Comissionamento 755T

Front Cover
The parameters and fault and alarm codes for this product are in spreadsheets that are attached to
this PDF. To access the spreadsheets, save this PDF and open it from your device (not in a browser).
Then CLICK HERE to open the Attachments pane (to the left) and access each spreadsheet.
PowerFlex Drives with

TotalFORCE Control
Firmware Revision 10.xxx
Programming Manual Original Instructions

PowerFlex Drives with TotalFORCE Control Programming 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-PM101A-EN-P - February 2021

Table of Contents
Preface
About This Publication Access Files Attached to this Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 5
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Chapter 1
Startup Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Supported Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Step 1: Gather the Required Information . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Step 2: Validate the Drive Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Step 3: Power Up and Configure the Modular Control Profiles . . . . . . . 15
Step 4: Configure the Line Side Converter . . . . . . . . . . . . . . . . . . . . . . . . . 19
Step 5: Enter Motor Nameplate Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Step 6: Enter Motor Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Step 7: Configure Motor Encoder Feedback . . . . . . . . . . . . . . . . . . . . . . . . 20
Step 8: Autotune the Motor Side Inverter Control . . . . . . . . . . . . . . . . . . 20
Step 9: Set Up Velocity Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Step 10: Set Up Start/Stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Step 11: Special Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Step 12: Verify Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Establishing A Connection With EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . 26
Apply and Remove Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 2
Parameter Organization About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Parameter Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Parameter References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
How Drive Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Overview and System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Predictive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Chapter 3
PowerFlex 755T Control Block Diagram Conventions and Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Diagrams Line Side Converter Control Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Motor Side Inverter Control Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Chapter 4
Troubleshooting Fault and Alarm Code Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Configurable Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Rockwell Automation Publication 750-PM101A-EN-P - February 2021 3

Table of Contents
Viewing Faults and Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

HIM Indication (Fault Display Screen) . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Setting Factory Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Fan Usage by Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Hardware Service Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Fault and Alarm Display Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Common Symptoms and Corrective Actions . . . . . . . . . . . . . . . . . . . . . . 121
Testpoint Codes and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Reset as Shipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Configurable LCL Filter Capacitor Failure Response . . . . . . . . . . . . . . . 131
Configurable LCL Filter Capacitor Over Resonance Response . . . . . . 131
PowerFlex 755T Lifting/Torque Proving . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Technical Support Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

Preface
About This Publication
This publication contains the basic information to start up and troubleshoot

PowerFlex® 750T Products with TotalFORCE® Control, firmware revision 10
and later.
Firmware revisions 6 and earlier are documented in the PowerFlex Drives with
TotalFORCE Control Programming Manual (firmware revision 6.xxx and
earlier), publication 750-PM100.
This publication is intended for qualified personnel.

• You must understand the hazards that are associated with
electromechanical equipment installations.
• You must understand and follow all applicable local, national, and/or
international electrical codes.
• You must be able to program and operate adjustable frequency AC drive
devices.
• You must have an understanding of the parameter settings and
functions.
Access Files Attached to this Parameter descriptions are provided in a separate Microsoft® Excel®
Publication spreadsheet that is an attachment to this PDF file. For instructions on saving
the file to your computer, see Parameter Descriptions on page 9.
Alarm and fault descriptions are provided in a separate Microsoft Excel file
that is an attachment to this PDF file. For instructions on saving the file to your
computer, see Fault and Alarm Code Descriptions on page 107.
Download Firmware, AOP, Download firmware, associated files (such as AOP, EDS, and DTM), and access
EDS, and Other Files product release notes from the Product Compatibility and Download Center at
rok.auto/pcdc.

Preface About This Publication
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, • Drive and bus supply specifications
publication 750-TD100 • Option specifications
• Fuse and circuit breaker ratings
PowerFlex 750-Series Products with TotalFORCE Control Installation Provides the basic steps to install PowerFlex 755TL low harmonic drives, PowerFlex 755TR
Instructions, publication 750-IN100 regenerative drives, and PowerFlex 755TM drive systems.
Provides guidance on how to tune Flux Vector position and velocity loops, filters, and other
PowerFlex 755T Flux Vector Tuning, publication 750-AT006 features to achieve the level of performance that is required for a given application. This
publication is intended for novice drives users and users with advanced skills.
PowerFlex 20-HIM-A6 / -C6S HIM (Human Interface Module) User Manual, Provides detailed information on HIM components, operation, and features.
20HIM-UM001
PowerFlex 755TM IP00 Open Type Kits Installation Instructions, publication Provides instructions to install IP00 Open Type kits in user-supplied enclosures.
750-IN101
PowerFlex 755TM AC Precharge Modules Unpacking and Lifting Instructions,
publication 750-IN102 These publications provide detailed information on:
• Component weights
PowerFlex 755TM DC Precharge Modules Unpacking and Lifting Instructions,
publication 750-IN103 • Precautions and recommendations
• Hardware attachment points
PowerFlex 755TM Power and Filter Modules Unpacking and Lifting • Lifting the component out of the packaging
Instructions, publication 750-IN104
PowerFlex 750-Series Service Cart and DCPC Module Lift Instructions, Provides detailed setup and operating instructions for the module service cart and DC
publication 750-IN105 precharge module lift.
PowerFlex 755TM Power and Filter Module Storage Hardware Instructions, Provides detailed installation and usage instructions for this hardware accessory.
publication 750-IN106
PowerFlex 755T Module Service Ramp Instructions, publication 750-IN108 Provides detailed usage instructions for the module service ramp.
PowerFlex 750-Series I/O, Feedback, and Power Option Modules Installation, Provides instructions to install and wire 750-Series option modules.
publication 750-IN111
PowerFlex Drives with TotalFORCE Control Programming Manual (firmware • I/O, control, and feedback options
revision 6.xxx and earlier), publication 750-PM100 • Parameters and programming
• Faults, alarms, and troubleshooting
PowerFlex 750-Series Products with TotalFORCE Control Reference Manual, Provides detailed setup and programming instructions for common applications.
publication 750-RM100
• 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 Hardware Service • Preventive maintenance
Manual, 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
PowerFlex 750-Series ATEX Option Module User Manual, publication 750- These publications provide detailed information on installation, setup, and operation of the
UM003 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 Drives with TotalFORCE Control Built-in EtherNet/IP™ Adapter User Provides information on how to install, configure, and troubleshoot applications for the
Manual, publication 750COM-UM009 PowerFlex drives with the built-in EtherNet/IP adapter.
Provides basic information on enclosure systems, considerations to help protect against
Industry Installation Guidelines for Pulse Width Modulated (PWM) AC Drives, environmental contaminants, and power and grounding considerations for installing Pulse
publication DRIVES-AT003 Width Modulated (PWM) AC drives.
Provides basic information to properly wire and ground the following products in common
bus applications:
Drives in Common Bus Configurations with PowerFlex 755TM Bus Supplies • PowerFlex 755TM drive system for common bus solutions
Application Techniques, publication DRIVES-AT005
• PowerFlex 750-Series AC and DC input drives
• Kinetix™ 5700 servo drives

