by port.
Accessories such as encoder or I/O modules have additional configurable event
actions.
Port 10 Primary and Port 11

Port 0 PowerFlex 755T Port 13 Line Side Control
Secondary Motor Side Control
0:420 [M Gnd Warn Actn] 10/11:170 [Dec Inhibit Actn] 13:112 [Under Vlt LmtA Actn]
0:422 [L Gnd Warn Actn] 10/11:200 [Motor OL Action] 13:115 [Low Vlt LmtA Actn]
0:425 [HRG GF Flt Actn] 10/11:242 [Shear Pin 1 Actn] 13:118 [High Vlt LmtA Actn]
0:453 [CapOvr Rsn Actn] 10/11:245 [Shear Pin 2 Actn] 13:121 [Over Vlt LmtA Actn]
0:515 [PodFan Event Actn] 10/11:250 [Load Loss Action] 13:126 [Under Vlt LmtB Actn]
0:518 [StirFan Event Actn] 10/11:256 [OutPhaseLoss Actn] 13:129 [Low Vlt LmtB Actn]
0:525 [In Fan Event Actn] 10/11:270 [Power Loss Actn] 13:132 [High Vlt LmtB Actn]
0:535 [PwrRFan Event Actn] 10/11:285 [UnderVltg Action] 13:135 [Over Vlt LmtB Actn]
0:545 [WrgFan Event Actn] 10/11:289 [InPhase LossActn] 13:142 [Undr Freq LmtA Actn]
0:555 [CtrlFan Event Actn] 10/11:314 [MtrBrng EventActn] 13:145 [Low Freq LmtA Actn]
0:563 [HSFan Event Actn] 10/11:319 [MtrLube EventActn] 13:148 [High Freq LmtA Actn]
0:567 [IGBT Event Actn] 10/11:325 [MchBrng EventActn] 13:151 [Over Freq LmtA Actn]
0:571 [BusCap Event Actn] 10/11:330 [MchLube EventActn] 13:156 [Undr Freq LmtB Actn]
0:575 [MCS Event Actn] 13:159 [Low Freq LmtB Actn]
0:579 [MCB Life Event Actn] 13:162 [High Freq LmtB Actn]
0:583 [PCC Life Event Actn] 13:165 [Over Freq LmtB Actn]
0:587 [LCLCap Even tActn] 13:170 [PwrLoss Det Actn]
0:590 [Hi TR Event Actn] 13:173 [VltgSag Det Actn]
0:591 [Lo TR Event Actn] 13:174 [VltgSag RT Exp Actn]
13:171 [PwrLoss RT Exp Actn]
13:176 [LSCPhLoss Det Actn]
13:177 [PhLoss RT Exp Actn]
13:179 [DFDT Det Actn]
13:180 [DFDT RdThr Exp Actn]
13:181 [PLL LOS Det Actn]
Alarms
Alarms are indications of situations that are occurring within the drive or
application that are annunciated to the user. These situations can affect the
drive operation or application performance. Conditions such as power loss or
analog input signal loss can be detected and displayed for drive or operator
action.
There are two types of alarms.

• Type 1 Alarms are conditions that do not cause the drive to trip or shut
down, but, if the condition persists, it can lead to a drive fault.
• Type 2 Alarms are conditions that are caused by improper programming
and prevent the drive from starting until programming is corrected. An
example of a Type 2 alarm is when a start function is assigned to a digital
input without a stop function that is also assigned to a digital input.
Detailed information on alarms is provided in the PowerFlex Drives with
TotalFORCE Control Conditions Reference Data, publication 750-RD102.
The alarm queue is accessible through a HIM or through CCW and Logix
Designer application tools, provide you with a history of faults, alarms, and
events. You can also access diagnostic file parameters for additional
information.

Input Phase Loss Detection Occasionally, three-phase power sources can fail on one phase while
continuing to deliver power between the remaining two phases (single-phase).
Operating above 50% output under this single-phase condition can damage the
drive. The 755T product has two separate methods dependent on hardware
configuration to detect this condition.
• For drives without active front end technology, the input phase loss
detection is implemented by hardware that measures DC bus voltage
harmonics. This protection is implemented in port 10.
• For drives with active front end technology, input phase loss detection is
implemented by hardware that measures the input line voltage and
current. This protection is implemented in port 13.
The drive can be programmed to turn on an alarm bit or issue a drive fault
(minor or major). Active front end drives can also be programmed to ride
through.
• For Powerflex 755T and 755TS, we recommend that input phase loss
detection is enabled in port 10 if this condition is likely to occur.
• For Powerflex 755Tand 755TS products with DC input we recommend
that input phase loss detection is enabled in port 10 if the bus supply is a
simple rectifier with limited diagnostics.
• For Powerflex 755T with active front end technology, we recommend
implementing input phase loss detection in port 13 if the condition is
likely to occur. Ride through can be enabled if the condition is short
duration.
Configure Input Phase Loss Action
Parameter 10/11:289 [InPhase LossActn]
The following bits configure the port 10 input phase loss action.
• ‘Ignore’ (0) – No action is taken.
• ‘Alarm’ (1) – Type 1 alarm indicated. Type 1 alarms are notifications. They
do not prevent starting. They do not stop modulation.
• ‘Flt Minor’ (2) – Minor fault indicated. Minor faults prevent the drive
from starting. They do not stop the drive, if it is already running. You
must clear the fault to start or run.
• ‘FltCoastStop’ (3) – Major fault indicated. The motor side inverter
executes a Coast Stop. You must clear the fault to start or run.
• ‘Flt RampStop’ (4) – Major fault indicated. The motor side inverter
executes a Ramp Stop. You must clear the fault to start or run.
• ‘Flt CL Stop’ (5) – Major fault indicated. The motor side inverter executes
a Current Limit Stop. You must clear the fault to start or run.

A port 10 input phase loss is indicated in parameter 10/11:460 [Condition Sts A]

bit 4 ‘InPhaseLoss’.
If a fault action has been selected because of port 10 input phase loss, 10/11:461
[Fault Status A] bit 4 ‘InPhaseLoss’ is set.
If an alarm action is selected because of port 10 input phase loss, 0:465 [Alarm
Status A] bit 4 ‘InPhaseLoss’ is set.

AFE Input Phase Loss
For drives with an active front end, input phase loss is configured in port 13. In
this instance, 10/11:289 [InPhase LossActn] can be set to ignore. The following
two parameters configure the input phase loss action.
Parameter 13:176 [LSCPhLossDetActn]
Select the action taken when the port 13 input phase loss condition is detected.
• ‘Type 2 Alarm’ (1) – A Type 2 Alarm occurs. Type 2 Alarms prevent the line
side converter from starting its modulation.
• ‘Ride Thru’ (2) – The line side converter pauses modulation for the
duration of the Ride Thru Timer. If the Input Phase Loss condition clears
before the timer expires, it resumes operation. During the Ride Thru
attempt, it logs a Type 2 Alarm.
• ‘Major Fault’ (3) – A Major Fault occurs immediately. Major Faults stop
the line side converter from modulating.
Parameter 13:177 [PhsLossRTExpActn]
When ride through is selected in 13:176 [LSCPhLossDetActn], this parameter

selects the action to take when the input phase loss condition lasts longer than
13:172 [RideThrough Time].
• ‘Type 2 Alarm’ (1) – A Type 2 Alarm occurs. Type 2 Alarms prevent the line
side converter from starting its modulation.
• ‘Ride Thru’ (2) – The line side converter pauses modulation for the
duration of the Ride Thru Timer. If the Input Phase Loss condition clears
before the timer expires, it resumes operation. During the Ride Thru
attempt, it logs a Type 2 Alarm.
• ‘Major Fault’ (3) – A Major Fault occurs immediately. Major Faults stop
the line side converter from modulating.
If an alarm or fault action is selected by the firmware as a result for the input
phase loss, 13:225 [Line Side Sts 1] bit 22 ‘InPhaseLoss’ is set.

If a fault action is selected by the firmware as a result for the input phase loss,
13:240 [Fault Status A] bit 20 ‘InPhaseLoss’ is set.
10/11:463 [InPhase Loss Lvl]
Sets the threshold for the Input Phase Loss detection function. Decreasing this
value increases sensitivity, increasing the value decreases sensitivity. When all
three input phases are connected, the sixth harmonic is dominant. When one
phase is disconnected, the second harmonic is dominant If the ratio exceeds
this threshold, the function detects an Input Phase Loss count. A certain
number of events are required to enact the Input Phase Loss action.
This is just a different way of saying that if you know you are going to run
single phase, derate the drive by 50%.
Test points are available to assist in adjusting the phase loss level.
• Test point 105 indicates the active ratio of second harmonics amplitude
to sixth harmonics
• Test point 106 indicates the active input phase loss counts

Notes:

Chapter 5
Application References
This chapter discusses advanced PowerFlex® 755T product applications.
Topic Page
PowerFlex 755T Lifting/Torque Proving 173
Anti-Sway Applications 191
Dynamic Braking 201
Dynamic Bus Control 212
Carrier (PWM) Frequency 221
Analog Inputs 222
Analog Outputs 230
Digital Inputs 235
Digital Outputs 246
PTC Motor Thermistor Input 255
PowerFlex 755T Lifting/ TorqProve™ is a PowerFlex 755T drive feature that is intended for applications
Torque Proving that require proper coordination between motor control and a mechanical
brake. Before releasing a mechanical brake, the drive checks motor output
phase continuity and verifies proper motor control (torque proving). The drive
also verifies that the mechanical brake has control of the load before releasing
drive control (brake proving). After the drive sets the brake, it monitors motor
movement to confirm that the brake can hold the load.
ATTENTION: Loss of control in suspended-load applications can cause

personal injury and/or equipment damage. The drive or a mechanical brake
must always control the loads. Parameters 9:60 [Brk Release Time]…78 [DI
FloatMicroPsn] are designed for lifting/torque prove applications. It’s the
responsibility of the engineer and/or end user to configure drive parameters,
test any lifting functionality and meet safety requirements in accordance with
all applicable codes and standards.
Overview
TorqProve™ can be operated encoderless or with an encoder. See the

PowerFlex Drives with TotalFORCE® Control Programming Manual,
publication 750-PM100 for detailed information.
TorqProve functionality with an encoder includes:

• Torque Proving (includes flux up and last torque measurement)
• Brake Proving
• Brake Slip (feature slowly lowers load if brake slips/fails)
• Float Capability (ability to hold full torque at zero speed)

Chapter 5 Application References
• Micro positioning
• Fast Stop
• Speed Deviation Fault, Output Phase Loss Fault, Encoder Loss Fault.
Encoderless TorqProve functionality includes:

• Torque Proving (includes flux up and last torque measurement)
• Micro positioning
• Fast Stop
• Speed Deviation Fault, Output Phase Loss Fault
IMPORTANT Brake Slip detection and Float capability (ability to hold load at zero
speed) are no available in encoderless TorqProve.
Torque Proving Flow Diagram
Operator Run Run
Commands Command Command Released
Run can be initiated any time
Time
Drive Running
9:60 [Brk Release Time] 9:72 [ZeroSpdFloatTime] 9:61 [Brk Set Time]
Drive Torque Prove Brake Float Brake (1) Brake Slip

Actions Initiated Released Initiated Set Test
All times between Drive Actions are programmable and can be made very
small (for example, Brake Release Time can be 0.1 seconds)
(1) For torque proving to function properly, wire a mechanical brake to a Brake
relay output on a digital I/O option module. On the I/O module, set nn:10 Relay
[RO0 Sel] to 9:52 [Trq Prove Status] Bit 4 ‘Brake Set’ and set nn:6 [Dig
Out Invert] Bit 0 ‘Relay Out 0’ = 1. R0NO
R0C
Control
Voltage
I/O Module TB2

Brake Slip Test
If an encoder is being used, by default, the drive does a brake slip test on every
stop. The brake slip test is outlined in the following steps.
1. A stop command is initiated
2. The drive ramps to zero speed. A snap shot (one time recording) of the
command torque 10/11:2087 [Trq Ref Limited] is taken.
3. The drive runs at zero speed for the time that is defined in 9:72
[ZeroSpdFloatTime].
4. The drive engages the brake.
5. The drive continues to command the snap shot torque that is found in
step 2 for the time that is allotted in 9:61 [Brk Set Time].
6. The PowerFlex 755T drive begins to slew (lower) the torque down.
Parameters 10/11:2083 [Torque Limit Pos] and 9:53 [Trq Lmt SlewRate]
define the rate at which the torque is lowered. The starting point of the
ramp is the commanded torque that is found in step 2 plus 20% torque.
The drive continues to command the torque that is defined in step 2 until
the ramp goes below this torque.

7. During the torque slew defined in step 6, the drive is monitoring the
encoder counts. If the drive detects a delta (change) in encoder counts
greater than 9:63 [Brk Slip Thresh], the drive brings the torque back up to
the torque level that is defined in step 2.
8. The PowerFlex 755T drive repeats steps 6 and 7 until the drive no longer
sees a change in encoder counts that is greater than the threshold in 9:63
[Brk Slip Thresh].
9. If no brake slip is found, the drive turns off and sits stopped and ready,
and waits for the next run command. If a brake slip is found in step 7,
once the drive lowers the load to the floor, the drive enunciates a 11012
‘Brake Slipped Stop’ alarm. The drive does not accept a run command
again until it’s reset or power is cycled to the drive.
To add additional brake control capabilities to the PowerFlex 755T drive when
using an encoder, see Brake Proving Configuration on page 176.
Configuration
You must configure the PowerFlex 755T drive before you access any TorqProve
parameters for configuration and commissioning. you can configure the drive
through Connected Components Workbench™ software or via parameter
settings in the HIM.
To configure the PowerFlex 755T drive via Connected Components Workbench

software, follow these steps.
1. Connect to the PowerFlex 755T drive through Connected Components
Workbench software
2. Once connected, click ‘Device Definition’ on the Overview page.
3. Click ‘Dynamics Features’.
4. Under ‘Application Sel’ select Torque Prove. This adds Port 9 –
Application Torque Prove to the PowerFlex 755T drive.
5. To accept the changes, click Ok.
6. Power cycle the drive.
To configure the PowerFlex 755T drive via the HIM, follow these steps.
1. Navigate to 0:70 [Application Sel].
2. Click the ‘edit’ soft key and change 0:70 [Application Sel] = 2 ‘Torque
Prove’
3. To accept changes, click the ‘enter’ soft key.
4. Power cycle the drive.
Bus Regulation
When you use a PowerFlex 755T drive in a lifting application, a PowerFlex

755TR drive is used to allow full line regeneration capabilities. You do not need
to use a dynamic braking resistor in this configuration. The PowerFlex 755TL
drive isn’t recommended for lifting applications. Typical bus regulation
parameter settings that are associated with regeneration are:
• 10/11:229 [Regen Power Lim] = -200%
• 10/11:116 [Bus Reg Mode A] = 0 ‘Disabled’

Brake Proving Configuration
By default, the drive is testing for brake slip only during Brake Slip Test, step 7
(see Brake Slip Test on page 174). If the brake fails while the drive is stopped,
the load can suddenly drop to the floor. To have the drive monitor for brake slip
while the drive is stopped, set 9:50 [Trq Prove Cfg] bit 6 ‘BrkSlipStart’. With this
bit set, if the drive detects a brake slip while the drive is stopped, the drive
starts up and takes control of the load, goes into a brake slip test, and lowers
the load to the floor. When the drive detects a brake slip in this manner (from a
stopped state), the drive allows one start after the load reaches a safe position
to move the load. After this point, the drive enunciates a Brake Slipped alarm
and a power cycle is required to restart the drive.
If the drive is set up for encoderless torque proving, there’s no brake slip test.
After stopping, the drive engages the brake when the motor speed falls below
the setting in 9:70 [Float Tolerance].
Tuning the Motor for Torque Prove Applications
It’s important that you enter all motor data correctly. When using PowerFlex
755T Autotune features, it’s recommended to disconnect the motor from the
hoist/crane equipment during the tests. It’s recommended that Parameter 10
of the I/O card that is wired to the brake control is set to 10/11:354 [Motor Side
Sts 1] bit 1 ‘Active’, so that the brake releases when the motor starts to run.
ATTENTION: To guard against personal injury and/or equipment damage due

to an unexpected brake release, verify that the digital output that is used for
brake connections and/or programming. The PowerFlex 755T drive does not
control the mechanical brake until TorqProve is enabled. If the brake is
connected to a digital output, it could be released. If necessary, disconnect
the digital output until wiring/programming can be completed and
verified.
Torque Proving is only supported on induction motors. PowerFlex 755T motor

control modes Induction Sensorless Vector (SV) and Induction Flux Vector
(FV) are supported.
Crane Setup—with Encoder Feedback
ATTENTION: Loss of control in suspended load applications can cause

must always control the loads. Parameters 9:50…78 are designed for lifting/
torque prove applications. It’s the responsibility of the engineer and/or end
user to configure drive parameters, test any lifting functionality, and meet
safety requirements in accordance with all applicable codes and standards.
These setup instructions assume the following.

• The drive is a 755TR regenerative and low harmonic drive.
• Drive and motor size have been carefully selected.
• The drive is at factory defaults.
If not, unplug the output relay terminal block and issue a reset to factory
defaults for the HOST and all PORTS. Plug the terminal block back in.

• Programming is done via the Connected Components Workbench

software.
• Crane control is done via Run Forward/Run Reverse inputs.
• The drive is equipped with an I/O card, such as a 20-750-2262C-2R, in
port (slot) 4. Mechanical brake control is wired to Output Relay 0 on that
card.
• The drive is equipped with an incremental (20-750-ENC-1) or dual
incremental encoder board (20-750-DENC-1) in port (slot) 5. You can use
a Universal Feedback Board (20-750-UFB-1). However, that configuration
isn’t covered in these instructions.
• The encoder is mounted on the back of the motor (not behind the
gearbox).
• Recommended encoder specification: Quadrature differential (A, A-, B,
B-), Line driver output, Minimum 1000PPR 5V, or 12V signals (12V
preferred).
Configure the Modular Control Profiles

1. Power up the drive and establish a connection with Connected
Components Workbench software.
2. Navigate to the Overview page for the drive. Then click Device
Definition.
3. Then click Dynamic Features.

4. Select Induction FV under Primary Motor Control Mode.
Permanent Magnet motor control mode isn’t compatible with the TorqProve
feature.
5. To accept the change to the motor control selection, click OK.
6. Select Torque Prove under Application Select.
7. Click OK.
The software commits the changes.

8. To navigate to the parameter display, click Parameters in the left pane.
9. Navigate to port 0, which is the Main Product Port.