Resource Description
Wiring and Grounding Guidelines for Pulse Width Modulated (PWM) AC Drives, Provides basic information to properly wire and ground PWM AC drives.
publication DRIVES-IN001
Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP
EtherNet/IP Network Devices User Manual, ENET-UM006 network.
Ethernet Reference Manual, ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
Provides guidance on how to conduct security assessments, implement Rockwell
System Security Design Guidelines Reference Manual, SECURE-RM001 Automation products in a secure system, harden the control system, manage user access,
and dispose of equipment.
Industrial Components Preventive Maintenance, Enclosures, and Contact Provides a quick reference tool for Allen-Bradley industrial automation controls and
Ratings Specifications, publication IC-TD002 assemblies.
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides
Safety Guidelines for the Application, Installation, and Maintenance of general guidelines for the application, installation, and maintenance of solid-state control in
Solid-state Control, publication SGI-1.1 the form of individual devices or packaged assemblies incorporating solid-state
components.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
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.

Notes:

Chapter 1
Startup
The procedure in this Startup chapter is designed to guide you through the 12
basic steps that are required to start up your PowerFlex® 750T product for the
first time for simple applications.
This procedure uses the HIM to configure parameters. You may prefer to use
the PowerFlex 755T Startup Assistant Wizard in Connected Components
Workbench™ (version 10 or later) software for this instead of the HIM.
Topic Page
Step 1: Gather the Required Information 10
Step 2: Validate the Drive Installation 14
Step 3: Power Up and Configure the Modular Control Profiles 15
Step 4: Configure the Line Side Converter 19
Step 5: Enter Motor Nameplate Data 19
Step 6: Enter Motor Inertia 20
Step 7: Configure Motor Encoder Feedback 20
Step 8: Autotune the Motor Side Inverter Control 20
Step 9: Set Up Velocity Reference 22
Step 10: Set Up Start/Stop 23
Step 11: Special Considerations 24
Step 12: Verify Drive Operation 25
Parameter Descriptions PowerFlex 750T parameters are listed in the Microsoft® Excel® spreadsheet
that is attached to this PDF file.
CLICK HERE to open the Attachments pane (to the left) and access
the parameter spreadsheet. This link does not work if you view this
PDF file in a browser. Make sure you save the PDF file and open it
from your device. Then use the link to open the Attachments pane.
You can also find the parameter spreadsheet in Knowledgebase

Article PowerFlex 755T Drives Parameter Descriptions and Fault and
Alarm Codes (FRN 10). You do not need a support contract to access
the article.
To view the parameter descriptions:

1. Right-click the desired Excel file and choose Save.
2. Open the Excel file.
For full functionality (filter and search), use the Microsoft Excel application.

Chapter 1 Startup
Equipment The following equipment requirements apply to the use of this publication.
• The drive is a PowerFlex 750-Series in a standalone installation.
• No load sharing or multiple motors on a single drive.
• The drive is equipped with either a PowerFlex 20-HIM-A6 or a
20-HIM-C6S Human Interface Module (HIM).
CIP Security CIP Security™ is a standard, open-source communication mechanism that

helps to provide a secure data transport across an EtherNet/IP™ network. It
lets CIP-connected devices authenticate each other before transmitting and
receiving data.
CIP Security uses the following security properties to help devices protect
themselves from malicious communication:
• Device Identity and Authentication
• Data Integrity and Authentication
• Data Confidentiality
Rockwell Automation uses the following products to implement CIP Security:

• FactoryTalk® Services Platform, version 6.11 or later, with the following
components enabled:
- FactoryTalk Policy Manager
- FactoryTalk System Services
• FactoryTalk Linx, version 6.11 or later
• Studio 5000® Design Environment, version 32.00.00 or later
• CIP Security-enabled Rockwell Automation® products, for example, the
product described in this publication
Supported Applications This publication is intended for use on typical applications such as fans,
pumps, compressors, and conveyors. These are simple velocity applications.
Step 1: Gather the Required When you apply power to your drive for the first time, you need to enter
Information specific information about your application. You need to enter motor
nameplate data and set up your I/O. Step 1: Gather the Required Information
helps you to verify that you have the needed information prior to drive
powerup.
Record Motor Nameplate Data
Record the data to be entered into the parameters during powerup. You can
also record data for up to five drive/motor combinations. Use this table to
record a descriptive name for each drive/motor combination and their
respective parameters.

Chapter 1 Startup
Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

Drive/Motor Name
(example, Main Exhaust Fan)
Port Parameter Parameter Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

No. No. Name
10 400 Motor NP Volts
10 401 Motor NP Amps
10 402 Motor NP Hertz
10 403 Motor NP RPM
10 405 Mtr NP Pwr Units

kW Hp kW Hp kW Hp kW Hp kW Hp
10 406 Motor NP Power
10 407 Motor Poles
10 900 (1)(2) Motor Inertia
13 30 Nom Line Freq
AC Line kVA A
13 32 (Transformer kVA)
13 34 (3) AC Line Imped% A
13 52 Ext Bus Cap
13 100 Current Limit
13 104 Regen Power Limit
(1) Only needed for Flux Vector control.

(2) This information is not typically on the motor nameplate. If this information is not provided by the motor data sheet, use the equation on page 20 to calculate motor inertia.
(3) Calculate 13:34 [Line Impedance] = (xfmr impedance + line reactor impedance) * xfmr kva/drive kva * 100
Verify Power Wiring
Visually inspect the power wiring connections to each drive. Be sure you are
satisfied that the correct wires are connected to the input terminals and to the
output terminals. See the PowerFlex 750-Series Products with TotalFORCE®
Control Installation Instructions, publication 750-IN100 for more information
about where these connections are made.
Drive 1 Drive 2 Drive 3 Drive 4 Drive 5

Verify Wiring Wiring is Correct Wiring is Correct Wiring is Correct Wiring is Correct Wiring is Correct
AC input power is on L1, L2, L3 / R, S, T.
Output motor connection is on T1, T2, T3 / U, V, W.
Proper ground wire terminations at PE ground studs.
Chapter 1 Startup
Verify Power Jumper Configuration
PowerFlex 755T drives contain protective MOVs and common mode capacitors
that are referenced to ground. To guard against drive damage and/or
operation problems, these devices must be properly configured.
IMPORTANT The drive power source type must be accurately determined and the
jumpers must be configured for the power source. See the PowerFlex 750-
Series Products with TotalFORCE Control Installation Instructions, publication
750-IN100 for more information on common power source types, where
power jumpers are in the drive, and the proper jumper configuration for
your power source.
Use this table to record that you have verified that the power jumper
configuration is correct for each drive.
Drive 1 Drive 2 Drive 3 Drive 4 Drive 5

Power jumpers are Power jumpers are Power jumpers are Power jumpers are Power jumpers are
configured correctly. configured correctly. configured correctly. configured correctly. configured correctly.

Verify I/O Wiring
To properly configure a drive, you need to know the source of the velocity
reference and the start/stop commands. There are three places where signal
sources (such as push buttons, potentiometers, or communication network
cabling) are connected to the drive.
1. The main control board.
• Embedded EtherNet/IP™ port on a PowerFlex 755T
• DeviceLogix™ port on a PowerFlex 755T
• Terminal block TB1 on a PowerFlex 755T main control board (Digital
Input 0)
2. An expansion I/O module.
3. A communication network module.
You can always use the HIM for speed, start, and stop control. If that is the case
for operating conditions, proceed to Step 3: Power Up and Configure the Modular
Control Profiles on page 15.

Chapter 1 Startup
Where are Signal Sources Connected?
Use this diagram to help determine where signal sources are connected in each
of your drives. You need this information when you reach Step 9: Set Up
Velocity Reference on page 22.
IMPORTANT The 750-Series drive uses the term ‘Port’ to designate (in software) the
physical location where hardware is located.
Port Location Labels
Sh
Sh
PTC–
PTC+
1
Ao0–
Ao0+
Ao1–
Ao1+
–10V
10VC
+10V
2
Ai0–
Ai0+
Ai1–
Ai1+
24VC
+24V
DiC
Di0
Di1
Di2
Di3
Di4
Di5
3
Item Description
1 Communication network module (Port 5 installation shown)
2 Expansion I/O module (Port 4 installation shown)
3 Embedded EtherNet/IP
4 Terminal block TB1 on main control board behind the Ethernet port