10. Find parameter 0:33 [VoltageClass Cfg] and enter the configuration for
either Low Voltage or High Voltage.
11. Find parameter 0:35 [Duty Rating Cfg] and enter the configuration.
Heavy Duty is recommended, but not required.
12. Navigate to parameter 0:46 [Velocity Units] and enter the configuration
for Hz or RPM. This is only needed when you’re using RPM.
Cycle Power and Verify the Modular Control Profile Configurations

1. Cycle power or reset the drive (Reset Device) to load the control profiles.
IMPORTANT You must cycle power or reset the drive (Reset Device) to load
the value of these parameters.
2. Re-establish a connection with Connected Components Workbench
software. Navigate to port 0.
3. To verify the configuration, navigate to ‘Actual’ feedback parameters:
0:34 [VoltageClass Act] 0:47 [Vel Units Act] 0:71 [Application Act]
0:36 [Duty Rating Act] 0:66 [Pri MtrCtrl Act]
Configure the Line Side Converter

1. Navigate to port 13, which is the port for Line Side Converter Control.
2. Navigate to the following parameters and enter the data for the
incoming power conditions.
13:30 [Nom Line Freq] 13:32 [AC Line kVA A] 13:34 [AC Line Imped% A]
3. Navigate to parameter 13:104 [Regen Power Lim] and enter a value

of -200%.
Enter the Motor Nameplate Data

1. Navigate to port 10, which is the port for Motor Side Inverter Control.
2. Navigate to the following parameters and enter the data from the motor
nameplate.
10/11:400 [Motor NP Volts] 10/11:403 [Motor NP RPM] 10/11:406 [Motor NP Power]
10/11:401 [Motor NP Amps] 10/11:407 [Motor Poles] 10/11:402 [Motor NP Hertz]
10/11:900 [Motor Inertia] (1)
(1) If the data is not available on the motor nameplate or data sheet, use the following equation to estimate motor
inertia: Motor Inertia = Motor Hp/250 x (Motor Hp/500 + 1)

Configure the Motor Side Inverter

1. Stay at port 10, which is the port for Motor Side Inverter Control.
2. Navigate to parameter 10/11:110 [Mtr Stop Mode A] and enter a value of
1 ‘Ramp’.
3. Navigate to parameter 10/11:229 [Regen Power Lim] and enter a value
of -200%.
4. Navigate to parameter 10/11:204 [Mtr OL Hertz] and enter a value that
reflects the cooling capacity of the motor. See parameter 10/11:204 [Mtr
OL Hertz].
5. Navigate to parameter 10/11:220 [Drive OL Mode] and enter a value of
2 ‘Reduce PWM’.
6. Navigate to parameter 10/11:222 [Current Limit 1] and enter a value equal
to 200% of motor nameplate amps.
7. Navigate to parameter 10/11:256 [OutPhaseLossActn] and enter a value of
3 ‘FltCoastStop’.
8. Navigate to parameter 10/11:116 [Bus Reg Mode A] and enter a value of
0 ‘Disabled’.
9. Navigate to parameter 10/11:913 [Autotune Trq Lim] and enter a value
of 100%.
Configure the Motor Encoder Feedback

2. Navigate to parameter 10/11:1000 [Pri Vel Fb Sel]. Select the encoder
feedback on the feedback card in port 5.
If you’re following the guidelines at the beginning of this procedure

(with a 20-750-ENC-1 in slot 5), the resulting value is 50004 ‘Port 5: Enc 0
FB’. Then enter the two-digit port number for the feedback option card,
and the four-digit parameter number for the parameter that displays the
feedback.
3. Navigate to parameter 10/11:1013 [PReg Fb Sel]. Then enter the same
value that you used for 10/11:1000 [Pri Vel Fb Sel].
4. Navigate to the port that contains the feedback option card. That would
be port 5 when using a 20-750-ENC-1 in slot 5.
5. Configure the parameters on the feedback option card so that they match
the encoder you’re using.
Parameters 5:1 [Encoder Cfg] and 5:2 [Encoder PPR] when using a
20-750-ENC-1 in slot 5.
6. Confirm the value of parameter 5:3 [Fdbk Loss Cfg] is 3 ‘FltCoastStop’.

Autotune the Motor Side Inverter
Follow these Autotune steps to configure the motor side inverter.
Perform Direction Test

IMPORTANT During this test, the drive uses an internal reference that is positive
(forward). During operation and other tests, the drive uses an external
reference that you select. An external reference can include the HIM,
analog input, or communicated reference. The direction of rotation
depends on the polarity (direction) of that external reference. Make sure
the external reference moves the motor in the intended direction.
1. Stay at port 10, which is the port for motor side inverter control.
2. Navigate to parameter 10/11:910 [Autotune] and enter a value of 1
‘Direction Test’.
3. Start the drive. You can use the control bar feature in Connected
Components Workbench software, the start key on the HIM, or the
normal start signal.
4. Verify that the motor direction is forward.
5. Verify the polarity of the encoder feedback.
• Navigate to parameter 10/11:1832 [Enc VRef Sel] and select the encoder
feedback on the feedback card in port 5. For example, the value would
be 50004 ‘Port 5: Enc 0 FB’ when you use a 20-750-ENC-1 in slot 5.
• View the result in parameter 10/11:1834 [Enc VRef].
6. Stop the drive, using the control bar feature in Connected Components
Workbench software, the stop key on the HIM, or the normal stop signal.
7. Address the direction.
• If the direction is forward, proceed to the next step.
• If the direction is reverse, power down and physically reverse the
motor leads.
8. Address the polarity of the feedback signal.
• If the polarity is forward, proceed to the next step.
• If the polarity is reverse, power down and physically reverse the
encoder leads.
Perform the Rotate Motor ID Test

During the Rotate Motor ID Test, the motor rotates for approximately 15
seconds in the commanded direction. It runs at speeds up to 75% of motor
nameplate speed. You can execute this test with a motor that is disconnected
from the crane or with a lightly loaded condition. Lightly loaded conditions
include a motor that is connected to a gearbox, cable drum, or cable and hook.
When the motor is connected to a load, verify that there’s enough travel
distance for the Rotate Motor ID Test sequence to complete. If necessary, run
out the crane hook for more travel distance in the opposite direction.
We recommend that you run the Rotate Motor ID Test. If you can’t perform the
Rotate test to completion, perform the Static Motor ID Test instead.

IMPORTANT Confirm that the Rotate Motor ID Test can be stopped if an end travel
condition is likely to occur.
Confirm that the crane has control of the load at the end of the test.
Manually engage the brake at the end to prevent the load from
dropping.
1. Verify that the brake is disengaged.
2. Navigate to parameter 10/11:1898 [Vel Limit Pos] and enter a value of 40%
of maximum speed.
3. Navigate to parameter 10/11:910 [Autotune] and enter a value of 3 ‘Rotate
MtrID’.
4. Start the drive.
5. When the test is complete, manually engage the brake.
6. Navigate to parameter 10/11:510 [MtrParam C/U Sel]. Select a value of 1
‘User Entered’. This selects the measured results from the Rotate Motor
ID test, instead of the values estimated from the motor nameplate data.
Perform the Static Motor ID Test
Perform this test if you can’t perform the Rotate Motor ID Test. If you can
perform that test, skip to Confirm Flux-up Time.
1. Set the brake.
2. Navigate to parameter 10/11:910 [Autotune] and enter a value of 2 ‘Static
MtrID’.
3. Start the drive.
4. When the test is complete, navigate to parameter 10/11:510 [MtrParam C/
U Sel]. Select a value of 1 ‘User Entered’. This selects the measured results
from the Static Motor ID test, instead of the values estimated from the
motor nameplate data.
Confirm Flux-up Time

1. Navigate to parameter 10/11:432 [c FluxUpTime].
2. If the value is less than 0.05 seconds, change the value of parameter 10/
11:431 [FluxUpTm C/U Sel] to 1 ‘User Entered’. Then set parameter 10/
11:433 [u FluxUpTime] to 0.05 seconds.
Configure the Digital Output for Brake Control

1. Determine whether the logic of the brake control circuit is ‘Active High’
or ‘Active Low’.
‘Active High’ control sets or engages the brake when the signal is
energized.
‘Active Low’ control sets or engages the brake when the signal is de-
energized.
2. Navigate to the port that contains the IO option card.
For example, navigate to port 4 when using a 20-750-2262C-2R in slot 4.

3. Configure the digital output selector to receive control from the correct
bit in the Torque Prove status word.
For example, when using Relay Output 0 on the 20-750-2262C-2R in slot 4

to control the brake, go to parameter 4:10 [RO0 Sel]:

For ‘Active High’ control, set the value to 9:52 [Trq Prove Status] bit 4
‘Brake Set’
or
For ‘Active Low’ control, set the value to 9:52 [Trq Prove Status] bit 8
‘BrakeRelease’.
Configure the Torque Prove Function

1. Navigate to port 9, which is the port for Application Control.
2. Navigate to parameter 9:50 [Trq Prove Cfg]. Set bit 0 ‘TP Enable’.
3. Then set bit 6 ‘BrkSlipStart’.
4. Navigate to the following parameters and enter the data for the crane
application.
9:53 [Trq Lmt SlewRate] 9:54 [Speed Dev Band] 9:55 [SpdBand Intgrtr]
9:60 [Brk Release Time] 9:61 [Brk Set Time] 9:62 [Brk Alarm Travel]
9:63 [Brk Slip Thresh] 9:64 [Brake Test Torq] 9:68 [DI Brake Fdbk]
9:70 [Float Tolerance] 9:71 [MicroPsnScalePct] 9:72 [ZeroSpdFloatTime]
9:78 [DI FloatMicroPsn]
Confirm Configuration
1. Check brake control.
2. Run the crane up and down without the load.
3. Run the crane up and down with the load.
4. If necessary, adjust the acceleration and deceleration times.
10/11:1915 [VRef Accel Time1] 10/11:1917 [VRef Decel Time1]
5. If the 10007 TorqPrv Spd Band fault occurs, investigate the following:
• Verify that the brake is disengaging properly. A faulty brake rectifier
can cause this fault.
• Verify that the current limit isn’t impeding acceleration and
deceleration. The drive is undersized or the acceleration and
deceleration times are too short.
• Verify or adjust parameter 9:54 [Speed Dev Band] and/or parameter
10/11:906 [System BW].
• Verify that the position, velocity, and torque loops are tuned properly.
See the PowerFlex 755T Flux Vector Tuning Manual, publication
750-AT006.
Troubleshooting information can be found in Knowledgebase Article

1061994, PowerFlex 755T in Lifting Applications.

Crane Setup—Encoderless
Review the Attention statement that follows if you intend to use the TorqProve
feature without an encoder.
ATTENTION: You must read the following information before you can use
TorqProve with no encoder.
Encoderless TorqProve must be limited to lifting applications where personal
safety isn’t a concern. Encoders offer additional protection and must be used
where personal safety is a concern. Encoderless TorqProve can’t hold a load
at zero speed without a mechanical brake and does not offer additional
protection if the brake slips/fails. Loss of control in suspended load
applications can cause personal injury and/or equipment damage.
It is your responsibility to configure drive parameters, test any lifting
functionality, and meet safety requirements in accordance with all applicable
codes and standards. If encoderless TorqProve is desired, you must certify
the safety of the application. To acknowledge that you have read this
‘Attention’ and properly certified the encoderless application, set bit 3
‘EnclsTrqProv’ of parameter 10/11:420 [Mtr Cfg Options] to a value of 1. This
action removes Alarm 9014 ‘TP Encls Config’ and allows bit 1 ‘Encoderless’ of
parameter 9:50 [Trq Prove Cfg] to be changed to 1 enabling encoderless
TorqProve.
These setup instructions assume the following.

• The drive is a 755TR regenerative and low harmonic drive.
• Drive and motor size have been carefully selected.
• The drive is at factory defaults.
If not, unplug the output relay terminal block and issue a reset to factory
defaults for the HOST and all PORTS. Plug the terminal block back in.
• Programming is done via the Connected Components Workbench
software.
• Crane control is done via Run forward/Run Reverse inputs.
• The drive is equipped with an I/O card, such as a 20-750-2262C-2R, in
port (slot) 4. Mechanical brake control is wired to Output Relay 0 on that
card.
ATTENTION: Loss of control in suspended load applications can cause

must always control the loads. Parameters 9:60 [Brk Release Time]…78 [DI
FloatMicroPsn] are designed for lifting/torque prove applications. It’s the
responsibility of the engineer and/or end user to configure drive parameters,
test any lifting functionality and meet safety requirements in accordance with
all applicable codes and standards.

Configure the Modular Control Profiles

1. Power up the drive and establish a connection with Connected
Components Workbench software.
2. Navigate to the Overview page for the drive. Then click Device
Definition.
3. Then click Dynamic Features.
4. Select Induction FV under Primary Motor Control Mode.
Permanent Magnet motor control mode isn’t compatible with the TorqProve
feature.

5. To accept the change to the motor control selection, click OK.
6. Select Torque Prove under Application Select.
7. Click OK.
The software commits the changes.

8. Navigate to the parameter display by clicking Parameters in the left-hand
pane.
9. Navigate to port 0, which is the Main Product Port.

10. Find parameter 0:33 [VoltageClass Cfg] and enter the configuration for
Low Voltage or High Voltage.
11. Find parameter 0:35 [Duty Rating Cfg] and enter the configuration.
Heavy Duty is recommended, but not required.
12. Navigate to parameter 0:46 [Velocity Units] and enter the configuration
for Hz or RPM. This is only needed when you are using RPM.

Cycle Power and Verify the Modular Control Profile Configurations

1. Cycle power or reset the drive (Reset Device) to load the control profiles.
IMPORTANT You must cycle power or reset the drive (Reset Device) to load
the value of these parameters.
2. Re-establish a connection with Connected Components Workbench
software. Navigate to port 0.
3. To verify the configuration, navigate to ‘Actual’ feedback parameters:
0:34 [VoltageClass Act] 0:47 [Vel Units Act] 0:71 [Application Act]
0:36 [Duty Rating Act] 0:66 [Pri MtrCtrl Act]
Configure the Line Side Converter

1. Navigate to port 13, which is the port for Line Side Converter Control.
2. Navigate to the following parameters and enter the data for the
incoming power conditions.
13:30 [Nom Line Freq] 13:32 [AC Line kVA A] 13:34 [AC Line Imped% A]
3. Navigate to parameter 13:104 [Regen Power Lim] and enter a value

of -200%.
Enter the Motor Nameplate Data

1. Navigate to port 10, which is the port for Motor Side Inverter Control.
2. Navigate to the following parameters and enter the data from the motor
nameplate.
10/11:400 [Motor NP Volts] 10/11:403 [Motor NP RPM] 10/11:406 [Motor NP Power]
10/11:401 [Motor NP Amps] 10/11:407 [Motor Poles] 10/11:402 [Motor NP Hertz]
10/11:900 [Motor Inertia] (1)
(1) If the data is not available on the motor nameplate or data sheet, use the following equation to estimate motor
inertia: Motor Inertia = Motor Hp/250 x (Motor Hp /500 + 1)
Configure the Motor Side Inverter

2. Navigate to parameter 10/11:110 [Mtr Stop Mode A] and enter a value of 1
‘Ramp’.
3. Navigate to parameter 10/11:229 [Regen Power Lim] and enter a value
of -200%.
4. Navigate to parameter 10/11:204 [Mtr OL Hertz] and enter a value that
reflects the cooling capacity of the motor.
5. Navigate to parameter 10/11:220 [Drive OL Mode] and enter a value of
2 ‘Reduce PWM’.
6. Navigate to parameter 10/11:222 [Current Limit 1] and enter a value equal
to 200% of motor nameplate amps.
7. Navigate to parameter 10/11:256 [OutPhaseLossActn] and enter a value of
3 ‘FltCoastStop’.
8. Navigate to parameter 10/11:116 [Bus Reg Mode A] and enter a value of
0 ‘Disabled’.
9. Navigate to parameter 10/11:913 [Autotune Trq Lim] and enter a value
of 100%.

Autotune the Motor Side Inverter
Follow these Autotune steps to configure the motor side inverter.
Perform the Direction Test
IMPORTANT During this test, the drive uses an internal reference that is positive
(forward). During operation and other tests, the drive uses an external
reference that you select. An external reference can include the HIM,
analog input, or communicated reference. The direction of rotation
depends on the polarity (direction) of that external reference. Make
sure the external reference moves the motor in the intended direction.
2. Navigate to parameter 10/11:910 [Autotune] and enter a value of 1
‘Direction Test’.
3. Start the drive. You can use the control bar feature in Connected
Components Workbench software, the start key on the HIM or the
normal start signal.
4. Verify that the motor direction is forward.
5. Verify the polarity of the encoder feedback.
• Navigate to parameter 10/11:1832 [Enc VRef Sel] and select the encoder
feedback on the feedback card in port 5. The value would be 50004
‘Port 5: Enc 0 FB’ when using a 20-750-ENC-1 in slot 5.
• View the result in parameter 10/11:1834 [Enc VRef].
6. Stop the drive from the control bar feature in Connected Components
Workbench software, the stop key on the HIM, or the normal stop signal.
7. Address the direction.
• If the direction is forward, proceed to next step.
• If the direction is reverse, power down and physically reverse the
motor leads.
Perform the Rotate Motor ID Test
During the Rotate Motor ID Test, the motor rotates for around 15 seconds in
the commanded direction. It runs at speeds up to 75% of motor nameplate
speed. You can execute this test with the motor that is disconnected from the
crane or with a lightly loaded condition. Lightly loaded conditions include
motor that is connected to gearbox, cable drum, or cable and hook.
If the motor is connected to a load, determine whether there’s enough travel

distance for the Rotate Motor ID Test sequence to complete. If necessary, run
the crane hook to top or bottom for more travel distance in the opposite
direction.
It’s preferable to run the Rotate Motor ID Test. If you can’t perform the Rotate
test to completion, perform the Static Motor ID Test instead.
IMPORTANT Verify that the Rotate Motor ID Test can be stopped if an end travel
condition is likely to occur.
Verify that the crane has control of the load at the end of the test.
Manually engage the brake at the end to prevent the load from
dropping.

1. Verify that the brake is disengaged.

2. Navigate to parameter 10/11:1898 [Vel Limit Pos] and enter a value of 40%
of maximum speed.
3. Navigate to parameter 10/11:910 [Autotune] and enter a value of 3 ‘Rotate
MtrID’.
4. Start the drive.
5. When the test is complete, manually engage the brake.
6. Navigate to parameter 10/11:510 [MtrParam C/U Sel]. Select a value of 1
‘User Entered’. This selects the measured results from the Rotate Motor
ID test, instead of the values estimated from the motor nameplate data.
Perform the Static Motor ID Test

Perform this test if you can’t perform the Rotate Motor ID test. If you can
perform the Rotate Motor ID test, skip to Confirm Flux-up Time.
1. Set the brake.
2. Navigate to parameter 10/11:910 [Autotune] and enter a value of 2 ‘Static
MtrID’.
3. Start the drive.
4. When the test is complete, navigate to parameter 10/11:510 [MtrParam C/
U Sel]. Select a value of 1 ‘User Entered’. This selects the measured results
from the Static Motor ID test, instead of the values estimated from the
motor nameplate data.
Confirm Flux-up Time

1. Navigate to parameter 10/11:432 [c FluxUpTime].
2. If the value is less than 0.05 seconds, change the value of parameter 10/
11:431 [FluxUpTm C/U Sel] to 1 ‘User Entered’. Then set parameter 10/
11:433 [u FluxUpTime] to 0.05 seconds.
Configure the Digital Output for Brake Control

1. Determine whether the logic of the brake control circuit is ‘Active High’
or ‘Active Low’.
‘Active High’ control sets or engages the brake when the signal is
energized.
‘Active Low’ control sets or engages the brake when the signal is de-
energized.
2. Navigate to the port that contains the IO option card.
For example, navigate to port 4 when using a 20-750-2262C-2R in slot 4.

3. Configure the digital output selector to receive control from the correct
bit in the Torque Prove status word.
For example, when using Relay Output 0 on the 20-750-2262C-2R in slot 4
to control the brake, go to parameter 4:10 [RO0 Sel]:
For ‘Active High’ control, set the value to 9:52 [Trq Prove Status] bit 4
‘Brake Set’
or
For ‘Active Low’ control set the value to 9:52 [Trq Prove Status] bit 8
‘BrakeRelease’.

Configure the Torque Prove Function

1. Navigate to port 9, which is the port for Application Control.
2. Navigate to parameter 9:50 [Trq Prove Cfg].
a. Set bit 0 ‘TP Enable’
b. Set bit 1 ‘Encoderless’
c. Set bit 5 ‘BrkSlipEncls’
IMPORTANT An alarm indicates that the drive is in the state that is described on
page 184. Carefully read the Attention statement and acknowledge it by
setting the required parameter.
3. Navigate to the following parameters and enter the data for the crane
application.
9:53 [Trq Lmt SlewRate] 9:54 [Speed Dev Band] 9:55 [SpdBand Intgrtr]
9:60 [Brk Release Time] 9:61 [Brk Set Time] 9:62 [Brk Alarm Travel]
9:63 [Brk Slip Thresh] 9:64 [Brake Test Torq] 9:68 [DI Brake Fdbk]
9:70 [Float Tolerance] 9:71 [MicroPsnScalePct] 9:72 [ZeroSpdFloatTime]
9:78 [DI FloatMicroPsn]
Confirm Configuration
1. Check brake control.
2. Run crane up and down without load.
3. Run crane up and down with load.
4. If necessary, adjust the acceleration and deceleration times.
10/11:1915 [VRef Accel Time1] 10/11:1917 [VRef Decel Time1]
5. If the 10007 TorqPrv Spd Band fault occurs, investigate the following:
• Verify that the brake is disengaging properly. A faulty brake rectifier
can prevent the brake from disengaging.
• Verify that the current limit isn’t impeding acceleration and
deceleration. The drive is undersized or the acceleration and
deceleration times are too short.
• Verify or adjust parameter 9:54 [Speed Dev Band] and/or parameter
10/11:906 [System BW].
• Verify that the position, velocity, and torque loops are tuned properly.
See the PowerFlex 755T Flux Vector Tuning Manual, publication
750-AT006.
Troubleshooting information can be found in Knowledgebase Article

1061994, PowerFlex 755T in Lifting Applications.