Chapter 1 Startup
Item
Are signal sources connected to a communication network module installed in your drive? If yes, note the module’s port number.
Drive 1: Drive 2: Drive 3: Drive 4: Drive 5:
Yes: Port No. No Yes: Port No. No Yes: Port No. No Yes: Port No. No Yes: Port No. No
Which EtherNet/IP configuration is your drive using (BOOTP, DHCP, or manual IP address)? If using a manual IP address, enter the IP address and the subnet address.
Drive 1: Drive 2: Drive 3: Drive 4: Drive 5:
BOOTP DHCP BOOTP DHCP BOOTP DHCP BOOTP DHCP BOOTP DHCP
1 Manual Manual Manual Manual Manual
IP Address IP Address IP Address IP Address IP Address
Subnet Mask (required) Subnet Mask (required) Subnet Mask (required) Subnet Mask (required) Subnet Mask (required)
Gateway Address (required) Gateway Address (required) Gateway Address (required) Gateway Address (required) Gateway Address (required)
Are signal sources connected to an expansion I/O module installed in your drive? If yes, note the module’s port number.
2 Drive 1: Drive 2: Drive 3: Drive 4: Drive 5:
Yes: Port No. No Yes: Port No. No Yes: Port No. No Yes: Port No. No Yes: Port No. No
Is there a connection to the Embedded EtherNet/IP port?
3
Drive 1: Yes No Drive 2: Yes No Drive 3: Yes No Drive 4: Yes No Drive 5: Yes No
Are signal sources connected to terminal block TB1 on the main control board located behind the EtherNet/IP port?
4
Drive 1: Yes No Drive 2: Yes No Drive 3: Yes No Drive 4: Yes No Drive 5: Yes No
See the diagram on page 13 for item number locations.
Step 2: Validate the Drive Verify the status of the enable jumper and the safety jumper.
Installation • If the enable jumper is removed, control power is required at Di0 on the
main control board for the drive to be able to accept a Start command.
See parameter 0:100 [Digital In Sts] bit 0 ‘Digital In 0’. For more
information, see PowerFlex 750-Series Products with TotalFORCE
Control Installation Instructions, publication 750-IN100.
• If the safety jumper is removed, see the manual for the safety option that
is installed.
- Catalog number 20-750-S: PowerFlex 750-Series Safe Torque Off User
Manual, publication 750-UM002.
- Catalog number 20-750-S1: Safe Speed Monitor Option Module for
PowerFlex 750-Series AC Drives Safety Reference Manual, publication
750-RM001.
- Catalog number 20-750-S3: PowerFlex 755 Integrated Safety - Safe
Torque Off User Manual, publication 750-UM004.
- Catalog number 20-750-S4: PowerFlex 755T Integrated Safety
Functions Option Module User Manual, publication 750-UM005.

Chapter 1 Startup
Step 3: Power Up and In this step, you power up the drive and configure the Modular Control
Configure the Modular Profiles. Modular Control Profiles change to match your preferences and
application needs. A power cycle is required for the new configuration to work.
Control Profiles Modular Control Profiles improve user interface and performance.
Preparation
Use the following table to keep track of your configurations and preferences.
Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

Drive/Motor Name
(example, Main Exhaust Fan)
Port Parameter Parameter Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

No. No. Name
0 33 VoltageClass Cfg
0 35 Duty Rating Cfg
0 46 Velocity Units
0 65 Pri MtrCtrl Mode
0 67 Sec MtrCtrl Mode
0 70 Application Sel
0 72 Emb Logic Select
Voltage Class
Most customers order the drive that matches their incoming voltage. The
voltage class parameter allows some extra flexibility. For example, it allows you
to use the same drive in 400V or 480V operation.
For 400/480V products, Low Voltage selects 400V and High Voltage selects
480V.
For 600/690V products, Low Voltage selects 600V and High Voltage selects
690V.
Duty Rating Class
The duty class parameter allows you to select the continuous and overload
modes of operation.
Normal Duty – Selects the normal continuous rating, with overload ratings of
110% for 60 seconds and 150% for 3 seconds.

Chapter 1 Startup
Heavy Duty – Provides a lower continuous rating, with overload ratings of

150% for 60 seconds and 180% for 3 seconds.
Light Duty – provides the highest continuous rating, with an overload rating of
110% for 60 seconds. Not available on all drive sizes.
The value of this parameter affects the continuous current rating of the drive.
Velocity Units
This parameter allows you to select either Hertz (Hz) or Revolutions per
Minute (RPM) as the units for velocity (speed).
Motor Control Mode

Select the motor control mode that the product uses for primary (port 10) and
secondary (port 11) control of the motor side inverter. You can choose from the
following:
• Volts per Hertz – The most basic form of motor control. Useful for
variable torque applications such as pumps, fans, and multiple motors in
parallel.
• Sensorless Vector – An enhanced form of V/Hz control useful variable
torque and simple constant torque applications. Sensorless vector
produces better torque at low frequencies than volts per hertz. Motor
Tuning recommended.
• Economize – An enhanced form of Sensorless Vector control designed to
reduce energy consumption when the drive is not accelerating. Motor
Tuning recommended.
• Flux Vector – A control mode that is designed for precise Torque, Velocity
and/or Position regulation. Useful for variable torque, constant torque,
and constant power applications. Provides precise position and velocity
tracking. Provides excellent disturbance rejection. This mode is needed
for position and load sharing applications. Motor Tuning is required.
Flux Vector is the recommended control mode for both encoder and
encoderless control of permanent magnet motors.
Application Mode
You can add one of the following functionalities to determine which

application parameters are present in port 9. Choose from the following
options:
• None – leaves port 9 empty.
• Process PID only – provides a PID regulator for process applications in
port 9. Use this for pressure or flow transducers on fan or pump
applications. Use it for tension transducers on winding applications.
• Torque Prove – provides a mechanism for coordinating the motor and
mechanical brake on lifting applications. This selection loads these
parameters as well as the Process PID parameters into port 9.

Chapter 1 Startup
• Oil Well – provides a mechanism for pump jack and progressive cavity
pump applications.
Power the Drive

ATTENTION: Power must be applied to the drive to perform the following start-
up procedure. Some of the voltages present are at incoming line potential. To
avoid electric shock hazard or damage to equipment, allow only qualified
service personnel to perform the following procedure. Thoroughly read and
understand the procedure before beginning.
1. Apply AC power and control voltages to the drive. See Apply and Remove
Power on page 28.
2. When prompted, use the or to highlight the desired display
language.
Stopped AUTO
0.000 Hz F
Select Language to Use ▼
English
Francaise
Espanol
Italiano
▼
ENTER
Language Selection Screen
3. Press the ENTER soft key to select the language.