Anti-Sway Applications Anti-Sway is a PowerFlex 755T drive feature that helps to minimize the
pendulum effect that can occur when a trolley/gantry of a crane/hoist system
moves a suspended load. The distance between the trolley and the load
determines the sway frequency. This frequency can be notched from the
velocity/position command of the drive so that the pendulum effect on the load
isn’t excited because of a horizontal move. The pendulum can still be excited
from external disturbances such as wind or from nonzero initial conditions
like picking up a load off center.
Reference Notch Filters
Reference notch filters are the main feature that is used to control sway by
suppressing the sway frequency during position/velocity reference changes.
There are two notch filters in the reference path that modify the ramped
reference profile. Values of notch filter parameters can be entered manually or
calculated automatically based on hoist cable length.
Velocity Reference (%)
Ramped Ref
Filtered Ref
Time (ms)
The reference notch filters are applied to the horizontally moving axes, that is
the trolley and gantry sections of a crane.
• Reference notch filters can be applied to V/Hz, Sensorless Vector, and
Flux Vector motor control modes
• Reference notch filters only affect the motion of the axis due to changing
speed references.
• Reference notch filters can be applied to velocity, position, and process
control reference sources.
• Anti-sway control doesn’t use any load sway feedback sensors.
• Anti-sway control can’t compensate for sway induced by external forces
such as wind or unbalanced loads.

Trolley Motion
Trolley
Gantry
Hoist
Payload
Payload Trajectory
Gantry Motion
Gantry Track
The PowerFlex 755T with TotalFORCE control includes tunable reference notch
filters that are in the velocity, position, and process control reference paths
after the ramp generator.
Two separate reference notch filters (NF1 and NF2) are provided to tune the
anti-sway control more closely for varying or unknown sway frequencies.
Figure 64 - Velocity Reference—Flux Vector
(Running) Velocity Ramp and Move Profiles (VRef Move)

VRef OverRide
16 (Testpoint 39) = Vel Ctrl Options
OR Velocity Ref (Delayed Ref)
9 CAM (13)?
VRef Ramp In 1950 8
1923 VRef Ramped
1
1 0 Proc 2 [C2] 0
Virtual Encoder
0
0
VRef Delayed
One 1
LinScurve 1924
Scan
SineSquared Delay PRef 1 [C5]
Virtual Enc EPR Virtual Enc Psn
Poly5 (Edges Per Rev)
Cubic 1018 1046
931 One
1017
Ref NF2 Freq 948 Ref Move Type Scan
Ref NF2 Width 949 Delay Virtual EncDelay
Virtual Encoder
PRef 1 [C5]
Ref NF2 Depth 950 1
Ref NF2 Gain 951
VRef Filtered
VRef NF In
1925
36
Ref NF2 Ref NF1
Accel FF Output
Velocity Comp
2070
Vel Comp Sel
0
1927
Accel FF Output Not Used
1 0
0 Trq Ref [A2] Vel Comp Out
Ramped Ref 1 d 1930 From Anti-Sway [D2]
140 Cur Lmt Stop dt VRef Psn FF
OR Rate Ref 2 35 1760 c Vel FF Gain
1931 Speed 954 Ref NF1 Freq Act
0
130 LineLoss Act Comp
956 Ref NF1 Depth Act
x 1761 u Vel FF Gain
FF Vel Rate Ref
c Vel Comp Gain 1928 1 Vel FF
957 Ref NF1 Gain Act 0
u Vel Comp Gain 1929 943 Ref NF1 Width PRef 1 [I5]
354 17 1752

Notch Filters are band attenuating filters that allow frequencies above and
below the filter center frequency to pass unattenuated. Frequencies near the
center frequency are sharply attenuated.
Notch Filter
Bandwidth
Amplitude
Notch Filter
Frequency
Frequency
-3 dB
Notch Filter
Damping
Calculating the Sway Frequency
The reference notch filter frequency is set to the swinging pendulum

frequency of the payload that is attached to the hoist axis.
The reference notch filter frequency (f) calculation in [Hz] is a function of cable
length (L) and the acceleration of gravity (g).
1 g
f = ------ --
2 L
Where…
f = filter center frequency in Hertz
g = acceleration due to gravity 9.81 m/sec2, 32.17 ft/sec2, 386.09 in/sec2
L = length from cable pivot point to load center of gravity (meters, feet, or
inches)
Motion
Load
The mass or weight of the Load does not affect the notch filter frequency
calculation.

When performing this calculation, you can use any set of consistent unit
systems.
If cable lengths can’t be measured, estimate the reference notch filter

frequency experimentally by displacing the load to an initial angle and let it
oscillate for a time period (t) seconds while counting the number of swings (n).
With this knowledge, frequency is derived as:
f = n
--
t
Cable Length Variation
Knowing the accurate cable length is important as it affects the center

frequency of the notch filter.
Based on the application, the cable length can vary between a minimum and
maximum length (Lmin and Lmax), which results in a varying sway frequency.
The range of such length change can determine the system configuration.
A larger variation of cable length can result in a larger variation in frequency.
Lmin
Load
Lmax
Load
The following experimental result shows how deviation from the actual cable
length affects the sway magnitude when the filter frequency does not
accurately match the sway oscillation frequency. The sway magnitude
increases as the cable length error becomes higher as shown in Figure 65.
Figure 65 - Sway Magnitude (Degrees) vs. Cable Length Error (Percent)

8
7
6
Sway Magnitude (Degrees)
5
4
3
2
1
0
-60% -40% -20% 0% 20% 40% 60%
Cable Length Implied by Notch Filter / True Cable Length

Reference Notch Filter Configurations
Different applications have different variations of cable length. Based on these

variations there are three configurations.
Single Filter—One Fixed Frequency

• Simple method offers good compensation, minimal impact on move
times
• Filter frequency is based on maximum cable length (Lmax)
• Load sway varies as cable length changes
Dual Filters—Two Fixed Frequencies

• Improves compensation, reduces variation in load sway
• One filter frequency is based on the maximum cable length (Lmax)
• The other filter frequency is based on the average cable length (Lavg)
• Can increase move times
Single Filter—Variable Frequency Hoist Cable Length Feedback

• Best compensation, variable frequency calculation as cable length
changes
• The filter frequency is dynamically varied between the minimum cable
length (Lmin) and maximum cable length (Lmax)
• More complex, requires hoist encoder feedback and Logix controller
Single Filter—One Fixed Frequency
In this configuration, one of the reference notch filters is set to match the
maximum crane length (Lmax).
This method provides good anti-sway compensation and fast settling time for
moderate variations in hoist cable length.
NF1 reference notch filter frequency calculation.
1 g
f  NF1  = ------ -------------
2 Lmax
Load
Lmax
Load

Example: Lmax = 20 meters, g = 9.81 meter/sec2

1 g 1 9.81
f  NF1  = ------ ------------- = ------ -------- = 0.111Hz
2 Lmax 2 20
NF1 reference notch filter frequency parameter settings.

• 10/11:966 [Crane Length 1] = 0 (cable length is manually calculated)
• 10/11:942 [Ref NF1 Freq] = 0.111 (from calculation)
• 10/11:943 [Ref NF1 Width] = 0.707 (default)
• 10/11:944 [Ref NF1 Depth] = 0.0 (default)
• 10/11:945 [Ref NF1 Gain] = 1.0 (default)
Second reference notch filter isn’t used.

• 10/11:948 [Ref NF2 Freq] = 0.0 (default)
Dual Filters—Two Fixed Frequencies
With this configuration, one of the reference notch filters is set to match the
average cable length (Lavg).
The other reference notch filter is set to match the maximum cable length
(Lmax).
This method provides better anti-sway compensation than the single filter but
can cause longer move times.
Reference Notch Filter NF1 and NF2 calculation.
1 g
f  NF1  = ------ ------------------------------------------
2  Lmin + Lmax   2
1 g
f  NF2  = ------ -------------
2 Lmax
Lmin
Load
(Lmin + Lmax)/2
Lmax
Load
Example: Lmin = 1 meter, Lmax = 20 meters, g= 9.81 m/sec2

1 g 1 9.81
f  NF1  = ------ ------------------------------------------ = ------ ------------------------ = 0.154Hz
2  Lmin + Lmax   2 2  1 + 20   2
1 g 1 9.81
f  NF2  = ------ ------------- = ------ -------- = 0.111Hz
2 Lmax 2 20

First reference notch filter Frequency is set for average L frequency

• 10/11:966 [Crane Length 1] = 0 (cable length is manually calculated)
Second reference notch filter is set for Lmax frequency

Single Filter—Variable Frequency Hoist Cable Length Feedback

In this configuration, one reference notch filter is set dynamically as the length
of the Hoist crane cable changes between minimum length (Lmin) and
maximum length (Lmax).
This method provides the lowest load sway magnitude over the hoist crane
length of motion.
One reference notch filter frequency is dynamically varied in response to the
Hoist crane length feedback.
1 g
f  NF1  = ------ --
2 L
Lmin
Load
Lmax
Load
Where…
g = acceleration due to gravity 9.81 m/sec2
L = actual cable length in meters
This approach requires a Logix controller with hardware interconnection and/

or communication links.
The encoder position feedback from the hoist drive is sent via a DataLink to the
Logix controller.
Within a Logix controller, the hoist encoder position feedback is used to
generate and scale the crane length (L) length in meters.
The instantaneous crane length (L) is then sent via DataLinks to trolley and/or
gantry drives.

Hoist Cable Drum Gear Reducer n:1
Hoist Motor Trolley Motor Gantry Motor
E M E M E M
Crane Logix Controller

Length (L)
Hoist Encoder Feedback Hoist Crane Length
Logix Controller Programming:

• Assign Hoist motor encoder feedback to DataLink
• Logix program task calculates and scales Hoist encoder counts to crane
length (L) in meters
• Assign crane length to DataLinks for trolley and gantry drives
Within the Logix controller program task, calculate the cable length from hoist
motor encoder feedback. We can assume a linear relationship between the
crane length (L) and the encoder counts (X), as:
Xcurrent – Xoffset
CraneLength  L  = ------------------------------------------
CalConst
Where…
L = current crane length in meters
Xcurrent = current hoist motor encoder feedback counts
Xoffset = hoist motor encoder offset counts
Cal Const = encoder calibration constant in counts/meter
The value of Xoffset must be set such that when the hoist is at maximum
operating height the crane length (L) is equal the measured Lmin from the pivot
point in meters.
It’s important that the crane length (L) isn’t equal to or less than zero.
To find the calibration constant (Cal Const), two given points are required: L1
and L2, which can be obtained by measuring the cable length at two arbitrary
points and capturing the corresponding hoist encoder counts, X1 and X2.

Determine the crane length calibration constant, Cal Const, in counts/meter:
CalConst = ---------------------
X2 – X1 
-
 L2 – L1 
Load
L1
Corresponding to X1 counts
L2
Corresponding to X2 counts
Load
Where…
Cal Const = encoder calibration constant in counts/meter
X1 = encoder counts at L1
X2 = encoder counts at L2
L1 = crane length at X1 in meters
L2 = crane length at X2 in meters
Within the trolley and/or gantry drives, the instantaneous cable length
DataLink is assigned to parameter 10/11:966 [Crane Length 1]
Figure 66 - Automatic Calculation from Cable Length

Crane Length 1
966
1 g ≠0
NF1 freq = 954 Ref NF1 Freq Act
2π Crane Length1
0
g = earth acceleration gravity (i.e. 9.81 m/s^2) Ref NF1 Freq 942
≠0
0 956 Ref NF1 Depth Act
0
Ref NF1 Depth 944
1 ≠0
957 Ref NF1 Gain Act
0
Ref NF1 Gain 945
The trolley and/or gantry drives use the data in parameter 10/11:966 [Crane
Length 1] to calculate the frequency for reference notch filter NF1 dynamically.
1 g
10/11:954 [Ref NF1 Freq Act = -----
- --
2 L
Where…
g = acceleration due to gravity 9.81 m/sec2
L = 10/11:966 [Crane Length 1] in meters

Automatic Reference Notch Filter Frequency

• 10/11:966 [Crane Length 1] (DataLink)
• 10/11:954 [Ref NF1 Freq Act] = 10/11:966 [Crane Length 1]
• 10/11:956 [Ref NF1 Depth Act] = 0
• 10/11:957 [Ref NF1 Gain Act] = 1.0

Dynamic Braking When an induction motor’s rotor is turning slower than the synchronous
speed set by the drive’s output power; the motor is transforming electrical
energy that is obtained from the drive into mechanical energy available at the
drive shaft of the motor. This process is referred to as motoring.
When the rotor is turning faster than the synchronous speed set by the drive’s
output power, the motor is transforming mechanical energy available at the
drive shaft of the motor into electrical energy that can be transferred back into
the utility grid. This process is referred to as regeneration.
On most AC PWM drives, the AC power available from the fixed frequency
utility grid is first converted into DC power with a diode rectifier bridge or
controlled SCR bridge, before being inverted into variable frequency AC
power. These diode or SCR bridges are cost-effective, but can handle power in
only one direction, and that direction is the motoring direction. If the motor is
regenerating, the bridge is unable to conduct the necessary negative DC
current, and the DC bus voltage increases until the drive trips on an over
voltage fault.
There are bridge configurations that use either SCRs or transistors that can
transform DC regenerative electrical energy into fixed frequency utility
electrical energy but are expensive. A more cost-effective solution is to provide
a transistor chopper on the DC bus of the AC PWM drive that feeds a power
resistor, which transforms the regenerative electrical energy into thermal heat
energy, which is dissipated into the local environment.
This process is called dynamic braking, with the chopper transistor and related
control and components that are called the chopper module, and the power
resistor called the dynamic brake resistor. The entire assembly of a chopper
module with dynamic brake resistor is sometime referred to as the dynamic
brake module. More modern AC PWM drives have a dedicated IGBT built into
the package for dynamic braking. The rest of this topic discusses drives that
have a seventh IGBT.

How it Works
There are two different types of control for dynamic braking, hysteretic control
and PWM control. Each used by themselves in a standard, standalone product
has no advantage over the other. The preferred control is the PWM method
when the application is a common DC bus. A description of this advantage
follows.
Hysteretic Control
The hysteretic method of dynamic braking uses a voltage sensing circuit to

monitor the DC bus. As the DC bus voltage increases to the Vdc_on level the
brake IGBT is turned on and is left on until the voltage drops to the Vdc_off
level, which isn’t so desirable in common DC bus applications (see the
following graph).
Vdc
Vdc
Vdc_on
Vdc_off
on
off t
Switched from 50 Hz to 100 Hz

PWM Control
This type of control that operates the brake IGBT is similar to the way the
output voltage to the motor is controlled. As the DC bus voltage increases and
reaches some predetermined limit, the brake IGBT is turned on/off according
to a control algorithm switched at 1 kHz. This type of control virtually
eliminates bus ripple. The significant advantage is when this type of control is
used in a common bus configuration.
Vdc
Vdc_on+25
Vdc_on+25 –2.5
Vdc_on
t
Brake IGBT
on
off t
Duty Cycle
Linear PWM Hysteretic Full on
100%
90%
Duty Cycle
750 772.5 775

DC Bus Voltage

Common DC Bus Applications
In a common bus configuration, when a dynamic braking resistor is installed

on each drive on a shared DC bus, it’s possible that the brake IGBT in other
drives won’t turn on. The impression is that the drive isn’t functioning
correctly or that one drive’s brake IGBT is failing while the other drives are
fine. The following diagram, shows the DC bus level for two drives on a
common bus. The delta between these voltages is exaggerated for clarity. As
the voltage increases, the Drive #1 IGBT turns on and decreases the voltage
level before Drive #2 sees voltage high enough to be told to turn on. The result
is Drive #1 does all dynamic braking. Now this situation could be acceptable as
long as the minimum ohmic value for resistance isn’t violated and the
regeneration event isn’t so great that one resistor can’t handle the power. If
there’s a large regeneration event where the voltage continues to rise after
Drive #1 has turned on, Drive #2 fires its IGBT when it reaches the voltage
limit.
Vdc
Vdc_on
Vdc_off
DB IGBT
Drive #1
on
off t
DB IGBT
Drive #2
on
off t

Here are two drives with PWM DB control on a common bus. Because one
drive turns on at a certain duty cycle, the bus voltage is likely to continue to rise
guaranteeing that the other drive’s IGBT turns on (at another duty cycle).
Vdc
Drive #2
Vdc_on
Vdc_off
Vdc
Drive #1
DB IGBT
Drive #1
on
off t
DB IGBT
Drive #2
on
off t
How to Select A Chopper Module and Dynamic Brake Resistor
In general, the dynamic brake resistor value can be estimated by using the
motor power rating, speed, torque, and regenerative mode of operation. A rule
of thumb to use is that a dynamic brake module resistor can be specified when
regenerative energy is dissipated on an occasional or periodic basis. When a
drive is consistently operating in the regenerative mode of operation, consider
using equipment that transforms the electrical energy back to the fixed
frequency utility.
The peak regenerative power of the drive must be calculated to determine the
maximum Ohmic value of the dynamic brake resistor. A range of allowable
dynamic brake ohmic values is now known. These values exist from the
minimum value set by the transistor current rating to a maximum value set by
the peak regenerative power that the drive develops to decelerate or satisfy
other regenerative applications. If a dynamic brake resistance value less than
the minimum imposed by the AC drive’s specification is applied, damage can
occur to the transistor. If a dynamic brake resistance value greater than the
maximum imposed by the choice of the peak regenerative drive power is
applied, the drive can trip due to transient DC bus overvoltage problems. Once
the choice of the approximate Ohmic value of the dynamic brake resistor is
made, the wattage rating of the dynamic brake resistor can be determined.

The wattage rating of the dynamic brake resistor is estimated by applying the
knowledge of the drive motoring and regeneration modes of operation. The
average power dissipation of the regeneration mode must be estimated and
the wattage of the chosen dynamic brake resistor to be slightly greater than the
average power dissipation of the drive. If the dynamic brake resistor has a
large thermodynamic heat capacity, the resistor element is able to absorb a
large amount of energy without the temperature of the resistor element
exceeding the operational temperature rating. Thermal time constants of 50
seconds and higher satisfy the criteria of large heat capacities for these
applications. If a resistor has a small heat capacity, the temperature of the
resistor element could exceed the maximum temperature limits during the
application of pulse power to the element and could exceed the safe
temperature limits of the resistor.
The peak regenerative power can be calculated in English units (horsepower),

in The International System of Units, SI (watts), or in the per unit system (pu),
which is dimensionless usually. In any event, the final number must be in
watts. Calculations in the following examples are demonstrated in SI units.
Speed, Torque, Power Profile
The following figure is a typical dynamic braking application. The top trace
represents speed and is designated by the omega symbol. In the profile, the
motor is accelerated to a speed, it holds that speed, and is then decelerated.
This deceleration isn’t necessarily to zero speed. The cycle is then repeated.
The middle trace represents motor torque. Torque starts out high as the motor
is accelerated then drops down to maintain the commanded speed. Then the
torque turns negative as the motor is decelerated. The cycle is then repeated.
The bottom trace represents motor power. Power increases as the motor speed
increases. Power decreases some to maintain the commanded speed then goes
negative when deceleration starts. Point -Pb is the first value that must be
calculated. The cycle is then repeated.

w(t)
0 t1 t2 t3 t4 t1 + t4 t
T(t)
0 t1 t2 t3 t4 t1 + t4 t
P(t)
0 t1 t2 t3 t4 t1 + t4 t
-Pb
To size the dynamic brake, gather the following information.

• The nameplate power rating of the motor in watts, kilowatts, or
horsepower.
• The nameplate speed rating of the motor in rpm or rps.
• The motor inertia and load inertia in kilogram-meters2, or lb•ft2.
• The gear ratio, if a gear is present between the motor and load, GR.
• Review the speed, torque power profile of the application.
The equations that are used for calculating dynamic braking values use the
following variables.
2N
w(t) = The motor shaft speed in radians/second, or Rad  s = ----------
60
N(t) = The motor shaft speed in revolutions per minute (rpm)
T(t) = The motor shaft torque in Newton-meters, 1.0 lb•ft = 1.355818 N•m
P(t) = The motor shaft power in watts (1.0 Hp = 746 watts)
-Pb = The motor shaft peak regenerative power in watts

Internal Brake IGBT for PowerFlex 755TS Drives
Step 1 – Determine the Total Inertia
JT = Jm + GR2 x JL
JT = Total inertia reflected to the motor shaft, kg•m2 or lb•ft2
Jm = motor inertia, kg•m2 or lb•ft2
GR = The gear ratio for any gear between motor and load, dimensionless
JL = load inertia, kg•m2 or lb•ft2 (1.0 lb•ft2 = 0.04214011 kg•m2)
Step 2 – Calculate the Peak Braking Power
JT   2
P b = ---------------
-
t3 – t2
JT = Total inertia reflected to the motor shaft, kg•m2
 = Rated angular rotational speed, Rad  s = 2N

----------
60
N = Rated motor speed, rpm
t3 - t2 = Total time of deceleration from the rated speed to 0 speed in seconds
Pb = Peak braking power, watts (1.0 Hp = 746 watts)
Compare the peak braking power to that of the rated motor power, if the peak
braking power is greater that 1.5 times that of the motor, then the deceleration
time, (t3 - t2), needs to be increased so that the drive does not go into current
limit. Use 1.5 times because the drive can handle 150% current maximum for 3
seconds.
Peak power can be reduced by the losses of the motor and inverter.

Step 3 – Calculating the Maximum Dynamic Brake Resistance Value

2
V
R db1 = -------d
Pb
Vd = The value of DC bus voltage that the drive regulates at and is equal to
375V DC, 750V DC, or 937.5V DC depending on input voltage
Pb = The peak braking power calculated in step 2
Rdb1 = The maximum allowable value for the dynamic brake resistor
Choose a dynamic brake resistance value that is less than the value calculated
in step 3. If the value is greater than the calculated value, the drive can trip on a
DC bus overvoltage fault. Remember to account for resistor tolerances.
Step 4 – Determine the Minimum Resistance
Each drive with an internal dynamic brake IGBT has a minimum resistance
that is associated with it. The dynamic brake resistor can be damaged if a
resistance lower than the minimum value for a given drive is connected. The
following is a table of minimum resistances for PowerFlex 755TS drives,
frames 1...7.
Brake Resistance for 400/480V Drives
400V 480V
Frame Min Max DB Max Duty Min Max DB Max Duty
ND kW Catalog Code ND Hp Catalog Code
Resistance Current Cycle Resistance Current Cycle
0.75 C2P1 79.0 10 0.453 1.0 D2P1 79.0 10 0.453
1.5 C3P5 79.0 10 0.453 2.0 D3P4 79.0 10 0.453
2.2 C5P0 79.0 10 0.453 3.0 D5P0 79.0 10 0.453
1
4 C8P7 52.7 15 0.453 5.0 D8P0 52.7 15 0.453
5.5 C011 31.6 25 0.453 7.5 D011 31.6 25 0.453
7.5 C015 31.6 25 0.453 10 D014 31.6 25 0.453
0.75 C2P1 31.6 25 0.4844 1.0 D2P1 31.6 25 0.4844
1.5 C3P5 31.6 25 0.4844 2.0 D3P4 31.6 25 0.4844
2.2 C5P0 31.6 25 0.4844 3.0 D5P0 31.6 25 0.4844
2 4 C8P7 31.6 25 0.4844 5.0 D8P0 31.6 25 0.4844
5.5 C011 31.6 25 0.4844 7.5 D011 31.6 25 0.4844
7.5 C015 31.6 25 0.4844 10 D014 31.6 25 0.4844
11 C022 22.6 34.9 0.5603 15 D022 22.6 34.9 0.5603
15 C030 31.6 25 0.9857 20 D027 31.6 25 0.9857
18.5 C037 31.6 25 0.9857 25 D034 31.6 25 0.9857
3
22 C043 16.6 47.6 0.9857 30 D040 16.6 47.6 0.9857
30(1) C061(1) 15.8 50 0.9857 40(1) D053(1) 15.8 50 0.9857

Brake Resistance for 400/480V Drives (Continued)

400V 480V
Frame Min Max DB Max Duty Min Max DB Max Duty
ND kW Catalog Code ND Hp Catalog Code
Resistance Current Cycle Resistance Current Cycle
30 C060 15.8 50 0.9392 40 D052 15.8 50 0.9392
37 C072 15.8 50 0.9392 50 D065 15.8 50 0.9392
4
37(2) C073(2) 12 65.8 0.9392 50(2) D066(2) 12 65.8 0.9392
45 C086 12 65.8 0.9288 60 D078 12 65.8 0.9288
37 (2) C075 (2) 7.9 100 0.8279 50 (2) D065 (2) 7.9 100 0.8279
5 45 C085 7.9 100 0.8279 60 D077 7.9 100 0.8279
55 C104 7.9 100 0.8279 75 D096 7.9 100 0.8279
(2) C104 (2) 3.3 239.4 0.912 75 (2) D096(2) 3.3 239.4 0.912
55
75 C140 3.3 239.4 0.912 100 D125 3.3 239.4 0.912
6 90 C170 3.3 239.4 0.912 125 D156 3.3 239.4 0.912
110 C205 3.3 239.4 0.912 150 D186 3.3 239.4 0.912
132 C260 3.3 239.4 0.912 200 D248 3.3 239.4 0.912
132 (2) C260 (2) 2.4 329 0.78 200 (2) D248 (2) 2.4 329 0.78
160 C302 2.4 329 0.78 250 D302 2.4 329 0.78
7 200 C367 2.4 329 0.78 300 D361 2.4 329 0.78
250 C456 1.65 478.8 0.78 350 D415 1.65 478.8 0.78
270 C477 1.65 478.8 0.78 400 D477 1.65 478.8 0.78
(1) IP20/IP00, NEMA/UL Open Type (enclosure code N).
(2) IP54, NEMA/UL Type 12 (enclosure code G).
Step 5 – Choosing the Dynamic Brake Resistance Value
To avoid damage to this transistor and get the desired braking performance,
select a resistor with a resistance between the maximum resistance that is
calculated in step 3 and the minimum resistance of the drive IGBT.
Step 6 – Estimating the Minimum Wattage requirements for the dynamic

brake resistor
It’s assumed that the application exhibits a periodic function of acceleration

and deceleration. If (t3 - t2) = the time in seconds necessary for deceleration
from rated speed to 0 speed, and t4 is the time in seconds before the process
repeats itself, then the average duty cycle is (t3 - t2)/t4. The power as a function
of time is a linearly decreasing function from a value equal to the peak
regenerative power to 0 after (t3 - t2) seconds have elapsed. The average power
regenerated over the interval of (t3 - t2) seconds is Pb/2. The average power in
watts that are regenerated over the period t4 is:
 t3 – t2  Pb
P av = -----------------  -----
t4 2
Pav = Average dynamic brake resistor dissipation, in watts
t3 - t2 = Elapsed time to decelerate from rated speed to 0 speed, in seconds

t4 = Total cycle time or period of process, in seconds
Pb = Peak braking power, in watts
The dynamic brake resistor power rating in watts that is chosen will be equal to
or greater than the value calculated in step 6.
Step 7 – Calculate the requires Watt-Seconds (joules) for the resistor
To be sure the resistor’s thermal capabilities are not violated, a calculation to

determine the amount of energy dissipated into the resistor is made. This
determines the amount joules the resistor must be able to absorb.
Pb
P ws =  t 3 – t 2   -----
2
Pws = Required watt - seconds of the resistor
t3 - t2 = Elapsed time to decelerate from wb speed to w0 speed, in seconds
Pb = Peak braking power, in watts

Dynamic Bus Control Applications with cyclic speed and load fluctuations such as servo presses and
high-speed cut-to-length systems often have high motoring and regenerative
peak torque demands applied within one cycle of machine operation. This type
of load typically has a fixed mass (inertia) and low losses. To reduce the power
converter peak power demand, large DC bus capacitor banks are employed
that are designed to absorb regenerative (deceleration) energy from the load
then transfer energy to the load during motoring (acceleration) periods of the
cycle.
Typical active front end converter systems attempt to regulate the DC Bus
voltage to a setpoint. When in this mode the active front end converter
attempts to control the DC Bus to this level whether the drive is motoring or
regenerating. The following illustrative plots show a typical cyclical load speed/
torque profile with standard internal DC bus capacitance and DC bus voltage
regulation enabled. This results in high peak motoring and regenerative
Converter AC Input Power peak demands required to regulate the DC bus
voltage.
Load Velocity
t
0
Motor %
Load Torque
t
0
Regen %
Active Converter Bus

Voltage Regulation
DC Bus Voltage
t
0
Motor %
Converter AC
Input Power
t
0
Regen %

Applications with cyclic speed and load profiles, such as servo presses and
rotary shears can use additional DC bus capacitance to soften the peak
motoring and regeneration AC line power demand.
Figure 67 - DC Bus Voltage Regulation
3-Phase Bus Supply Converter

Source
L1
Large Motor
Losses
L2 External
Capacitor Regen
Dynamic Bus Control
(DCB) Bank Load
L3
+DC
PE c M
-DC
AC Inverter
PowerFlex 755TL/TR Drive
PowerFlex 755TM Bus Supply
Dynamic bus control was designed to allow the active front end converter to
tolerate cyclic fluctuations in DC bus voltage due to energy exchanging from
the load to the DC bus capacitor bank with minimal converter motoring or
regenerative power exchange with the AC line. Because the converter is
supplying system losses the rating of the bus supply converter and AC supply
may be reduced. The following illustrative plots show the same load speed/
torque profile as the example above but with an external DC bus capacitor
bank and Dynamic Bus Control enabled. The peak Converter AC Input Power
is significantly reduced compared to the DC Bus Voltage Regulation depicted
in Figure 67.

Load Velocity
t
0
Motor %
Load Torque
t
0
Regen %
DC Bus Voltage
Dynamic Bus Control

DC Bus Voltage Fluctuation t
0
Motor %
Converter AC
Input Power
t
0
Regen %
• Dynamic bus control for PowerFlex 755TL low harmonic drives adjusts
the motoring power limits based on DC bus voltage.
• Dynamic bus control for the PowerFlex 755TM regenerative bus supply
and PowerFlex 755TR regenerative drives adjusts the motoring and
regeneration power limits based on the DC bus voltage.
• Dynamic bus control has ‘Linear’ and ‘Non-linear’ modes to tailor the
control for different applications. There are three DC bus voltage
thresholds that are used as transition points to change the converter
power limits. These points are defined steps in the linear mode and a
curve that is based on power limits and voltage setpoints in non-linear
mode. Depending on the DC bus voltage feedback, Dynamic Bus Control
selects the high or low voltage thresholds as the DC bus voltage regulator
setpoints.

General setting guidelines for Dynamic Bus Control threshold voltage

parameters:
• DC Bus Reference Select, parameter 13:45 [DC Bus Ref Sel] = 4 ‘DBC
Control’
• Dynamic Bus Control Mode, parameter 13:61 [DBC Mode Sel] = 0 ‘Linear’,
1 = ‘Nonlinear’
• Low bus voltage threshold, parameter 13:62 [DBC V Thresh Lo] = 13:25
[Rated Volts] × √2 × 0.98 (Rated Volts is based on PowerFlex 755TM
Voltage Class). For 480V AC, 480V × √2 × 0.98 = 665V DC
• High bus voltage threshold, parameter 13:63 [DBC V Thresh Hi] = Default
× 0.95 (Default is based on PowerFlex 755TM Voltage Class). For 480V AC,
790V DC × 0.95 = 750V DC
Converter Rating 0:33 [VoltageClass Cfg] Default Maximum

400/480V 0 ‘Low Voltage’ 650V DC 650V DC
400/480V 1 ‘High Voltage’ 790V DC 790V DC
• Nominal bus voltage threshold, parameter 13:64 [DBC V Thresh Nom] =
Default × 0.93 (Default is based on PowerFlex 755TM Voltage Class). For
480V AC, 741V DC × 0.93 = 689V DC
Converter Rating 0:33 [VoltageClass Cfg] Default Maximum

400/480V 0 ‘Low Voltage’ 613.5V DC 650V DC
Linear Mode
Select Linear Mode for applications that require a rapid transition from low
power limits to maximum power limit, such as when the bus supply is used as a
regenerative brake.
The setpoints for motor and regen are Low, Nominal, and High for
determining the motoring or regeneration power limits.
• For motoring at or below 13:62 [DBC V Thresh Lo] bus limit, use 13:105
[Motor Power Lmt].
• For motoring above 13:62 [DBC V Thresh Lo] and up to 13:64 [DBC V
Thresh Nom], use 13:330 [DBC NomMtrPwrLm].
• For motoring above 13:64 [DBC V Thresh Nom], use 13:331 [DBC
IdleMtrPwrLm].
• For regeneration at or above 13:63 [DBC V Thresh Hi], use 13:104 [Regen
Power Lmt].
• For regeneration from 13:63 [DBC V Thresh Hi] to 13:64 [DBC V Thresh
Nom], use 13:332 [DBC NomRgnPwrLm].
• For regeneration below 13:64 [DBC V Thresh Nom], use 13:333 [DBC
IdleRgnPwrLm].
The Dynamic Bus Control is most stable if the motoring and regenerative
power limit parameters are not set numerically less than 5%.

The following graphic shows the Linear mode of Dynamic Bus Control. This
could be used with a large DC bus capacitor bank application. With a DC bus
capacitor bank, the setpoints for power would be used for both motoring and
regeneration. In this example the motoring and regeneration power transfer is
limited in range between DC bus voltage low and high thresholds.
• The DC bus voltage is allowed to fluctuate due to energy transfer to and
from the load and the capacitor bank with minimal allowed power
transfer to/from the AC line (grey filled area).
• If the DC bus voltage drops below the low threshold maximum motoring
power is allowed to transfer from the AC line (blue filled area).
• If the DC bus voltage rises above the high threshold the maximum
regeneration power is allowed to transfer to the AC line (yellow filled
area).
Recommended Settings:
• 13:105 [Motor Power Lmt] = 100%
• 13:330 [DBC NomMtrPwrLm] = 25%
• 13:331 [DBC IdleMtrPwrLm] = 5%
• 13:104 [Regen Power Lmt] = -100%
• 13:332 [DBC NomRgnPwrLm] = -25%
• 13:333 [DBC IdleRgnPwrLm] = -5%
Voltage Class). For 480V AC = 480V AC √2 × 0.98 = 665V DC
DC Bus Voltage × 0.95 (Default is based on PowerFlex 755TM Voltage
Class). For 480V AC, 790V DC × 0.95 = 750V DC
Default DC Bus Voltage × 0.93 (Default is based on PowerFlex 755TM
Voltage Class). For 480V AC, 741V DC × 0.93 = 689V DC
(+) Motoring Power Limit
13:105 [Motor Power Lmt] Maximum Allowed

Power Transfer from
AC Line (Motoring)
Bus Voltage Fluctuation Range Minimal

Allowed Power Transfer to/from AC Line
(Motoring and Regeneration)
13:330 [DBC NomMtrPwrLm]
13:331 [DBC IdleMtrPwrLm] DC Bus

0 Voltage
13:333 [DBC IdleRgnPwrLm]
13:62 [DBC V Thresh Lo] 13:64 [DBC V Thresh Nom] 13:63 [DBC V Thresh Hi]
13:332 [DBC NomRgnPwrLm]
Maximum Allowed
Power Transfer to AC
Line (Regeneration)
13:104 [Regen Power Lmt]

(-) Regeneration Power Limit

When a PowerFlex 755TM regenerative bus supply is paralleled with a non-

regenerative bus supply converter (Diode/SCR rectifier) the regenerative bus
supply Dynamic Bus Control is configured for Regen Braking using Linear
Mode operation.
For a Regen Brake mode operation, you would set the motoring idle, nominal
and high power limits to minimum (5%). The regenerative idle and nominal
power limits would be set to -5% and the high power set to the desired
regenerative brake level (-100%). The converter supports minimal motoring
power in this configuration. All motoring power must be supplied by the non-
regenerative bus supply converter.
Recommended Settings:
• 13:105 [Motor Power Lmt] = 13:330 [DBC NomMtrPwrLm] = 13:331 [DBC
IdleMtrPwrLm] = 5%
• 13:104 [Regen Power Lmt] = -100%
• 13:332 [DBC NomRgnPwrLm] = 13:333 [DBC IdleRgnPwrLm] = -5%
Voltage Class). For 480V AC = 480V AC √2 × 0.98 = 665V DC
DC Bus Voltage × 0.95 (Default is based on PowerFlex 755TM Voltage
Class). For 480V AC, 790V DC × 0.95 = 750V DC
Default DC Bus Voltage × 0.93 (Default is based on PowerFlex 755TM
Voltage Class). For 480V AC, 741V DC × 0.93 = 690V DC
The following graphic shows the Dynamic Bus Control settings for Regen
Brake control. In this example the regenerative bus supply motoring and
regeneration power transfer is limited in range below the DC bus voltage high
threshold.
• If the DC bus voltage is below the high threshold, minimum motoring
and regeneration power transfer is allowed from/to from the AC line
(gray filled area).
• If the DC bus voltage rises above the high threshold regeneration power
is allowed to transfer to the AC line (yellow filled area).

Bus Voltage Fluctuation Range Minimal

Allowed Power Transfer to/from AC Line
(Motoring and Regeneration)
13:105 [Motor Power Lmt]
13:330 [DBC NomMtrPwrLm]
13:331 [DBC IdleMtrPwrLm] DC Bus
0 Voltage
13:62 [DBC V Thresh Lo] 13:63 [DBC V Thresh Hi]
Maximum Allowed
Power Transfer to AC
Line (Regeneration)

Non-Linear Mode
Non-linear Dynamic Bus Control is similar to linear mode except the DC bus
voltage and power limit transition points are based on a curve instead of
discrete switching points. Non-linear bus control provides a smoother
converter AC input current during DC bus voltage reference and power limit
transitions. Select non-linear mode for applications that have large external
DC bus capacitor banks and controlled requirements for limiting power such
as a servo press or rotary shear.
The combination of the low, nominal, and high voltage thresholds and the idle,
nominal, and high motor/regen power limits shape the curve of the non-linear
operation of the Dynamic Bus Control.
Below is an example of the constantly changing power limits. The curves in

this example are equal but is not a requirement.