Language selection only applies to new drives. It is not required if the drive has
been previously used or when resetting from factory defaults. If this drive was
previously powered and configured, and is being repurposed for this
application, reset the drive parameters following the instructions in Setting
Factory Defaults on page 118.
IMPORTANT Language selection only applies to new drives. It is not required if the drive
has been previously used or when resetting from factory defaults. If this
drive was previously powered and configured, and is being repurposed for
this application, reset the drive parameters following the instructions in
Setting Factory Defaults on page 118.
4. Press the ESC soft key to access the Status screen.
The Status screen is displayed on HIM powerup.

5. Use the or key to scroll to port 0.
Stopped AUTO
0.00 Hz F
Host Drive
480V 740A
20G...D740
00
ESC REF PAR# TEXT

Chapter 1 Startup
Configure the Voltage Class
Navigate to parameter 0:33 [VoltageClass Cfg] and enter the configuration for
Low Voltage or High Voltage. A change to this parameter is needed only when
you are applying a drive on a voltage other than what the catalog number
specifies.
Configure the Duty Rating

Navigate to parameter 0:35 [Duty Rating Cfg] and enter the configuration for
Normal, Heavy, or Light Duty.
Configure Velocity Units

Navigate to parameter 0:46 [Velocity Units] and enter the configuration for Hz
or RPM.
Configure the Motor Control Mode
Navigate to parameter 0:65 [Pri MtrCtrl Mode] and enter the configuration for
Volts per Hz, Sensorless Vector, Economize, Flux Vector, or Synchronous
Reluctance. This configuration is only needed when you are not using
Sensorless Vector.
For permanent magnet motors, select an option.

• 4 ‘IPM FV’, induction motor flux vector
• 5 ‘SPM FV’, interior permanent magnet motor flux vector
• 6 ‘PM VHz’, surface permanent magnet motor flux vector
• 7 ‘PM VHz’, permanent magnet motor volts per Hertz
• 8 ‘PM SV’, permanent magnet motor sensorless vector
For synchronous reluctance motors, select an option.

• 9 ‘SynR VHz’, synchronous reluctance motor volts per Hertz
• 10 ‘SynR SV’, synchronous reluctance motor sensorless vector
Configure the Application Selection
Navigate to parameter 0:70 [Application Sel] and enter the configuration for
Process PID, Torque Prove, or Oil Well.
Cycle Power and Verify the Modular Control Profile Configurations

1. Cycle power or reset the drive (Reset Device) in order to load the control
mode.

Chapter 1 Startup
IMPORTANT You must cycle power or reset the drive (Reset Device) in order to
load the value of these parameters.
2. Navigate to port 0.
3. Navigate to ‘Actual’ feedback parameters to verify the configuration:
0:34 [VoltageClass Act] 0:47 [Vel Units Act] 0:71 [Application Act]
0:36 [Duty Rating Act] 0:66 [Pri MtrCtrl Act]
Step 4: Configure the Line In this step, you configure the line side converter using the HIM.
Side Converter
You may prefer to use the Regenerative Converter Setup Wizard in Connected
Components Workbench software for this instead of the HIM.
1. Navigate to port 13 (Line Side Converter Control).
2. Navigate to the following parameters and enter that data gathered in
Step 1: Gather the Required Information in this order. See page 10 of this
publication.
13:30 [Nom Line Freq] 13:32 [AC Line kVA A] 13:34 [AC Line Imped% A]
3. On a 755TM bus supply, navigate to parameter the following parameters
and enter that data.
13:52 [Ext Bus Cap] 13:100 [Current Limit] 13:104 [Regen Power Lmt]
[Ext Bus Cap] – Enter the bus capacitance of products outside of the local
bus supply or integrated drive that share the common DC bus. Include
the capacitance of Common Bus Inverters and DC input drives that share
the common DC bus. Include any additional capacitor modules added to
the common DC bus. See Drives in Common Bus Configurations,
publication DRIVES-AT002.
Step 5: Enter Motor You may prefer to use the PowerFlex 755T Setup Assistant in Connected
Nameplate Data Components Workbench software to perform steps 5…8 instead of the HIM.
In this step, you configure the Motor Side Inverter Control to contain the
motor nameplate information.
1. Navigate to port 10 (Motor Side Inverter Control).
2. Navigate to the following parameters and enter the data gathered in Step
1: Gather the Required Information on page 10:
10:400 [Motor NP Volts] 10:403 [Motor NP RPM] 10:406 [Motor NP Power]
10:401 [Motor NP Amps] 10:405 [Mtr NP Pwr Units] 10:407 [Motor Poles]
10:402 [Motor NP Hertz]
If the number of motor poles is not on the motor nameplate, use the following
formula to determine the value:
Motor Poles = (120 x Motor NP Hertz)/Motor NP RPM

Round the result to the nearest even number.

Chapter 1 Startup
Step 6: Enter Motor Inertia In this step, you configure the Motor Inertia parameter. This is only needed for
proper operation with Flux Vector mode. This parameter does not exist in
other motor control modes.
1. Navigate to parameter 10:900 [Motor Inertia]. Then enter the data
gathered in Step 1: Gather the Required Information on page 10. Enter
using the units of kg x m2.
Divide lb x ft2 or WK2 by 23.73 to convert to kg x m2.
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)]
Step 7: Configure Motor In this step, you configure the motor encoder feedback.
Encoder Feedback
This step is needed only if you are using motor encoder feedback.
1. Navigate to parameter 10:1000 [Pri Vel Fb Sel]. Then enter the two-digit
port number for feedback option card, and the four-digit parameter
number for the parameter that displays the feedback.
For example, enter 05 and 0004 when using a 20-750-ENC-1 in slot 5. This
links to parameter nn:4 [Encoder Feedback].
2. Navigate to the port that contains the feedback option card.
For example, navigate to port 5 when using a 20-750-ENC-1 in slot 5.