13:105 [Motor Power Lmt]
Allowed Power Transfer from

13:330 [DBC NomMtrPwrLm] AC Line (Motoring)
13:331 [DBC IdleMtrPwrLm]

DC Bus
0 Voltage
13:62 [DBC V Thresh Lo] 13:64 [DBC V Thresh Nom] 13:63 [DBC V Thresh Hi]
Allowed Power
Transfer to AC Line
(Regeneration)

Nominal power limits and nominal voltage level parameters have the largest
effect on the power curves. Changing the values can create curves as in the two
curve examples that follow. The dynamic bus control is most stable if the
motoring and regenerative power limit parameters are not set numerically less
than 5%.
Motoring and Regenerating Power Limits versus Bus Voltage
Regen Power Limit

Motoring Power Limit
Per Unit Power Limit 1.0 = 100%
DC Bus Voltage

Motoring and Regenerating Power Limits versus Bus Voltage
Regen Power Limit

Motoring Power Limit
Per Unit Power Limit 1.0 = 100%
DC Bus Voltage

Carrier (PWM) Frequency Parameter 10/11:425 [PWM Frequency] sets the carrier frequency at which the
inverter output IGBTs (insulated gate bipolar transistors) switch. In general,
the lowest possible switching frequency that is acceptable for any particular
application is the one to use. An increased carrier frequency causes less motor
heat and lowers the audible noise from the motor. However, an increased
carrier frequency does cause the IGBTs to heat up faster than by using the
factory default PWM frequency of 4 kHz or 2 kHz depending on the frame size.
The higher switching frequency smooths the current waveform and therefore
creates less vibration in the motor windings and laminations and lower
audible noise. Lower audible noise is desirable in some applications such as
motors installed close to control rooms or in domestic environments. Because
a higher carrier frequency creates more IGBT heating, derating is required.
See Figure 68 and Figure 69. Note the output current at 2 kHz and 4 kHz. The
“smoothing” of the current waveform continues up to 12 kHz. The maximum
carrier frequency per frame size and the derating guidelines according to
PWM frequency can be found in the product technical data.
• For PowerFlex 755T products see the PowerFlex 750-Series Products with
TotalFORCE Control Technical Data, publication 750-TD100.
• For PowerFlex 755TS products see the PowerFlex 755TS Products with
TotalFORCE Control, publication 750-TD104.
Figure 68 - Current at 2 kHz PWM Frequency
Figure 69 - Current at 4 kHz PWM Frequency
Some undesirable effects of higher switching frequencies include higher cable

charging currents, higher potential for common mode noise and an increased
risk of motor winding insulation breakdown due to the reflected wave
phenomenon. See the Wiring and Grounding Guidelines for Pulse-width

Modulated (PWM) AC Drives, publication DRIVES-IN001, for further

information. Most drive applications perform adequately at 2 kHz or 4 kHz.
Some applications require a fixed minimum PWM frequency such as using a

sine wave filter in the output of the drive. In this case, set parameter 10/11:420
[Mtr Cfg Options] bit 9 ‘PWM FreqLock’ to keep the drive from lowering its
carrier frequency due to a drive overload condition.
Analog Inputs Analog Inputs for the PowerFlex 755TS drive are available with user installed
option modules. There are two analog inputs per I/O module. Up to four I/O
modules can be mounted in the drive ports. There is also an eight input option
module available from Spectrum Controls. See the PowerFlex 750-Series I/O,
Feedback, and Power Option Modules Installation Instructions, publication
750-IN111, for valid ports. Accessing the analog input parameters is done by
selecting the port that the module is mounted in, then accessing the Analog
Input group of parameters. See the PowerFlex Drives with TotalFORCE
Control Parameters Reference Data, publication 750-RD101, for parameter
descriptions.
Inputs are isolated, bipolar, differential, with 11 bit and sign resulting in 2048
steps.
• 4.88 mV resolution for 0…10v signals
• 0.0078125 mA resolution for 4…20 mA signals
Option modules provide the analog input value for use within the drive as well
as performing several basic functions.
• Analog Input type selection
• Analog Input Filter
• Analog Input Loss Detection
• Analog Input Square Root function
• Analog Scaling
Analog Input Type Selection
Analog Input type is determined based on the hardware jumper position on

the option module. There is one jumper per input, and each is independently
configured. The status of the jumpers can be viewed in option module
parameter nn:45 [Anlg In Type].
Figure 70 - 22-Series I/O Option Module Input Mode Jumpers
Jumper Position Voltage Mode Current Mode
Ai1 Ai1
Ai0 Ai0

Analog Input Filter
A filter is provided for each analog input signal using parameters for filter
Gain and Bandwidth(rad/s). A gain value of zero results in first order low pass
filter behavior. Gain values between zero and one result in a lag type filter. A
gain value of one will disable the filter. Bandwidth sets the frequency range of
the filter. A value of zero will disable the filter. By default this filter is disabled
and can be enabled by changing option module parameters nn:55 [Anlg In0 Filt
Gn], nn:56 [Anlg In0 Filt BW], nn:65 [Anlg In1 Filt Gn], and nn:66 [Anlg In1 Filt
BW].
• For a light filter use a gain of 0.7 and a bandwidth of 35
• For a heavy filter use a gain of 0.5 and a bandwidth of 20
Analog Input Loss Detection
Signal loss detection can be enabled for each analog input. Parameter nn:47
[Anlg In Loss Sts] bits 0, 1, 2 indicate if the signal is lost. Bit 0 indicates that one
or both signals are lost. Parameters nn:53 [Anlg In0 LssActn] and nn:63 [Anlg
In1 LssActn] define what action the drive takes when loss of any analog input
signal occurs. Signal loss is defined as an analog signal that is less than 1V or 2
mA. The signal loss event ends and normal operation resumes when the input
signal level is greater than or equal to 1.5V or 3 mA.
• ‘Alarm’ (1) – Type 1 alarm indicated.
• ‘Flt Minor’ (2) – Minor fault indicated. Minor faults prevent the drive
from starting. They do not stop the drive, if it is already running. You
must clear the fault to start or run.
• ‘FltCoastStop’ (3) – Major fault indicated. Coast to Stop.
• ‘Flt RampStop’ (4) – Major fault indicated. Ramp to Stop.
• ‘Flt CL Stop’ (5) – Major fault indicated. Current Limit Stop.
• ‘Hold Input’ (6) – Holds input at last value.
• ‘Set Input Lo’ (7) – Sets input to nn:52 [Anlg In0 Lo] or nn:62 [Anlg In1 Lo].
• ‘Set Input Hi’ (8) – Sets input to nn:51 [Anlg In0 Hi] or nn:61 [Anlg In1 Hi].
If the input is in Current mode, 4 mA is the normal minimum usable input

value. Any value below 3.2 mA is interpreted by the drive as a signal loss, and a
value of 3.8 mA is required on the input for the signal loss condition to end.
If the input is in Unipolar Voltage mode, 2V is the normal minimum usable

input value. Any value below 1.6V is interpreted by the drive as a signal loss,
and a value of 1.9V is required on the input for the signal loss condition to end.
No signal loss detection is possible while an input is in Bipolar Voltage mode.
The signal loss condition never occurs even if signal loss detection is enabled.
Square Root
The square root function can be applied to each analog input through the use
of nn:46[Anlg In Sqrt]. The function should be enabled if the input signal varies
with the square of the quantity (e.g. drive speed) being controlled. A common

example is the differential pressure flow meter, where measured differential

pressure is proportional to the square of the flow. Without a square root
function in the meter, the result is error between min and max flow which can
be corrected by taking the square root of the signal.
If the mode of the input is bipolar voltage (-10V…+10V), then the square root
function returns 0 for all negative voltages.
The function takes square root of the raw analog value as compared to its full
scale as defined in the following equation. Note this function does not scale
based on Anlg In Hi or Anlg In Lo, so the full range of the input is expected.
Ana log InRawValue
Ana log InValue = ----------------------------------------------  10Vor20mA
10Vor20mA
10
Analog In Value (Square Root Function 9

8
7
6
5
4
3
2
1
0
0 1 2 3 4 5 6 7 8 9 10
Analog In Raw Value
Analog Scaling
[Anlg Inn Lo]

[Anlg Inn Hi]
A scaling operation is performed on the value read from an analog input to

convert it to units usable for some purpose. Control the scaling by setting
parameters that associate a low and high analog value (in volts or mA) with a
low and high target (in Hz).
In the following examples the option module port is denoted as nn.
Example 1
• nn:45 [Anlg In Type], bit 0 = 0 ‘Voltage’
• 10/11:1800 [VRef A Sel] = nn:60 [Anlg In1 Value]
• 10/11:1802 [VRef A AnlgHi] = 60 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
• nn:61 [Anlg In1 Hi] = 10V
• nn:62 [Anlg In1 Lo] = 0V

This is the default setting, where 0V represents 0 Hz and 10V represents 60 Hz

providing 2048 steps between 0 and 60 Hz.
10
9
8
7
6
Input Volts
5
4
3
2
1
0
0 10 20 30 40 50 60
Output Hertz
Example 2
Consider the following setup:

• 10/11:1802 [VRef A AnlgHi] = 60 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
• 10/11:1898 [Vel Limit Pos] = 45 Hz
• 10/11:1900 [Vel Low Lim Pos] = 15 Hz
nn:61 [Anlg In1 Hi] 10:1900 [Vel Low Lim Pos] 10/11:1898 [Vel Limit
10V
Motor Operating Range

Frequency Deadband Frequency Deadband
0…2.5 Volts 7.5…10 Volts
Command Frequency
nn:62 [Anlg In1 Lo]
0V
0 Hz 15 Hz 45 Hz 60 Hz
10/11:1803 [VRef A AnlgLo] Slope defined by (Analog Volts)/(Command Frequency) 10/11:1802 [VRef A AnlgHi]
In this example, a deadband from 0…2.5V and from 7.5…10V is created.

Alternatively, the analog input deadband could be eliminated while
maintaining the 15 and 45 Hz limits with the following changes:
• 10/11:1803 [VRef A AnlgLo] = 15 Hz
• 10/11:1802 [VRef A AnlgHi] = 45 Hz

Example 3
• 10/11:1802 [VRef A AnlgHi] = 30 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
This is an application that requires only 30 Hz as a maximum output frequency

but is still configured for full 10V input. The result is that the resolution of the
input has been doubled, providing 2048 steps between 0 and 30 Hz.
10
9
8
7
6
Analog In Value
5
4
3
2
1
0
0 10 20 30 40 50 60
Output Hz
Example 4
• nn:45 [Anlg In Type], bit 0 = 1 ‘Current’
• 10/11:1802 [VRef A AnlgHi] = 60 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
• nn:61 [Anlg In1 Hi] = 20 mA
• nn:62 [Anlg In1 Lo] = 4 mA
This configuration is referred to as offset. In this case, a 4…20 mA input signal

provides 0…60 Hz output, providing a 4 mA offset in the speed command.
20
18
16
14
12
Analog In Value
10
8
6
4
2
0
0 10 20 30 40 50 60
Output Hz

Example 5
• 10/11:1802 [VRef A AnlgHi = 0 Hz
• 10/11:1803 [VRef A AnlgLo] = 60 Hz
This configuration is used to invert the operation of the input signal. Here,
maximum input (10V) represents 0 Hz and minimum input (0V) represents 60
Hz.
10
9
8
7
Analog IN Value 6
5
4
3
2
1
0
0 10 20 30 40 50 60
Output Hz
Example 6
• 10/11:1802 [VRef A AnlgHi = 60 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
This configuration is used when the input signal is 0…5V. Here, minimum
input (0V) represents 0 Hz and maximum input (5V) represents 60 Hz. This
provides full scale operation from a 0…5V.
5
4.5
4
3.5
3
Analog In Value
2.5
2
1.5
1
0.5
0
0 10 20 30 40 50 60
Output Hz

Example 7
• 10/11:2000 [Trq Ref A Sel] = nn:60 [Anlg In1 Value]
• 10/11:2002 [Trq Ref A AnlgHi] = 200%
• 10/11:2003 [Trq Ref A AnlgLo] = 0%
This configuration is used when the input signal is 0…10V. The minimum
input of 0V represents a torque reference of 0% and maximum input of 10V
represents a torque reference of 200%.
10
9
8
7
Input Volts 6
5
4
3
2
1
0
0 20 40 60 80 100 120 140 160 180 200
Torque Ref %
Example 8
• 10/11:1802 [VRef A AnlgHi] = 60 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
• nn:46[Anlg In Sqrt] bit 0 = 1
This configuration is used to perform the square root function on the input
signal. Here, 0V represents 0 Hz and 10V represents 60 Providing a square root
action throughout the input range. Note that Anlg In Value maintains a linear
relationship with Output Hz.
Analog In Value Analog In Raw Value
10
9
8
7
6
Analog In Value
5
4
3
2
1
0
0 10 20 30 40 50 60
Output Hz

Example 9
• 10/11:1802 [VRef A AnlgHi] = 60 Hz
• 10/11:1803 [VRef A AnlgLo] = 0 Hz
• nn:46[Anlg In Sqrt] bit 0 = 1
This configuration is used to perform the square root function on the input
signal. Here, 0V represents 0 Hz and 10V represents 120 Providing a square
root action throughout the input range. Note the output Hz are limited by
combination of nn:61 [Anlg In0 Hi] and 10/11:1802 [VRef A AnlgHi].
nn:50 [Anlg In0 Value] nn:54 [Anlg In0 Raw]
10
9
8
7
6
5
Volts
4
3
2
1
0
0 10 20 30 40 50 60
Output Hz

Analog Outputs There are two analog outputs per I/O module. Up to five I/O modules can be
mounted in the drive ports. See the PowerFlex 750-Series I/O, Feedback, and
Power Option Modules installation instructions, publication 750-IN111 for
valid ports. Accessing the analog output parameters by selecting the port that
the module is mounted in then accessing the Analog Output group of
parameters.
Table 41 - Analog Output Specifications
Related
Terminal Name Description
Param (4)
Sh Terminating point for wire shields when
Shield an EMC plate or conduit box is not
Sh installed.
Ptc– Motor PTC (–) Motor protection device (Positive 40
Ptc+ Motor PTC (+) Temperature Coefficient). on Port X
Ao0– Analog Out 0 (–) 75
Bipolar, ±10V, 11 bit & sign, 2 k ohm on Port X
Ao0+ Analog Out 0 (+) minimum load.
Ao1– Analog Out 1 (–) 4-20 mA, 11 bit & sign, 400 ohm maximum
load. 85
Ao1+ Analog Out 1 (+) on Port X
Sh
Sh
–10V –10 Volt Reference 2k ohm minimum.
PTC–
PTC+
Ao0–
10VC 10 Volt Common For (–) and (+) 10 Volt references.
Ao0+
Ao1–
Ao1+ +10V +10 Volt Reference 2k ohm minimum.
–10V
10VC
+10V Ai0– Analog Input 0 (–) Isolated (2), bipolar, differential, 11 bit & 50, 70
sign. on Port X
Ai0–
Ai0+
Ai0+ Analog Input 0 (+)
Voltage mode: ±10V @ 88k ohm input
Ai1–
Ai1+
Ai1– Analog Input 1 (–) impedance.

24VC
60, 70
+24V
Current mode: 0-20 mA @ 93 ohm input

DiC
on Port X
Di0
Di1
Di2 Ai1+ Analog Input 1 (+) impedance.
Di3
Di4
Di5
24VC 24 Volt Common Drive supplied logic input power.
200 mA max per I/O module
+24V +24 Volt DC 600 mA max per drive
Di C Digital Input Common Common for Digital Inputs 0…5
Di 0 Digital Input 0 (1)
24V DC - Opto isolated
Di 1 Digital Input 1 (1) Low State: less than 5V DC
Di 2 Digital Input 2 (1) High State: greater than 20V DC 11.2 mA
DC 1
on Port X
Di 3 Digital Input 3 (1) 115V AC, 50/60 Hz (3) - Opto isolated
Low State: less than 30V AC
Di 4 Digital Input 4 (1) High State: greater than 100V AC
Di 5 Digital Input 5 (1)
(1) Digital Inputs are either 24 Volts DC (2262C) or 115 Volts AC (2262D) based on module catalog number. Be sure applied voltage
is correct for I/O module.
(2) Differential Isolation - External source must be maintained at less than 160V with respect to PE. Input provides high common
mode immunity.
(3) For CE compliance use shielded cable. Do not exceed 30 m (98 ft) cable length.
(4) I/O Module parameters also have a Port designation.

Analog Output Configuration
Parameters nn:75 and nn:85 [Anlg Outn Select] are use to specify the signal used
on Analog Outputs 1 and 2, respectively. These parameters can be programmed
to the following selections.
Parameter No. Parameter Name

0:3 DC Bus Volts
nn:50 Anlg In0 Value
nn:60 Anlg In1 Value
10/11:1 Output Frequency
10/11:2 Output Voltage
10/11:3 Output Current
10/11:4 Output Power
10/11:5 Output Pwr Factr
10/11:8 Torque Cur Fb
10/11:9 Flux Cur Fb
10/11:207 Mtr OL Counts
10/11:208 Mtr OL Trip Time
10/11:357 Drive OL Count
10/11:362 Heatsnk Temp Pct
10/11:1044 Motor Vel Fb
10/11:1834 Enc VRef
10/11:1914 VRef Commanded
10/11:2036 LdObs Torque Est
10/11:2057 FrctnComp Out
10/11:2073 Trq Commanded
Scaling
The scaling for the analog output is defined by entering analog output voltages
into two parameters, nn:91 [Anlg Out1 Lo] and nn:90 [Anlg Out1 Hi]. These two
output voltages correspond to the bottom and top of the possible range
covered by the quantity being output. Scaling of the analog outputs is
accomplished with low and high analog parameter settings that are associated
with fixed ranges for each target function (see the PowerFlex Drives with
TotalFORCE Control Programming Manual, publication 750-PM101).
Additionally, PowerFlex 755T products contain an adjustable scale factor to
override the fixed target range. Parameter nn:77 [Anlg Out0 Data] and
nn:82 [Anlg Out0 Val] are described in the following charts.

Case 1…4
77 [Anlg Out0 Data] 78 [Anlg Out0 DataHi] 79 [Anlg Out0 DataLo] 82 [Anlg Out0 Val] 80 [Anlg Out0 Hi] 81 [Anlg Out0 Lo] 76 [Anlg Out0 Stpt]
Case 1: This shows nn:77 [Anlg Out0 Data] the units are consistent with the
selection of nn:75 [Anlg Out0 Sel]. In this case, the analog out select is set to 10/
11:1044 [Motor Vel Fb] and the units are in rpm. Parameter nn:80 [Anlg Out0
Hi], nn:81 [Anlg Out0 Lo], nn:78 [Anlg Out0 DataHi], and nn:79 [Anlg Out0
DataLo] are all at default. The motor was started and ramped to 1800 rpm.
Note that nn:82 [Anlg Out0 Val] remained zero.
Case 2: Here the nn:80 [Anlg Out0 Hi] is changed to 9 and nn:81 [Anlg Out0 Lo]
is changed to 1. As the motor ramps up and down, there is no change in the
value or scaling of nn:77 [Anlg Out0 Data]. Note that nn:82 [Anlg Out0 Val] is
still zero.
Case 3: Now nn:78 [Anlg Out0 DataHi] is changed to 1800 and nn:79 [Anlg Out0
DataLo] is left at zero. When started, nn:82 [Anlg Out0 Val] starts at 1 and
reaches 9 when the motor speed is at maximum.
Case 4: In this section the nn:80 [Anlg Out0 Hi] and nn:81 [Anlg Out0 Lo] were
reversed in value. Now when the motor ramps up and down nn:82 [Anlg Out0
Val] is just the opposite. It starts out at 9 and is at 1 at full speed.

Case 5
77 [Anlg Out0 Data] 78 [Anlg Out0 DataHi] 79 [Anlg Out0 DataLo] 82 [Anlg Out0 Val]
[Anlg Outn Sel] = Mtr Vel
[Anlg Outn DataHi] = 1500
[Anlg Outn Val]

[Anlg Outn DataLo] = 500
When the motor speed reaches 500 rpm, [Anlg Outn Val] begins to increase from 0.
When the motor speed reaches 1500 rpm, [Anlg Outn Val] is at maximum of 10.

Case 6
77 [Anlg Out0 Data] 78 [Anlg Out0 DataHi] 79 [Anlg Out0 DataLo] 82 [Anlg Out0 Val] 80 [Anlg Out0 Hi] 81 [Anlg Out0 Lo]
[Anlg Outn Hi] = 8

[Anlg Outn Lo] = 2
[Anlg Outn DataHi] = 1500

[Anlg Outn DataLo] = 500
[Anlg Outn Val]

When the motor speed reaches 500 rpm, [Anlg Outn Val] begins to increase from 2.
When the motor speed reaches 1500 rpm, [Anlg Outn Val] is at maximum of 8.
Absolute (Default)
Certain quantities used to drive the analog output are signed, for example the
quantity can be both positive and negative. You have the option of having the
absolute value (value without sign) of these quantities taken before the scaling
occurs. Absolute value is enabled separately for each analog output via the bit
enumerated nn:71 [Analog Out Abs].
Setpoint
Setpoint is a possible source for an analog output. It can be used to control an

analog output from a communication device using a DataLink. For Analog Out
0, change nn:75 [Anlg Out0 Sel] to nn:76 [Anlg Out0 Stpt]. Then map a datalink
to nn:76 [Anlg Out0 Stpt] and you’ll be able to drive the analog output over a
network. To configure Analog Out 1 to use a setpoint, change nn:85[Anlg Out1
Sel] to nn:86 [Anlg Out1 Stpt] and map a datalink to nn:86 [Anlg Out1 Stpt].

Digital Inputs Physical inputs are programmed to desired digital input functions. These
parameters cannot be changed while the drive is running.
Technical Information
The PowerFlex 755T drive has one digital input on its main control board:
• Di0 - configured for 115V AC or 24V DC
- Shared common (Di C) between Di 0ac and Di 0dc terminals
- TB1 - bottom of the main control board
There are also PowerFlex 750-Series option modules that expand the amount
of digital inputs that can be used.
20-750-2262C-2R / 20-750-2263C-1R2T
• Six 24V DC input terminals:
- Labeled as Di 0, Di 1, Di 2, Di 3, Di 4, and Di 5
- Shared common (Di C)
- TB1 - front of the option module
20-750-2262D-2R
• Six 115V AC input terminals:
- Labeled as Di 0, Di 1, Di 2, Di 3, Di 4, and Di 5
- Shared common terminal (Di C)
- TB1 - front of the option module
PowerFlex 750-Series Option Modules I/O TB1 wiring examples are included in
the PowerFlex 750-Series I/O, Feedback, and Power Option Modules
Installation Instructions, publication 750-IN111.
Configuration
Digital inputs can be programmed to a desired function defined by the

parameters in the following table. These parameters cannot be changed while
the drive is running.
Number Parameter Name Number Parameter Name Number Parameter Name

0:103 DI M Enable 0:151 DI M MOP Inc 0:853 DI Abort Profile
0:105 DI L Enable (1) 0:152 DI M MOP Dec 0:854 DI Del Override
0:108 DI M Stop 0:160 DI M SpTqPs Sel0 0:855 DI StrtStep Sel0
0:109 DI M Stop Mode B 0:161 DI M SpTqPs Sel1 0:856 DI StrtStep Sel1
0:110 DI M CurLmt Stop 0:163 DI M BusRegMode 0:857 DI StrtStep Sel2
0:111 DI M Coast Stop 0:164 DI M PwrLossMode 0:858 DI StrtStep Sel3
0:112 DI L Stop (1) 0:166 DI M Pwr Loss 0:859 DI StrtStep Sel4
0:114 DI Clear Fault 0:167 DI M TorqueStptA 0:860 DI Step 1
0:115 DI Aux Fault 0:169 DI Mtr Ctrl Sel 0:861 DI Step 2
0:116 DI Regen OK (1) 0:170 DI Find Home 0:862 DI Step 3
0:117 DI M Start 0:171 DI Return Home 0:863 DI Step 4
0:118 DI M HOA Start 0:172 DI Redefine Psn 0:864 DI Step 5

Number Parameter Name Number Parameter Name Number Parameter Name

0:119 DI L Start (1) 0:173 DI OL Home Limit 0:865 DI Step 6
0:120 DI M Run 0:176 DI Indx Step 0:866 DI Step 7
0:123 DI L Run (1) 0:177 DI Indx StepRev 0:867 DI Step 8
0:124 DI M Jog 1 0:178 DI Indx StepPrst 0:868 DI Step 9
0:127 DI M Jog 2 0:180 DI FwdEndLimit 0:869 DI Step 10
0:130 DI M Fwd Reverse 0:181 DI FwdDecLimit 0:870 DI Step 11
0:132 DI M Manual Ctrl 0:182 DI RevEndLimit 0:871 DI Step 12
0:134 DI EmergencyOVRD 0:183 DI RevDecLimit 0:872 DI Step 13
0:135 DI Energy Pause 0:184 DI PHw OvrTrvl 0:873 DI Step 14
0:140 DI M Speed Sel 0 0:185 DI NHw OvrTrvl 0:874 DI Step 15
0:141 DI M Speed Sel 1 0:190 DI Precharge 0:875 DI Step 16
0:142 DI M Speed Sel 2 0:191 DI Prchrg Seal 0:880 DI PCAM Start
0:144 DI M Accel Time 0:851 DI Hold Step 0:883 DI VCAM Start
0:145 DI M Decel Time 0:852 DI Abort Step 0:886 DI TqCAM Start
(1) These parameters are only available on Active Front End drives.
Operation for DI Run type parameters can be defined by 0:101 [Digital In Cfg]:
• ‘Run Edge’ (0) – Control function requires a rising edge (open to close
transition) for the drive to run.
• ‘Run Level’ (1) – As long as a separate "Stop" command is not issued, the
level alone (no rising edge required) determines whether the drive runs.
When set to 1 ‘Run Level’ the absence of a run command is indicated as a
stop asserted and 10/11:354 [Motor Side Sts 1] bit 0 is low.
ATTENTION: 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.
Functional Descriptions
DI M Enable
Closing this input lets the drive run when a Start command is issued. If the
drive is already running when this input is opened, the drive will coast stop
and indicate ‘not enabled’ on the HIM (if present). This is not considered a
fault condition, and no fault is generated. If this function is not configured,
the drive is considered enabled.
IMPORTANT If the ENABLE Jumper on the main control board is removed, the
Di 0 becomes a hardware enable. Di 0 is found on TB1 on the main
control board.
A combination of the hardware enable and a software enable can be utilized;

however, the drive will not run if any of the inputs are open.

DI L Enable
Closing this input allows the line side converter to modulate when a Start
command is issued. If it opens or resets while it is modulating, the line side
converter ceases modulating.
DI M Stop
An open input causes the drive to stop and become Not Ready. A closed input
lets the drive run when given a Start or Run command.
DI M Stop Mode B
This input is used to select which Stop mode is used when stop command is
issued. If the input is open or de-energized, the drive uses the stop mode
configured by parameter 10/11:110 [Mtr Stop Mode A]. If the input is closed or
energized, the drive uses the stop mode configured by parameter 10/11:111 [Mtr
Stop Mode B].
DI M CurLmt Stop
With this digital input function, an open input causes the drive to current limit
stop. The drive acknowledges the stop command by setting the motor speed
reference to zero, causing the drive to bring the motor down to zero speed as
fast as the power limits, torque limits, and current limits allow. When the drive
output reaches zero, the output transistors are shut off.
DI M Coast Stop
With this digital input function, an open input causes the drive to Coast-to-
Stop. The drive acknowledges the stop command by shutting off the output
transistors and releasing control of the motor. The load/motor will coast or
free spin until the mechanical energy is dissipated.
DI L Stop
An open input causes the converter to stop modulating. A closed input lets the
converter modulate when given a Start or Run command.
DI Clear Fault
The Clear Fault digital input function lets an external device reset drive faults
through the terminal block. An open to closed transition on this input causes
an active fault (if any) to be reset.
DI Aux Fault
This input function is normally closed and lets external equipment fault the
drive. When this input opens, the drive faults on a code 1 ‘Auxiliary Input’ and
stops modulating. The motor will coast to a stop. If this input function is not
configured, the fault will not occur.
DI Regen OK
This input only applies to common bus inverters. It is used to let the inverter
know when there is a fault on the bus supply. When the input is open or reset,
the fault prevents the drive from starting or running until it is cleared. If the
input opens or resets while the drive is running, the drive faults on code 72
‘Digin Regen Fail’ and stops modulating. The motor will coast to a stop.
DI M Start
An open to closed transition while the drive is stopped causes the drive to run
in the current direction, unless the Stop input function is open. If Start is
configured, then a Stop must also be configured or the drive fault with code 171
‘No Stop Source’. The Stop does not have to be a digital input. The drive counts
the HMI and active network connections as a stop source.
DI M HOA Start
This digital input function provides Hand-Off-Auto control. It functions like a
three-wire start signal; with the exception, that it does not require the DI Stop
to be high for a full input cycle before the drive looks for a rising edge on DI
HOA Start.
DI L Start
An open to closed transition while the converter is stopped causes the
converter to start modulating. If it goes low after the line side converter is
modulating, the line side converter continues to run until it receives a Stop
command.
DI M Run
This digital input runs the drive when closed or energized. If the drive is
running, opening or de-energizing the input will stop the drive. This input
does not prevent starting the drive if open or de-energized.
DI L Run
This digital input modulates the converter when closed or energized. If the
converter is modulating, opening or de-energizing the input will stop the
converter. This input does not prevent starting the converter if open or de-
energized.
DI M Jog 1, DI M Jog 2
Jog is a non-latched command similar to Run, but overrides the normal speed
reference and uses 10/11:1894 [Jog Speed 1] or 10/11:1895 [Jog Speed 2]
respectively. An open to closed transition while the drive is stopped causes the
drive to jog unless the Stop input function is configured and open. Direction is
determined by another input or another device's command (HIM or
communication adapter). In Unipolar mode, the absolute value is used along
with a separate direction command. In Bipolar mode, the polarity of 10/
11:1894 [Jog Speed 1] or 10/11:1895 [Jog Speed 2] determines the direction of jog.
DI M Fwd Reverse
This digital input function is one of the ways to provide direction control when
the Start or Run functions (not combined with direction) are used. An open
input sets direction to forward. A closed input sets direction to reverse. If state
of input changes and drive is running or jogging, the drive changes direction.
DI M Manual Ctrl
The digital input function works in conjunction with the overall Auto/Manual
function. When this input is closed, it overrides other speed references, but
only if another device (HIM) did not have ownership of the Manual state. If the
digital input is successful in gaining manual control, the speed reference
comes from 0:147 [DI ManRef Sel], which can be set to any of the Analog
Inputs, Preset Speeds, MOP Reference, or an applicable Port Reference.
Associated with this digital input function, there is the ability to configure the
drive to switch smoothly from an automatic (communicated) speed reference
to manual speed reference produced by the Human Interface Module (HIM).
When the drive is commanded to switch from the automatic (communicated)

speed reference to the manual reference via a digital input, it preloads the last
value from the speed feedback into the HIM. Then the operator can modify the
manual reference on the HIM. This avoids a step change in speed that
otherwise occurs from the switch. Use this feature by configuring 10/11:1835
[Alt Man Ref Sel], 0:52 [Manual Preload], 0:132 [DI M Manual Ctrl], and 0:147
[DI ManRef Sel].
This feature requires revision 2.001 of 20-HIM-A6 firmware or later.
DI EmergencyOVRD
This digital input is used to enable and disable the Emergency Override
Function. When the input is closed or energized, Emergency Override is
enabled. For information about the Emergency Override Function, Emergency
Override Function on page 106.
DI Energy Pause
This digital input is used to send the product to and from the Paused (low
energy) state. When the input is closed or energized, device will transition to
the Paused state. For information about Energy Pause, see Energy Pause
Function on page 71.
DI AC LineSource
This digital input is used to switch between two AC line sources that have
different power and impedance values. When the input is open or de-
energized, the Line Side Converter uses parameters 13:32 [AC Line kVA A] and
13:34 [AC Line Imped% A]. When the input is closed or energized, the Line Side
Converter uses parameters 13:33 [AC Line kVA B] and 13:35 [AC Line Imped%
B]. When this digital input is configured, the product ignores parameter 13:31
[AC Line Source].
DI M Speed Sel 0, 1, and 2

These digital input functions can be used to select the speed reference. The
open/ closed state of all the speed select digital input functions combine to
select which source is the speed reference.
DI Speed Sel 2 DI Speed Sel 1 DI Speed Sel 0 Reference Source (Parameter)
0 0 0 Reference A: 10/11:1800 [VRef A Sel]
0 0 1 Reference A: 10/11:1800 [VRef A Sel]
0 1 0 Reference B: 10/11:1807 [VRef B Sel]
0 1 1 Preset Speed 3: 10/11:1816 [Preset Speed 3]
DI M Accel Time, DI M Decel Time

These digital input functions toggle between primary and secondary ramp
rates. For example, with a digital input programmed to 0:144 [DI M Accel
Time], an open digital input follows 10/11:1915 [VRef Accel Time1]. A closed
digital input follows 10/11:1916 [VRef Accel Time2].

DI M MOP Inc, DI M MOP Dec

These digital input functions are used to increment and decrement the Motor
Operated Potentiometer (MOP) value inside the drive. The MOP is a reference
value that can be incremented and decremented by external devices. The MOP
value has a configurable preload that is retained through a power cycle. For the
drive to use the MOP value as the current speed reference, either 10/11:1800
[VRef A Sel], 10/11:1807 [VRef B Sel], or 0:147 [DI ManRef Sel] must be set to 10/
11:1823 [MOP Reference].
DI M SpTqPs Sel0 and 1

These digital input functions provide the ability to switch between different
Speed/Torque/Position modes, (10/11:30 [PsnVelTrq Mode A], 10/11:31
[PsnVelTrq Mode B], 10/11:32 [PsnVelTrq Mode C], and 10/11:33 [PsnVelTrq
Mode D]) from digital input combinations
Input Status (1 = Input Actuated)

Speed-Torque-Position
DI M SpTqPs Sel1 DI M SpTqPs Sel0
0 0 10/11:30 [PsnVelTrq Mode A]
0 1 10/11:31 [PsnVelTrq Mode B]
1 0 10/11:32 [PsnVelTrq Mode C]
1 1 10/11:33 [PsnVelTrq Mode D]
DI M BusRegMode
This digital input function selects how the drive regulates excess voltage on the
DC bus. If the input is open, then 10/11:116 [Bus Reg Mode A] selects which bus
regulation mode to use. If the input is closed, then 10/11:117 [Bus Reg Mode B]
selects which bus regulation mode to use. If this input function is not
configured, then 10/11:116 [Bus Reg Mode A] always selects which bus
regulation mode to use.
DI M PwrLossMode
This digital input function selects between two different drive power loss
modes. If the input is open, 10/11:271 [Pwr Loss Mode A] dictates the drive’s
action during the Power Loss mode. If the input is closed, 10/11:275 [Pwr Loss
Mode B] dictates the drive’s action during the power loss. If this input function
is not configured, 10/11:271 [Power Loss Mode A] always dictates the drive’s
action during the power loss.
DI M Pwr Loss
The drive contains a sophisticated algorithm to manage initial application of
power as well as recovery from a partial power loss event. This digital input
function is used to force the drive into a power loss condition. If this input is
open, the drive’s internal algorithm dictates the power loss condition. If the
input is closed, the algorithm is overridden and the drive is externally forced
into a power lost condition. Parameter 10/11:270 [Power Loss Actn] configures
the drive's response to a power loss time out condition and 10/11:273 [Pwr Loss
A Time] or 10/11:277 [Pwr Loss B Time] set the time that the drive remains in
Power Loss mode before a fault occurs. 10/11:272 [Pwr Loss A Level] or 10/11:276
[Pwr Loss B Level] are used to calculate the power loss threshold.
DI M TorqueStptA
This digital input function is used to force 10/11:2001 [Trq Ref A Stpt] as the
source for Torque Reference A, regardless of the setting in 10/11:2000 [Trq Ref
A Sel]. Used when the drive is in a mode that is commanding torque. Refer to

10/11:30 [PsnVelTrq Mode A], 10/11:31 [PsnVelTrq Mode B], 10/11:32 [PsnVelTrq
Mode C], and 10/11:33 [PsnVelTrq Mode D].
DI Mtr Ctrl Sel

This digital input function selects between Primary and Secondary motor
control. If the input is open or de-energized, the drive selects the Primary
motor type and motor control mode. If the input is closed or energized, the
drive selects the Secondary motor type and motor control mode. If there is a
conflict between this input and 0:67 [Motor Ctrl Sel], the drive uses the digital
input. Parameter 0:65 [Pri MtrCtrl Mode] determines the Primary motor
control type and mode, 0:66 [Sec MtrCtrl Mode] determines the Secondary
motor control type and mode, and 0:75 [Mtr Ctrl Sel Act] shows the active
motor control.
DI Find Home
This digital input function starts the Find Home function. Closing or
energizing the input initiates the Find Home function. If the drive is not
running, a start command is needed after this input goes high, to execute the
Find Home function. If this input is configured, it will take the place of
parameter 10/11:1640 [Home Ctrl Opts] bit 0 ‘Find Home’.
DI Return Home
This digital input function activates the Return Home function. losing or
energizing the input initiates the Return Home function. f the drive is not
Return Home function. f this input is configured, it will take the place of
parameter 10/11:1640 [Home Ctrl Opts] bit 3 ‘Return Home’.
DI Redefine Psn
This digital input function starts the Redefine Position function. Closing or
energizing the input initiates the Redefine Position function. If the drive is not
Redefine Position function. If this input is configured, it will take the place of
parameter 10/11:1640 [Home Ctrl Opts] bit 4 ‘Psn Redefine’.
DI OL Home Limit
This digital input function is used to connect a home limit switch. The polarity
of the Open Loop Home Limit function is configured by parameter 10/11:1640
[Home Ctrl Opts] bit 6 ‘Home DI Inv’.
DI Indx Step
This digital input function starts the Index Position Move function. Closing or
energizing the input initiates the Index Move. This digital input will be
equivalent to setting parameter 10/11:1381 [PTP Control] bit 1 ‘Move’ when the
point-to-point mode 10/11:1382 [PTP Mode] is set to 0 ‘Absolute’ or 1 ‘Index’.
DI Indx StepRev
This digital input function starts the Index Position Reverse Move function.
Closing or energizing the input initiates the Reverse Index Move. This digital
input will be equivalent to setting parameter 10/11:1381 [PTP Control] bit 2
‘Reverse Move’ when the point-to-point mode 10/11:1382 [PTP Mode] is set to 1
‘Index’.