3. Configure the parameters on the feedback option card to match the
encoder you are using.
For example, configure the following parameters if using a 20-750-ENC-

1: nn:1 [Encoder Cfg], nn:2 [Encoder PPR], and nn:3 [Fdbk Loss Cfg].
Step 8: Autotune the Motor In this step, you perform tuning tests using the HIM.
Side Inverter Control
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.
Set Maximum Velocity (Permanent Magnet Motors)

Follow these steps for permanent magnet motor applications only.
1. Before you run autotune tests, configure the maximum velocity and bus
protection parameters. Navigate to Port 10 ‘Primary Motor Side Control
Parameters’ for standard applications. When using the secondary motor
control feature to configure a secondary motor, navigate to Port 11
‘Secondary Motor Side Control Parameters.’

Chapter 1 Startup
2. Set parameter 10:691 [PM Bus Prot] and parameter 10:699 [PM Vel Max]
to the Motor Nameplate RPM or Hertz according to the velocity unit
selection in 0:46 [Velocity Units]. If unit conversion is necessary, see the
formula in Step 5: Enter Motor Nameplate Data on page 19.
Perform the Direction Test

1. Navigate to parameter 10:910 [Autotune] and enter a value of
1 ‘Direction Test’.
2. Press the Start key.
3. Observe if the motor direction is forward or reverse for the application.
4. Press the Stop key.
5. Address the direction.
• If the direction is forward, proceed to next test.
• If the direction is reverse, you have two alternatives:
Set bit 4 ‘Mtr Lead Rev’ of parameter 10:420 [Mtr Cfg Options]. This
reverses the phase rotation of the applied voltage, effectively reversing
the motor leads.
Or
Power down and physically reverse the motor leads.

6. Run the test again to verify that the motor direction is now forward.
Perform the Motor ID Test

1. Navigate to parameter 10:510 [MtrParam C/U Sel]. Select a value of 2
‘LoadCalcData’. This copies the calculated motor characteristic
parameters to the ‘User Entered’ parameters and then selects option 1
‘User Entered’. The results of a Motor ID test will update the 'User
Entered' parameters accordingly.
2. For induction motors, navigate to parameter 10:910 [Autotune] and enter
a value of 2 ‘Static MtrID’. For permanent magnet motors, navigate to
parameter 10:910 [Autotune] and enter a value of 3 ‘Rotate MtrID’.
Permanent Magnet motors require a rotate tune. A static tune is not
supported.
3. Press the Start key.
Configuration Complete
The drive is able to start/stop from the HIM and has been successfully started
up.

Chapter 1 Startup
Step 9: Set Up Velocity Select the configuration according to the wiring you observed in Step 2:
Reference Validate the Drive Installation.
Door-mounted or Remote-mounted HIM

1. Navigate to port 10 (Motor Side Inverter Control).
2. Navigate to parameter 10:1800 [VRef A Sel]. Then enter a value of
215 ‘Port 2 Reference’.
Connections on 11-Series I/O Module - Cat. No. 20-750-11xxx-xxxx or

22-Series I/O Module - Cat. No. 20-750-22xxx-xxxx
1. Navigate to parameter 10:1800 [VRef A Sel]. Then enter the two-digit port
number for I/O option card, and the four-digit parameter number for the
parameter that displays the analog input.
For example, enter 04 and 0050 when using a 20-750-22xxx-xxxx in slot 4.

This links to parameter nn:50 [Anlg In0 Value].
2. Navigate to the port containing the I/O option card. Then enter the
needed parameter values.
In the above example, you would go to port 4 and enter values for these
parameters: nn:45 [Anlg In Type], nn:50 [Anlg In0 Value],
nn:51 [Anlg In0 Hi], nn:52 [Anlg In0 Lo], and nn:53 [Anlg In0 LssActn].
Embedded EtherNet/IP Interface
Navigate to port 10 (Motor Side Inverter Control).
Navigate to parameter 10:1800 [VRef A Sel]. Then enter a value of

211 ‘Emb Enet Ref’.

Chapter 1 Startup
Step 10: Set Up Start/Stop Door Mounted or Remote Mounted HIM

The keys on the HIM provide three-wire control.
Use the Start key for start.
Use the Stop key for stop.
Three-Wire Control on 11-Series I/O Module - Cat. No. 20-750-11xxx-

xxxx or 22-Series I/O Module - Cat. No. 20-750-22xxx-xxxx
1. Navigate to port 0, the main product port.
2. Navigate to parameter 0:108 [DI M Stop]. Then enter the two-digit port
number for I/O option card, the four-digit parameter number for the
digital input status, and then the two-digit bit number for the digital
input where the stop button is wired.
For example, enter 04 and 0001 and 00 when using a 20-750-22xxx-xxxx

in slot 4. This links to bit 0 for digital input 0 in parameter
nn:1 [Dig In Sts].
3. Navigate to parameter 0:117 [DI M Start]. Then enter the two-digit port
input digital input where the start button is wired.

nn:1 [Dig In Sts].
Two-Wire Control on 11-Series I/O Module - Cat. No. 20-750-11xxx-xxxx

or 22-Series I/O Module - Cat. No. 20-750-22xxx-xxxx
1. Navigate to port 0, the main product port.
2. Navigate to parameter 0:120 [DI M Run]. Then enter the two-digit port
input where the run button is wired.

nn:1 [Dig In Sts].
IMPORTANT You must select either two-wire and three-wire control. The drive
cannot be set to use both control modes simultaneously. A Start and
a Run on the same drive causes a 73 ‘Digin Cfg B’ digital input
configuration fault.
Embedded EtherNet/IP Interface
The logic command word from the controller starts and stops the drive
without any special parameter settings.
Chapter 1 Startup
Step 11: Special Acceleration and Deceleration Rates

Considerations
The default acceleration rate is 10 seconds (from 0 to Motor NP RPM).
The default deceleration rate is 10 seconds (from Motor NP RPM to 0).
Use the following steps to modify this if needed.

1. Navigate to port 10, the motor control port.
2. Navigate to parameter 10:1915 [VRef Accel Time1] and then enter the
desired acceleration rate in seconds.
3. Navigate to parameter 10:1917 [VRef Decel Time1] and then enter the
desired deceleration rate in seconds.
Analog Output
1. Navigate to the port that contains the I/O card with the analog outputs
you need to use.
2. Modify the following I/O card parameters as needed:
nn:75 [Anlg Out0 Sel] nn:81 [Anlg Out0 Lo] nn:88 [Anlg Out1 DataHi]
nn:76 [Anlg Out0 Stpt] nn:82 [Anlg Out0 Val] nn:89 [Anlg Out1 DataLo]
nn:77 [Anlg Out0 Data] nn:85 [Anlg Out1 Sel] nn:90 [Anlg Out1 Hi]
nn:78 [Anlg Out0 DataHi] nn:86 [Anlg Out1 Stpt] nn:91 [Anlg Out1 Lo]
nn:79 [Anlg Out0 DataLo] nn:87 [Anlg Out1 Data] nn:92 [Anlg Out1 Val]
nn:80 [Anlg Out0 Hi]
Relay Output
1. Navigate to the port that contains the I/O card with the relay outputs you
need to use.
2. Modify the following I/O card parameters as needed:
nn:10 [RO0 Sel] nn:14 [RO0 On Time] nn:22 [RO1 Level]
nn:11 [RO0 Level Sel] nn:15 [RO0 Off Time] nn:23 [RO1 Level CmpSts]
nn:12 [RO0 Level] nn:20 [RO1 Sel] nn:24 [RO1 On Time]
nn:13 [RO0 Level CmpSts] nn:21 [RO1 Level Sel] nn:25 [RO1 Off Time]

Chapter 1 Startup
Step 12: Verify Drive Now that you have completed the steps required to start up your drive for the
Operation first time, verify that each of your drive/motor combinations is operating
correctly and record the results.
Use the information displayed on the HIM, the drive status indicators to the
right of the HIM, and the system operation to assist with verifying drive
operation.
1. Is each drive/motor combination responding correctly to each of the
signal sources?
Signal Command Drive/Motor 1 Drive/Motor 2 Drive/Motor 3 Drive/Motor 4 Drive/Motor 5

Start
Stop
Direction (if applicable)
2. Is each drive/motor combination responding correctly to the speed
reference source? (Check only those that apply.)
Speed Reference Drive/Motor 1 Drive/Motor 2 Drive/Motor 3 Drive/Motor 4 Drive/Motor 5
HIM Source
Yes No Yes No Yes No Yes No Yes No
Control Board Analog Input Yes No Yes No Yes No Yes No Yes No
Expansion I/O Module Analog Input
(Port 4) Yes No Yes No Yes No Yes No Yes No
Communications over EtherNet/IP
(Port 6 or Port 13) Yes No Yes No Yes No Yes No Yes No
Communications over Other Protocol
(Port 6) Yes No Yes No Yes No Yes No Yes No
Configuration Considerations
If any of your drive/motor combinations are not functioning properly, review
steps 1…12 to be sure that the correct information was gathered or calculated
and that parameters were set correctly. You can also see parameters
10:350 [VRef Source] and 10:603 [Start Inhibit].
If your EtherNet/IP communications are not functioning properly, verify the

controller/PLC is communicating the expected commands and/or reference.
For more information, see the PowerFlex Drives with TotalFORCE Control
Built-in EtherNet/IP Adapter User Manual, publication 750COM-UM009, or
contact your PLC expert.
To interpret the Drive Status Indicators, see page 110. See also parameter
0:200 [MS Logic Rslt].
If performance problems persist, see the publications listed in Additional

Resources on page 6.
If you feel you need additional technical support, gather the information listed
on page 14 prior to contacting a support representative.

Chapter 1 Startup
Establishing A Connection See the PowerFlex 750-Series Drives with TotalFORCE Control Built-in
With EtherNet/IP EtherNet/IP Adapter, publication 750-UM009.
There are three methods for configuring the embedded EtherNet/IP adapter’s
IP address:
• Adapter Rotary Switches – Use the switches when working on a simple,
isolated network (for example, 192.168.1.xxx) where:
- other products on the network use switches to set their IP addresses
- the product does not need to be accessed from outside the network
- a simplified node addressing method is preferd
The three adapter switches are read when the drive powers up, and
represent three decimal digits from top to bottom (see Figure 1). If set to
a valid address (001-254), the adapter will use that value as the lower octet
of its IP address (192.168.1.xxx, where xxx = rotary switch settings), along
with a subnet mask of 255.255.255.0 and there will be no gateway
configured. Also, the setting for adapter 0:300 [Net Addr Sel] is
automatically ignored.
See Figure 1 and its accompanying table for all possible switch settings
and their related descriptions.
IMPORTANT When using the adapter rotary switches, set the IP address before
power is applied because the adapter uses the IP address it detects
when it first receives power.
• BOOTP or DHCP Server – Use BOOTP/DHCP if you prefer to control the
IP addresses of devices that use a server. The BOOTP/DHCP server
provides the IP address, subnet mask, and gateway addresses. If the
address is invalid, DHCP is used. When using this method, set the rotary
switches to 999. For BOOTP, set 0:300 [Net Addr Sel] to 2 ‘BOOTP’. For
DHCP, set 0:300 [Net Addr Sel] to 3 ‘DHCP’.
• Adapter Parameters – Use adapter parameters when you want more
flexibility in setting up the IP address, or need to communicate outside
the control network using a gateway. The IP address, subnet mask, and
gateway addresses are taken from the adapter parameters you set. When
using this method, set the rotary switches to 999. Set 0:300 [Net Addr Sel]
to 1 ‘Parameters’.
Address Configuration Parameters