DI Indx StepPrst
This digital input function starts the Index Preset Position Move function.
Closing or energizing the input initiates the Index Preset Move. This digital
input will be equivalent to setting parameter 10/11:1381 [PTP Control] bit 3
'Preset Psn' when the point-to-point mode 10/11:1382 [PTP Mode] is set to 1
'Index'.
DI FwdEndLimit, DI RevEndLimit
These digital input functions are used to trigger a Forward End Limit and/or a
Reverse End Limit. The resulting action depends on whether the drive is
operating as a speed, torque or position regulator. The mode of operation is
indicated by 10/11:354 [Motor Side Sts 1] bit 21 ‘Speed Mode’, bit 22
‘PositionMode’, and bit 23 ‘Torque Mode’. When the drive is operating as a
speed regulator, the resulting action is to execute a ‘Fast Stop’ command. After
the drive stops in this case, it only restarts in the opposite direction (if given a
new start command). This function is usually used with a limit switch near the
point where the drive needs to stop.
When the drive is operating as a torque regulator, the resulting action is to

execute a ‘Fast Stop’ command. After the drive stops in this case, it restarts and
continues operation (if given a new start command).
When the drive is operating as a position regulator, the resulting action is to

execute a ‘Fast Stop’ command. After the drive stops in this case, it restarts and
continues to move towards the position reference (if given a new start
command).
DI FwdDecLimit, DI RevDecLimit
These digital input functions are used to trigger a Forward Decel Limit and/or
a Reverse Decel Limit. The resulting action depends on whether the drive is
operating as a speed, torque or position regulator. The mode of operation is
indicated by 10/11:354 [Motor Side Sts 1] bit 21 ‘Speed Mode’, bit 22
‘PositionMode’, and bit 23 ‘Torque Mode’. When the drive is operating as a
speed regulator, the resulting action is to override the speed reference and
decelerate to 10/11:1814 [Preset Speed 1]. This function is usually used with a
limit switch and initiates the slowing down process prior to encountering the
End Limit.
When the drive is operating as a torque regulator, the drive ignores this signal
and continues operating at its torque reference.
When the drive is operating as a position regulator, the drive ignores this
signal and continues moving towards its position reference.
DI PHw OvrTrvl, DI NHw OvrTrvl

These digital input functions are used to trigger a Positive Hardware Over-
travel and/or a Negative Hardware Over-travel. The resulting action is to
immediately fault and produce zero torque. After the drive is stopped, the
condition needs to be cleared and the fault needs to be reset. The drive restarts
(if given a new start command), and continues operation. It follows any speed
reference, position reference, or torque reference. The drive's direction is not
modified or limited after the restart. This function is usually used with a limit
switch in a position beyond the ‘End Limit’, as an extra safety limit to prevent
torque from damaging the machine in an over-travel situation.
DI Precharge
This digital input function is used to manage disconnection from a common
DC bus. If the input is closed, this indicates that the drive is connected to
common DC bus and normal precharge handling can occur, and that the drive
can run (start permissive). If the physical input is open, this indicates that the
drive is disconnected from the common DC bus, and the drive enters the
precharge state and initiates a coast stop immediately to prepare for
reconnection to the bus. If this input function is not configured, then the drive
assumes that it is always connected to the DC bus, and no special precharge
handling is done.
DI Prchrg Seal
This digital input function is used to force a unique fault when an external
precharge circuit opens. 0:39 [Prchrg Err Cfg] dictates the action taken when
an external precharge circuit has opened.
DI Hold Step
This digital input function sets a digital input port for the hold step in profile/
indexer control logic. The digital input that this parameter assigns is
equivalent to 10/11:1202 [Profile Command] bit 8 ‘Hold Step’. Parameter
0:850 [Prof DI Invert] bit 0 'Hold Step' defines the polarity of the active state.
DI Abort Step
This digital input function sets a digital input port for the abort profile in
profile/indexer control logic. 0:850 [Prof DI Invert] bit 1 ‘Abort Step’ defines
the polarity of the active state.
DI Abort Profile
This digital input function sets a digital input port for the hold step in profile/
indexer control logic. 0:850 [Prof DI Invert] bit 2 ‘AbortProfile’ defines the
polarity of the active state.
DI Vel Override
This digital input function sets a digital input port for the velocity override in
profile/indexer control logic. The digital input this parameter assigns is
equivalent to 10/11:1202 [Profile Command] bit 9 ‘Vel Override’. 0:850 [Prof DI
Invert] bit 3 ‘Vel Override’ defines the polarity of the active state.
DI StrtStep Sel0 thru Sel4

This digital input function sets digital input ports for the start step in profile/
indexer control logic. The digital inputs that these parameters assign are
equivalent to the corresponding bit in 10/11:1202 [Profile Command]. 0:850
[Prof DI Invert] bit 4 ‘StrStepSel0’ to bit 8 ‘StrStepSel4’ define the polarities of
the active state.
DI Step 1 thru 16
This digital input function sets digital input source for the corresponding step
in profile/indexer control logic. The input is only required if the index step is
configured as one of the following:
1. [Type] Position Absolute [Action] Wait DigIn
2. [Type] Position Incremental [Action] Wait DigIn
3. [Type] Speed Profile [Action] DigIn Blend
4. [Type] Speed Profile [Action] Wait DigIn

0:850 [Prof DI Invert] bit 9 ‘Step 1’ to bit 24 ‘Step 16’ define the polarities of the
active state.
DI PCAM Start
This digital input function starts the CAM in the position reference planner.
Closing or energizing the input starts the CAM sequence but not the drive. A
separate run command is required to start the drive.
DI VCAM Start
This digital input function starts the CAM in the velocity reference planner.
DI TqCAM Start
This digital input function starts the CAM in the torque reference planner.
Status
For the PowerFlex 755T main control board Digital Inputs (Di) 0, 0:100 [Digital
In Sts] Bit 0 represents its respective digital input status. For the PowerFlex
750-Series Option Module Digital Inputs (Di) 0, 1, 2, 3, 4, and 5, nn:1 [Dig In Sts]
Bits 0, 1, 2, 3, 4, and 5 represents its respective digital input status. When the bit
associated with the digital input is on, depicted by a 1, this means that the drive
recognizes that the digital input is on. When the bit associated with the digital
input is off, represented by a 0, this means that the drive recognizes that the
digital input is off.
Configuration Conflicts
If you configure the digital inputs so that one or more selections conflict with
each other, one of the digital input configuration alarms is asserted. As long as
the Digital Input Conflict exists, the drive will not start. These alarms are
automatically cleared by the drive as soon as the parameters are changed to
remove the conflicts. These are examples of configurations that cause an
alarm:
• Configuring both the ‘Start’ input function and the ‘Run Forward’ input
function at the same time. ‘Start’ is used only in ‘3-wire’ Start mode, and
‘Run Forward’ is used only in ‘2-wire’ Run mode, therefore, do not
configure at the same time.
• Configuring the same toggle input function (for instance ‘Fwd Reverse’)
to more than one physical digital input simultaneously.
These alarms, called Type 2 Alarms, are different from other alarms in that it is
not possible to start the drive while the alarm is active. It is not possible for any
of these alarms to occur while the drive is running, because all digital input
configuration parameters can only be changed while the drive is stopped.
Whenever one or more of these alarms is present, the drive ready status
becomes ‘not ready’ and the HIM displays a conflict message. In addition, the
drive status light flashes yellow. See the PowerFlex Drives with TotalFORCE
Control Conditions Reference Data, publication 750-RD102 for a complete list
of Faults and Alarms.

DigIn Cfg B
Digital input conflict. Input functions that cannot exist at the same time have
been selected. Correct Digital Input configuration.
DigIn Cfg C
Digital input conflict. Input functions that cannot be assigned to the same
digital input have been selected. Correct Digital Input configuration.
Block Diagrams
Figure 71 - PowerFlex 755T
[Dig In Sts]
220 0
In0 (24V DC)
In0 (115V AC)
Com

Figure 72 - PowerFlex 750-Series Option Module

[Dig In Sts]
1 5 4 3 2 1 0
[Dig In Fltr]
3
In5
Filter
[Dig In Fltr Mask]

[Dig In Fltr]
2 5
3
In4
Filter
[Dig In Fltr Mask]

[Dig In Fltr]
2 4
3
In3
Filter
[Dig In Fltr Mask]

[Dig In Fltr]
2 3
3
In2
Filter
[Dig In Fltr Mask]

[Dig In Fltr]
2 2
3
In1
Filter
[Dig In Fltr Mask]

[Dig In Fltr]
2 1
3
In0
Filter
[Dig In Fltr Mask]
Com 2 0
Digital Outputs The PowerFlex 755T has no outputs embedded on its Main Control Board.
There are PowerFlex 750-Series Option Modules that expand the amount of
digital outputs that can be used.
Catalog numbers 20-750-2262C-2R and 20-750-2262D-2R provide two relay

outputs on TB2 at the front of option module.
Terminal Name Description Rating

Output Relay 0 normally closed
R0NC Relay 0 N.C. 240V AC, 24V DC, 2A max
contact
Resistive Only
R0C Relay 0 Common Output Relay 0 common
Output Relay 0 normally open 240V AC, 24V DC, 2A max
R0NO Relay 0 N.O. contact General Purpose (Inductive) / Resistive
R1NC Relay 1 N.C. contact 240V AC, 24V DC, 2A max
Relay 1 Common Resistive Only
R1C Relay 1 common
Output
Output Relay 1 normally open contact 240V AC, 24V DC, 2A max
R1NO Relay 1 N.C. General Purpose (Inductive) / Resistive

Catalog number 20-750-2263C-1R2T provides one relay output and two

transistor outputs on TB2 at the front of option module.
Terminal Name Description Rating

R0NC Relay 0 N.C. contact 240V AC, 24V DC, 2A max
Relay 0 Common Resistive Only
R0C Relay 0 common
Output
Output Relay 0 normally open 240V AC, 24V DC, 2A max
R0NO Relay 0 N.O. contact General Purpose (Inductive) / Resistive
T0 Transitor Output 0 Transitor Output 24V DC = 1A max
Transitor Output Transitor Output Common 24V DC = 0.4 Max for U.L. applications
TC Resistive
Common
24V DC = 1A max
T1 Transitor Output 0 Transitor Output 24V DC = 0.4 Max for U.L. applications
Resistive
See the PowerFlex 750-Series I/O, Feedback, and Power Option Modules
Installation Instructions, publication 750-IN111 for PowerFlex 750-Series
Option Module I/O wiring examples.
Configuration
Each digital output can be programmed to change state based on one of many
different conditions. These conditions can fall into different categories.
• Drive status conditions (fault, alarm, and reverse).
• Level conditions (DC bus voltage, current, and frequency)
• Controlled by a digital input.
• Controlled by the network.
• Controlled by DeviceLogix software.
Drive Status Conditions
For PowerFlex 750-Series drives utilizing an option module, the table below
shows an overview of the selectable configurations for the drive’s digital
output selection parameters.
0:59 Energy Status Status of the Energy Pause Function.
Status of the digital inputs resident on the main control board
0:100 Digital In Sts (Port 0).
0:456 EmergMode Status Status of the Emergency Override Function
(1) Dig In Sts Status of the option module digital inputs.
nn:1
Controls Relay or Transistor Outputs when chosen as the
nn:7 (1) Dig Out Setpoint source. Can be used to control outputs from a communication
device using DataLinks.
Status of the level compare, and a possible source for a relay
nn:13 (1) RO0 Level CmpSts
or transistor output.
Provides the individual on/off status of the DLX Boolean
9:1100… 9:1103 (2) DLX Bool SP1- SP4 scratchpad 1…4 memory locations. Each scratchpad location
contains 32 bits.
Indicates which condition is preventing the inverter from
10/11:351 M Start Inhibits starting or running. (examples Faulted, Alarm, Enable, and so
on)
10/11:354 Motor Side Sts 1 Present operating condition of the inverter.


10/11:355 Motor Side Sts 2 Present operating condition of the inverter.
Status of dynamic conditions within the drive that are either
10/11:365 At Limit Status active or a limit is being applied.
Status of conditions that can result in the drive taking action
10/11:460 Condition Sts A (faulting), based on configuration of protective functions.
Indicates the occurrence of conditions that have been
10/11:461 Fault Status A configured as faults. These conditions are from 10/
11:460 [Condition Sts A].
10/11:462 Fault Status B configured as faults.
10/11:465 Alarm Status A configured as alarms. These events are from 10/
11:460 [Condition Sts A].
10/11:466 Alarm Status B configured as alarms.
10/11:467 Type 2 Alarms configured as alarms.
10/11:469 AlarmB at Fault configured as alarms that were present at the time of a fault.
Displays the current operating status of the point-to-point
10/11:1380 PTP Pref Status
Position Planner in the Position Referencing.
10/11:1641 Home Status Indicates status of position control logic home function.
10/11:1732 PReg Status Indicates status of position control logic.
13:225 (3) Line Side Sts 1 Present operating condition of the converter.
Status of dynamic conditions within the converter that are
13:226 (3) At Limit Status either active or a limit is being applied.
Indicates which condition is preventing the converter from
13:235 (3) L Start Inhibits starting or running. (examples Faulted, Alarm, Enable, and so
on)
13:240 (3) Fault Status A configured as converter faults.
13:241 (3) Fault Status B configured as converter faults.
13:258 (3) Alarm Status A configured as converter alarms.
13:259 (3) Alarm Status B configured as converter alarms.
(1) Option modules can be used in Ports 4, 5, 6, 7, and 8 of PowerFlex 755T drives.
(2) Port 9: DeviceLogix software parameters.
(3) Port 13: Active Front End converter parameters.
See the PowerFlex Drives with TotalFORCE Control Parameters Reference Data,
publication 750-RD101 for specific parameter bit level details.
Depending on the PowerFlex 750-Series Option Module or Modules installed in the

drive, related selection parameter information is noted in the following table.
nn:10 RO0 Sel Selects the source that energizes the relay output.
Selects the source that energizes the relay or transistor
nn:20 RO1 Sel or TO0 Sel output.
nn:30 TO1 Sel Selects the source that energizes the transistor output.
Example
To configure RO0 on the option module located in port 7 to energize when a

fault is present on the drive, set parameter 7:10 [RO0 Sel] to 10/11:354 [Motor
Side Sts 1], bit 7 ‘Faulted’.

Level Conditions
A desired level function needs to be programmed into the ‘Level Sel’ parameter,
depending on the output being used. If the value for the specified function
(frequency, current, and so forth) is greater than equal to or less than the
programmed limit dictated by the ‘Level’ parameter, the output activates or
deactivates depending on how the ‘Sel’ parameter is configured.
Notice that the Level Select parameters do not have units. The drive assumes
the units and the minimum/maximum values from the selected parameter
function. For example, if the ‘Level Sel’ is programmed for 10/11:362 [Heatsnk
Temp Pct], which indicates operating temperature of the drive power section
(heat sink), its units are in percentage of the maximum heat sink temperature
with minimum/maximum values of -200/+200 percent.
For the PowerFlex 750-Series drives utilizing an Option Module, the table
below shows an overview of the selectable configurations for the drive’s Digital
Output ‘Level Sel’ parameters.
0:3 DC Bus Volts DC bus voltage.
Value of the Analog input after filter, square root, and loss
nn:50 (1) Anlg In0 Value action.
Value of the Analog input after filter, square root, and loss
nn:60 (1) Anlg In1 Value action.
Eight 32-bit Real scratchpad registers for DLX program
9:1120…9:1127 (2) DLX Real Out SP1 - SP8 output use.
Output frequency present at terminals T1, T2, and T3 (U, V &
10/11:1 Output Frequency W).
10/11:2 Output Voltage Output voltage present at terminals T1, T2, and T3 (U, V & W).
The total output current present at terminals T1, T2, and T3 (U,
10/11:3 Output Current V & W).
10/11:4 Output Power Output power present at terminals T1, T2, and T3 (U, V & W).
10/11:5 Output Pwr Factr Output power factor.
Based on the motor, the amount of current that is in phase
10/11:8 Torque Cur Fb with the fundamental voltage component.
Amount of current that is out of phase with the fundamental
10/11:9 Flux Cur Fb voltage component.
10/11:207 Mtr OL Counts Accumulated percentage of motor overload.
10/11:208 Mtr OL Trip Time Displays the inverse of the motor overload time.
10/11:357 Drive OL Count Indicates power unit overload (IT) in percentage.
Indicates operating temperature of the drive inverter section
10/11:362 Heatsnk Temp Pct (heat sink) in percentage of the maximum heat sink
temperature.
10/11:1044 Motor Vel Fb Estimated or actual motor speed, with feedback.
Displays the filtered velocity reference from the Encoder
10/11:1834 Enc VRef Velocity Reference function.
10/11:1914 VRef Commanded Value of the active Speed/Frequency Reference.
Displays the load observer torque estimate signal.
10/11:2036 LdObs Torque Est This value includes load disturbances relative to an ideal
unloaded motor.
Displays the torque reference output of the Friction
10/11:2057 FrctnComp Out Compensation function.
Final torque reference value after limits and filtering are
10/11:2073 Trq Commanded applied. Percent of motor rated
Displays total 3-phase average AC voltage.
13:2 (3) AC Line Voltage Parameter 13:23 [Display Filter] determines whether the value
is filtered or unfiltered.


Displays the measured line-to-line voltage between phase R
13:3 (3) R-S Line Volts (L1) and phase S (L2). Parameter 13:23 [Display Filter]
determines whether the value is filtered or unfiltered.
Displays the measured line-to-line voltage between phase S
13:4 (3) S-T Line Volts (L2) and phase T (L3). Parameter 13:23 [Display Filter]
Displays the measured line-to-line voltage between phase T
13:5 (3) T-R Line Volts (L3) and phase R (L1). Parameter 13:23 [Display Filter]
Displays the average measured RMS AC phase current.
13:6 (3) AC Line Current Parameter 13:23 [Display Filter] determines whether the value
Displays the active current.
The value is negative during regeneration or producing
13:7 (3) Active Current current and positive during motoring or consuming current.
Parameter 13:23 [Display Filter] determines whether the value
Displays the measured reactive current.
The value is negative for leading power factor and positive for
13:8 (3) Reactive Current lagging power factor. Parameter 13:23 [Display Filter]
Displays the R (L1) Input phase current for the entire line side
13:9 (3) R Phase Current converter in Amperes RMS.
Displays the S (L2) Input phase current for the entire line side
13:10 (3) S Phase Current converter in Amperes RMS.
Displays the T (L3) Input phase current for the entire line side
13:11 (3) T Phase Current converter in Amperes RMS.
Displays the value of the selected and conditioned DC Bus
13:50 (3) DC Bus Command Voltage reference.
The DC bus regulator consumes this signal as its command.
Displays the Active Current (Iq) reference for Active Current
13:65 (3) Active Cur Ref mode.
Displays the limited and conditioned Active Current
13:67 (3) Active Cur Cmd reference. The Active Current regulator consumes this signal
as its command.
Displays the overload count for the R (L1) phase in
13:228 (3) R (L1) OL Count percentage. It increases when the current is higher than the
line side converter rating for present operating conditions.
Displays the overload count for the S (L2) phase in
13:229 (3) S (L2) OL Count percentage. It increases when the current is higher than the
Displays the overload count for the T (L3) phase in
13:230 (3) T (L3) OL Count percentage. It increases when the current is higher than the
Indicates operating temperature of the drive converter
13:234 (3) Heatsnk Temp Pct section (heat sink) in percentage of the maximum heat sink
temperature.
(1) Option modules can be used in Ports 4, 5, 6, 7, and 8 of PowerFlex 755 drives.
(2) Port 9: DeviceLogix software parameters
(3) Port 13: Active Front End converter parameters
Depending on the PowerFlex 750-Series Option Module(s) installed in the

drive, related Level Select parameter information noted in the following table.
nn:10 RO0 Sel Selects the source that energizes the relay output.
nn:11 RO0 Level Sel Selects the source of the level that is compared.
nn:12 RO0 Level Sets the level compare value.
Status of the level compare, and a possible source for a relay
nn:13 RO0 Level CmpSts or transistor output.
Selects the source that energizes the relay or transistor
nn:20 RO1 Sel or TO0 Sel output.
RO1 Level Sel or TO0
nn:21 Selects the source of the level that is compared.
Level Sel


nn:22 RO1 Level or TO0 Level Sets the level compare value.
RO1 Level CmpSts or TO0 Status of the level compare, and a possible source for a relay
nn:23 Level CmpSts or transistor output.
nn:30 TO1 Sel Selects the source that energizes the transistor output.
nn:31 TO1 Level Sel Selects the source of the level that is compared.
nn:32 TO1 Level Sets the level compare value.
Example
To configure RO0 on the option module located in port 7 to energize when the
drive's operating temperature of the drive power section (heat sink) in
percentage of the maximum heat sink temperature is greater than 50 percent,
set parameter 7:10 [RO0 Sel] to 7:13 [RO0 Level CmpSts] bit 1 ‘Grt Than Equ’,
7:11 [RO0 Level Sel] to 10/11:362 [Heatsnk Temp Pct], and 7:12 [RO0 Level] to 50.
Controlled By Digital Input
A digital output can be programmed to be controlled by a digital input. For

example, when the input is closed, the output is energized, and when the input
is open, the output is de-energized. Note that the output is controlled by the
state of the input, even if the input has been assigned a normal drive function
(Start, Jog, and so on).
Example
To configure RO1 on the option module located in port 7 to energize when

digital input 3 on the same module is on, set parameter 7:20 [RO1 Sel] to
7:1 [Dig In Sts] bit 3 ‘Input 3’.
Controlled by Network
This configuration is used when it is desired to control the digital outputs over
network communication instead of a drive related function. In the case the
PowerFlex 750-Series Option Module, nn:7 [Dig Out Setpoint] is utilized. To
complete the configuration for control over a network, a datalink must be
configured for the Digital Output Setpoint parameter.
Depending on the PowerFlex 750-Series Option Module(s) installed in the

drive, related Dig Out Setpoint information is noted in the following table.
Bit No. Description

0 Relay Out0
1 Relay Out1 (20-750-2262C-2R and 20-750-2262D-2R) or Trans Out0 (20-750-2263C-1R2T)
2 Trans Out1 (20-750-2263C-1R2T)
3…15 Reserved

Example
To configure RO1 on the option module located in port 7 to be controller over

the network, first set parameter 7:20 [RO1 Sel] to 7:7 [Dig Out Setpoint]. Next,
set one of the unused output datalinks 0:321 [DL From Net 1] thru 0:336 [DL
From Net 16] to 7:7 [Dig Out Setpoint]. Finally write logic in the controller to
control bit 1 of the configured datalink. If using Studio 5000 and the Drives
Add-On Profiles (AOPs) we can use the created descriptive controller tag
‘drivename:O.P7_DigOutSetpoint.1’. The physical output state will match the
state of bit 1 in the datalink unless the output has been inverted in which case it
will be the opposite state.
Controlled by DeviceLogix software
DeviceLogix software control technology provides you with the flexibility to

customize a drive to more closely match your application needs. DeviceLogix
software controls outputs and manages status information locally within the
drive allowing you to operate the drive independently or complimentary to
supervisory control helping to improve system performance and productivity.
You can use the PowerFlex 750-Series DeviceLogix software to read inputs/
write outputs and exclusively control the drive.
To turn on physical outputs using DeviceLogix (DLX), you utilize the 32 bit
Boolean scratchpad memory locations 9:1100 [DLX Bool SP1] thru 9:1103 [DLX
Bool SP4]. These are User Selectable tags that can be added to the DLX
database via the DLX Tag Editor.
Example
The DeviceLogix program has been written to turn on 9:1102 [DLX Bool SP3],
bit 7 when a conveyor photoeye is blocked for more than 5 seconds. We need to
turn on a stack light wired to RO0 on the option module installed in port 5, to
indicate to the operator that there is a backup on the conveyor. To accomplish
this, set 5:10 [RO0 Sel] to 9:1102 [DLX Bool SP3], bit 7.
Invert
There is a logical invert function associated with the PowerFlex 750-Series
drive's digital outputs. It is configured by nn:6 [Dig Out Invert]. This invert
function changes the output status bit from a zero, false state, to a one, true
state, and vice versa.
This logical invert function requires power to be applied to the drive’s control
module for the drive’s logic to be active. This can be obtained from powering
up the drive’s control module by either applying power to the drive’s input
section or from an external 24V DC being wired into the Auxiliary Power
Supply Option Module.
Depending on the PowerFlex 750-Series Option Module(s) installed, Invert

parameter information noted in the following table.

0 = Output Not Inverted, 1 = Output Inverted
Bit No. Description

0 Relay Out0
2 Trans Out1 (20-750-2263C-1R2T)
3…15 Reserved
Example
In this example, we want to configure RO0 on the option module located in

port 7 to energize when digital input 1 on the same option module is open or
de-energized. To accomplish this, first set 7:10 [RO0 Sel] to 7:1 [Dig In Sts], bit 1
‘Input 1’. This sets RO0 to reflect the same state as Input 1. To get the output to
reflect the opposite state, we have to invert the output by setting 7:6 [Dig Out
Invert], bit 0 ‘Relay Out 0’ to 1.
On/Off Time
Each digital output has two user-controlled timers associated with it. The On
timer defines the delay time between a False-to-True transition (condition
appears) on the output condition and the corresponding change in state of the
digital output. The Off timer defines the delay time between a True-to-False
transition (condition disappears) on the output condition and the
corresponding change in the state of the digital output. Either timer can be
disabled by setting the corresponding delay time to zero.
Depending on the PowerFlex 750-Series Option Module(s) installed, On/Off

parameters noted in the following table.

Sets the ‘ON Delay’ time for the digital outputs. This is the time
nn:14 RO0 On Time between the occurrence of a condition and activation of the
relay.
Sets the ‘OFF Delay’ time for the digital outputs. This is the
nn:15 RO0 Off Time time between the disappearance of a condition and de-
activation of the relay.
RO1 On Time or TO0 On Sets the ‘ON Delay’ time for the digital outputs. This is the time
nn:24 between the occurrence of a condition and activation of the
Time relay or transistor.
RO1 Off Time or TO0 Off Sets the ‘OFF Delay’ time for the digital outputs. This is the
nn:25 time between the disappearance of a condition and de-
Time activation of the relay or transistor.
Sets the ‘ON Delay’ time for the digital outputs. This is the time
nn:34 TO1 On Time between the occurrence of a condition and activation of the
transistor.
Sets the ‘OFF Delay’ time for the digital outputs. This is the
nn:35 TO1 Off Time time between the disappearance of a condition and de-
activation of the transistor.
Whether a particular type of transition (False-to-True or True-to-False) on an

output condition results in an energized or de-energized output depends on
the output condition. If a transition on an output condition occurs and starts a
timer, and the output condition goes back to its original state before the timer
runs out, then the timer is aborted and the corresponding digital output does
not change state.

Example
For example, in the following diagram, a digital output is configured for 10/
11:354 [Motor Side Sts 1], bit 27 ‘Cur Limit’, the On Time is programmed for two
seconds and the Off Time is programmed for 0 seconds.
Relay Activates
On Delay = 2 Seconds
Current Limit Occurs
0 5 10
Status
The nn:5 [Dig Out Sts] parameter displays the status of the digital outputs and
can be used for troubleshooting the digital outputs. When the bit in associated
with the digital output is on, this means that the logic in the drive is telling that
digital output to turn on. When the bit associated with the digital input is off,
this means that the logic in the drive is telling that digital output to turn off.
Bit No. Description

0 Relay Out0
2 Trans Out1 (20-750-2263C-1R2T)
3…15 Reserved
Block Diagrams
Figure 73 - PowerFlex 750-Series Option Module Outputs
Outputs
RO0 Off Time
15 Dig Out Sts
Dig Out Invert
5 0 NC
6 0
Relay Out0 0
Timer Common
Source
Parameter 1
Selection Inv
NO
10 14
RO0 Sel RO0 On Time
RO1/TO0 Off Time

25 Dig Out Sts
Dig Out Invert
5 1
6 1
NC
Relay Out1
0
Transistor Out0 Timer
Source
Parameter 1 Common
Selection Inv OR
20 24
NO
RO1/TO0 Sel RO1/TO0 On Time
*-1R2T (1-Relay / 2-Transistor) I/O Modules Only
TO1 Off Time

35 Dig Out Sts
Dig Out Invert
5 2
6 2
Transistor Out1 0
Timer
Source NO
Parameter 1
Selection Inv
30 34
TO1 Sel TO1 On Time

Figure 74 - PowerFlex 750-Series Option Module Outputs Compare

Output Compare
RO0 Level Sel RO1/TO0 Level Sel

11 21 RO1/TO0 Level CmpSts
RO0 Level CmpSts
23 1 0
13 1 0
RO0 Level RO1/TO0 Level
Source Source
A A≥B
Parameter A A≥B Parameter
Selection Selection
A<B
A<B
RO1/TO0 Level 22 B
RO0 Level 12 B
*-1R2T (1-Relay / 2-Transistor) I/O Modules Only
TO1 Level Sel 31 TO1 Level CmpSts

33 1 0
TO1 Level
Source
A A≥B
Parameter
Selection
A<B
TO1 Level 32 B
PTC Motor Thermistor Input A PTC (Positive Temperature Coefficient) sensing device, also known as a
motor thermistor, embedded in the motor windings can be monitored by the
drive for motor thermal protection. The motor windings are typically equipped
with three PTC sensors (one per phase) wired in series as shown in schematic
below. The miniaturized sensors have a low resistance below the rated
response temperature, and increase their resistance (exponentially) in the
rated response temperatures range. The rated response temperature is defined
by the PTC sensor. Motors with different thermal insulation classes (Class F or
H) are equipped with different PTC sensors, each with its own response
temperature such as 120, 130, and 140 degrees C. Unlike the PT100 or KTY
thermistors, which have a linear relation between temperature and resistance,
the PTC thermistor is used for a temperature level indication rather than a
direct measurement in degrees C.
Figure 75 - PTC Characteristic Temperature/Resistance Curve According to IEC-34-11-2
4,000 R Resistance in sensor in ohms
- Temperature
1,330
TNF Rated response temperature

550 tolerance limit in degrees C
250
Defined cutoff values
100
R[ǜ]
20
10
-20 ʞC TNF – 20K TNF + 15K
0 ʞC TNF – 5K TNF + 5K
TNF

Hardware and Connection
The PTC thermistor leads are connected to the PTC+ and PTC- terminals on
TB1 of one of the optional I/O cards, catalog numbers 20-750-2262C-2R, 20-
750-2263C-1R2T, 20-750-2262D-2R.
PTC thermistors of ATEX certified motors connect to the ATEX option

module, 20-750-ATEX, which is mounted onto one of the 11-Series I/O cards,
catalog numbers 20-750-1132C-2R, 20-750-1133C-1R2T, 20-750-1132D-2R
Figure 76 - PTC Connection
Configuration with Optional I/O Board
Parameter nn:40 [PTC Cfg] = 0 ‘Ignore’, 1 ‘Alarm’, 2 ‘Flt Minor’, 3 ‘Flt CoastStop’,
4 ‘Flt RampStop’, or 5 ‘Flt CL Stop’
Status is shown in nn:41 [PTC Sts] and nn:42 [PTC Raw Value].
Configuration with 11-Series I/O module fitted with ATEX Option
Status is shown in nn:41 [ATEX Sts] The fault action is not configurable when
the ATEX module is used.
Fault or Alarm Operation
The reaction to an increased PTC resistance depends on the respective PTC

configuration, such as alarm or fault. When the ATEX module is used, the
result is always fault. When the PTC resistance exceeds 3.2 kOhm a fault or
alarm is triggered. The function is reset when the resistance drops below 2.2
kOhm. A short circuit is detected when the resistance value drops below 100
Ohm. If the drive was configured to fault then the fault must be cleared once
the PTC function is reset (value is below threshold).

Index
Numerics conditions 29
needed to start 29
24V DC power source 41
control circuitry power 41
control features
A adaptive tuning 58
autotune 58
AC line source load observer 57
bus regulators 144 current regulator adjustment 147
configuration 143
external bus capacitance 144
parameter data 143
phase loss 168
D
switching 148 DC bus voltage
tuning 143 bus observer 59
AC motor types 48 feed forward power 61
accel/decel time derating 35
configure 7 DeviceLogix 99
adaptive tuning 58 digital outputs 252
alarms 167 digital inputs 235
analog inputs 222 discrete wired 74
functional descriptions 236
analog outputs 230 digital outputs 246
anti-sway 191
dynamic braking 201
automatic device configuration applications 204
activation 10 module and resistor 205
compatibility 9 PWM control 203
autotune 58 resistance 209
motor side inverter 188
E
B energy saving 71
braking methods 19 explicit messaging, predictive maintenance
coast 20 96
current limit stop 21
DC brake 24
decel to hold 23
fast brake 25
F
flux braking 26 faults 164
ramp 21 override 106
ramp to hold 23 queue 165
bus control 212 reset or clear 165
bus observer 59 response to 164
block diagram 61 feed forward power 61
limitations 60 parameters 62
bus regulation 59 feedback modes 56
bus supplies 138
derating 142 G
operation modes 139
generators
configuration 152
C considerations 150
calculate sway frequency 193 drive features 151
exception actions and limits 155
carrier frequecy external capacitance 153
derating 35 selection 150
carrier frequency 221 tuning 154
configuration 33
low speed 32
CIP security 66 H
high frequency variation 37

high speed trending 157 P
configuration 158
phase loss
active front end drives 170
I detection 168
possible actions 37, 168
induction motors 49 power disturbance module
inputs configure 40
analog 222 power disturbances 36
digital 235 module description 37
interactive functions 18 power loss 37
power loss ride-through
L flow diagram 38
predictive maintenance 76
limits
function details 78
converter 136 monitoring examples 89
regeneration power 155 resetting 83
load observer 57 setting levels 77
loss of synchronization 37 predictive maintenance CIP objects
low speed operation 32 CIP messaging example 96
configuration 33 component 93
derating 35 component group 94
environmental conditions 92
preventing start 29
M
motion planners R
position 111
motor control reference notch filters 62
configuration 67 regulator schemes
logix configuration 67 diagram 59
secondary motor control 67 regulators
switching between profiles 67 position and velocity 59
use cases 68 restart
volts/hertz 43
motors required conditions 17
rotate motor ID test 188
interior permanent magnet 54
permanent magnet 53
surface permanent magnet 53
synchronous 52 S
synchronous reluctance 55 sleep/wake
wound rotor 51 parameters 16
sources 18
timers 18
N start
notch filter required conditions 17
configurations 195 static motor ID test 189
notch filters 62, 191
parameters 64
T
timers 18
O
torque prove function 190
object hierarchy 91
operation
at low speed 32 V
outputs voltage regulator adjustment 146
analog 230 voltage sag 36, 37
digital 246

PowerFlex 750-Series Products with TotalFORCE Control Reference Manual
Additional Resources
These documents contain additional information concerning related products from Rockwell Automation.
Resource Description
Provides detailed information on:
PowerFlex 750-Series Products with TotalFORCE Control Technical Data, publication • Drive and bus supply specifications
750-TD100 • Option specifications
• Fuse and circuit breaker ratings
• Kit selection
PowerFlex 755TM IP00 Open Type Kits Technical Data, publication 750-TD101 • Kit ratings and specifications
• Option specifications
PowerFlex 750-Series Products with TotalFORCE Control Installation Instructions, Provides the basic steps to install PowerFlex 755TL low harmonic drives,
publication 750-IN100 PowerFlex 755TR regenerative drives, and PowerFlex 755TM drive systems.
PowerFlex 755TM IP00 Open Type Kits Installation Instructions, publication 750-IN101 Provides instructions to install IP00 Open Type kits in user-supplied enclosures.
PowerFlex Drives with TotalFORCE Control Programming Manual (firmware revision 6.xxx • I/O, control, and feedback options
and earlier), publication 750-PM100 • Parameters and programming
• Faults, alarms, and troubleshooting
PowerFlex TotalFORCE Firmware Documentation Set: Provides detailed information on:
• PowerFlex Drives with TotalFORCE Control Programming Manual, publication • Startup, control algorithms, and status indicators
750-PM101
• PowerFlex Drives with TotalFORCE Control Parameters Reference Data, publication • Parameters and programming
750-RD101
• PowerFlex Drives with TotalFORCE Control Conditions Reference Data, publication • Faults, alarms, events, and troubleshooting
750-RD102
Provides basic information to properly wire and ground the following products in
Drives in Common Bus Configurations with PowerFlex 755TM Bus Supplies Application common bus applications:
Techniques, publication DRIVES-AT005 • PowerFlex 755TM drive system for common bus solutions
• PowerFlex 750-Series AC and DC input drives
• Kinetix 5700 servo drives
Provides guidance on how to tune Flux Vector position and velocity loops, filters,
and other features to achieve the level of performance that is required for a
PowerFlex 755T Flux Vector Tuning, publication 750-AT006 given application. This publication is intended for novice drives users and users
with advanced skills.
PowerFlex Drives with TotalFORCE Control Built-in EtherNet/IP Adapter User Manual, Provides information on how to install, configure, and troubleshoot applications
publication 750COM-UM009 for the PowerFlex drives with the built-in EtherNet/IP adapter.
PowerFlex 750-Series Products with TotalFORCE Control Hardware Service Manual, • Preventive maintenance
publication 750-TG100 • Component testing
• Hardware replacement procedures
PowerFlex 750-Series Safe Speed Monitor Option Module Safety Reference Manual,
publication 750-RM001
PowerFlex 750-Series Safe Torque Off Option Module User Manual, publication
750-UM002
These publications provide detailed information on installation, set-up, and
PowerFlex 750-Series ATEX Option Module User Manual, publication 750-UM003 operation of the 750-Series safety option modules.
PowerFlex 755 Integrated Safety - Safe Torque Off Option Module User Manual,
publication 750-UM004
PowerFlex 755/755T Integrated Safety Functions Option Module User Manual, publication
750-UM005
PowerFlex 20-HIM-A6 / -C6S HIM (Human Interface Module) User Manual, 20HIM-UM001 Provides detailed information on HIM components, operation, and features.
Provides detailed set-up and operating instructions for the module service cart
PowerFlex 750-Series Service Cart Instructions, publication 750-IN105 and DC precharge module lift.
PowerFlex 755TM Power and Filter Module Storage Hardware Instructions, publication Provides detailed installation and usage instructions for this hardware
750-IN106 accessory.
PowerFlex 755T Module Service Ramp Instructions, publication 750-IN108 Provides detailed usage instructions for the module service ramp.
Provides basic information on enclosure systems, considerations to help protect
Industry Installation Guidelines for Pulse Width Modulated (PWM) AC Drives, publication against environmental contaminants, and power and grounding considerations
DRIVES-AT003 for installing Pulse Width Modulated (PWM) AC drives.
Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives, publication Provides basic information to properly wire and ground PWM AC drives.
DRIVES-IN001
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.
Rockwell Automation Knowledge Base The Rockwell Automation Support Forum
You can view or download publications at rok.auto/literature.

Rockwell Automation Support
Use these resources to access support information.
Technical Support Center Find help with how-to videos, FAQs, chat, user forums, and product notification updates. rok.auto/support
Knowledgebase Access Knowledgebase articles. rok.auto/knowledgebase
Local Technical Support Phone Numbers Locate the telephone number for your country. rok.auto/phonesupport
Literature Library Find installation instructions, manuals, brochures, and technical data publications. rok.auto/literature
Product Compatibility and Download Center Download firmware, associated files (such as AOP, EDS, and DTM), and access product rok.auto/pcdc
(PCDC) release notes.
Documentation Feedback
Your comments help us serve your documentation needs better. If you have any suggestions on how to improve our
content, complete the form at rok.auto/docfeedback.
Waste Electrical and Electronic Equipment (WEEE)
At the end of life, this equipment should be collected separately from any unsorted municipal waste.
Rockwell Automation maintains current product environmental information on its website at rok.auto/pec.
Allen-Bradley, Connected Components Workbench, DeviceLogix, expanding human possibility, FactoryTalk, PowerFlex, Rockwell Automation, RSLogix 5000, Stratix, Studio 5000 Logix Designer,
and TotalFORCE are trademarks of Rockwell Automation, Inc.
EtherNet/IP is a trademark of ODVA, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Rockwell Otomasyon Ticaret A.Ş. Kar Plaza İş Merkezi E Blok Kat:6 34752, İçerenkÖy, İstanbul, Tel: +90 (216) 5698400 EEE YÖnetmeliğine Uygundur
Publication 750-RM100C-EN-P - August 2022

Supersedes Publication 750-RM100B-EN-P - August 2021 Copyright © 2022 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

Powerflex 750-Series Products With Totalforce Control: Reference Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Powerflex 750-Series Products With Totalforce Control: Reference Manual

Uploaded by

Copyright:

Available Formats

PowerFlex 750-Series

Products with TotalFORCE

Reference Manual Original Instructions

Important User Information

Labels may also be on or inside the equipment to provide specific precautions.

2 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 3

4 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

The purpose of this manual is to provide detailed information about

In this manual we refer to the PowerFlex 750-Series products with TotalFORCE

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 5

6 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

This chapter discusses common configuration topics for PowerFlex® products.

This value is used to calculate acceleration and deceleration rates equivalent to

Adjustment range is 0.00...3600.00 seconds.

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 7

This value is used to calculate acceleration and deceleration rates equivalent to

Adjustment range is 0.00...3600.00 seconds.

8 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

ADC is available with the following software:

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 9

A configuration signature is a globally unique ID number. The Logix controller

Once in the Device Definition tab, click Automatic Device Configuration.

The Enable Automatic Device Configuration is accessible at the Port/Device

10 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 11

The use of other configuration tools, such as a HIM or Connected Components

The use of Explicit Messaging to perform parameter writes in the Logix

When ADC is enabled, it can be activated if the controller is in Run or Program

Use the Stratix® switches to provide the dynamic IP address assignment by

12 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Information on Automatic Device Configuration (ADC) can be found in the

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 13

14 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

The sleep/wake function is in the Port 9 Process PID primary file.

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 15

Sleep/Wake Related Parameters

Sleep Timer Satisfied

Sleep Level Satisfied

Wake Timer Satisfied

16 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

ATTENTION: Enabling the sleep/wake function can cause unexpected

Table 1 - Conditions Required to Start Drive (1) (2) (3)

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 17

When a device is commanding local control, the port that is commanding it

See the PowerFlex Drives with TotalFORCE Control Programming Manual

18 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Method Use When Application Requires Braking Power

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 19

Additionally, parameter 10/11:138 [Flux Braking En] can be selected separately

The alternative braking methods to external hardware brake requirements can

Coast is selected by setting parameter 10/11:110/111 [Mtr Stop Mode A/B] to 0

20 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Ramp to Stop is selected by setting parameters 10/11:110/111 [Mtr Stop Mode A/

Current Limit Stop

Rockwell Automation Publication 750-RM100C-EN-P - August 2022 21

22 Rockwell Automation Publication 750-RM100C-EN-P - August 2022

Bus Voltage Bus Voltage

Output Voltage Output Voltage

Output Current Output Current

Motor Speed Motor Speed

Bus Voltage Bus Voltage

Output Voltage Output Voltage