- IP Address: 0:302 [IP Addr Cfg 1]…0:305 [IP Addr Cfg 4]
- Subnet Mask Address: 0:306 [Subnet Cfg 1]…0:309 [Subnet Cfg 4]
- Gateway Address: 0:310 [Gateway Cfg 1]…0:313 [Gateway Cfg 4]
Regardless of the method used to set the adapter’s IP address, each node on the
EtherNet/IP network must have a unique IP address. To change an IP address,
you must set the new value and then remove and reapply power to (or reset) the
adapter.

Chapter 1 Startup
Figure 1 - Setting the IP Address Switches
Hundreds
Position
Tens Position
Ones
Position
Possible Settings Description

000, 255…887, Adapter uses the setting depending on 0:300 [Net Addr Sel], BOOTP setting, DHCP setting, or
889…999 the adapter parameter settings for the IP address.
Adapter uses the rotary switch settings for the IP address (192.168.1.xxx, where xxx = rotary
001…254 switch settings).
Resets the adapter IP address function to factory defaults. This setting also resets most
parameters to factory defaults (see Setting Factory Defaults on page 118).
888 After you reset the adapter, power down the drive. Set the switches to a setting other than 888.
Power up the drive to accept the new address.

Chapter 1 Startup
Apply and Remove Power The following procedures describe how to energize PowerFlex 755T products in
both stand-alone and in system installations.
755TL and TR Drives without 24V Auxiliary Power
This procedure applies to drives without 24V auxiliary power.
Input Bay Power Bay
(B)
(A)
Three-phase Power
Energize
Energize the product in the following sequence:

1. Energize three-phase power (A).
2. Turn the fused disconnect handle (B) to the ‘On’ position.
De-energize
De-energize the product in the following sequence:

1. Turn the fused disconnect handle (B) to the ‘Off’ position.
2. De-energize three-phase power (A). This may not be needed.

Chapter 1 Startup
755TL and TR Drives with 24V Auxiliary Power
This procedure covers drives with 24V auxiliary power.
IMPORTANT This procedure assumes that 24V auxiliary power was not removed when
the product was de-energized. If you are conducting an initial powerup, or if
24V auxiliary power was removed, only apply 24V auxiliary power as the
final step in the Energize sequence.
Input Bay Power Bay
(B)
(C)
24V Auxiliary Power
(A)
Three-phase Power
Energize

1. Leave 24V auxiliary power (C) energized when the drive is not in
operation. This keeps up the control and communication.
3. Turn the fused disconnect switch (B) to the ‘On’ position.
4. After drive boots up, clear faults related to the three-phase outage.
De-energize

1. Turn the fused disconnect switch (B) to the ‘Off’ position.
Leave 24V auxiliary power (C) energized when the drive is not in operation.

Chapter 1 Startup
Systems with 755TM Bus Supplies and Common Bus Inverters
This procedure covers systems without 24V auxiliary power and without
separate 240V control power.
Bus supplies ordered with the –C1 Control Transformer option do not require
Input Bay Power Bay Power Bay Control Power Bay

Bay
(F) (F)
(E)
(B)
(A)
Three-phase Power
Energize

1. Leave the Control Power switches (E) for the Common Bus Inverters in
the ‘On’ position when the drive system is not in operation.
2. Leave the DC Precharge switches (F) for the Common Bus Inverters in
the ‘On’ position when the drive system is not in operation. This step is
not required for Common Bus Inverters without DC Precharge.
De-energize


Chapter 1 Startup
Systems with 24V Auxiliary Power and without Separate 240V Control
Power
the product was de-energized. If you are conducting an initial powerup, or if
24V auxiliary power was removed, only apply 24V auxiliary power as the
Bus supplies ordered with the –C1 Control Transformer option do not require

Bay
(F) (F)
(E)
(B)
(C)
24V Auxiliary Power
(A)
Three-phase Power
Energize

the ‘On’ position when the drive system is not in operation. This is not
needed if 24V auxiliary power (C) remains energized.
6. After drive system boots up, clear faults related to the three-phase
outage.
De-energize


Chapter 1 Startup
the ‘On’ position when the drive system is not in operation. This is not
needed if 24V auxiliary power (C) remains energized.
operation.
Systems without 24V Auxiliary Power and with Separate 240V Control
Power
Bus supplies ordered without the –C1 Control Transformer option require

Bay
(F) (F)
(D)
(E)
240V Control Power (B)
(A)
Three-phase Power
Energize

3. Energize 240V control power (D).
De-energize


Chapter 1 Startup
3. De-energize 240V control power (D).
IMPORTANT Step 3, de-energize 240V control power is required. If three-phase

power is de-energized and re-energized while 240V control power
stays energized, Common Bus Inverter non-resettable functional
safety faults result. To clear these faults, de-energize and re-
energize 240V control power.
Systems with 24V Auxiliary Power and with Separate 240V Control
Power
the product was de-energized. If you are conducting an initial power-up, or
if 24V auxiliary power was removed, only apply 24V auxiliary power as the
Bus supplies ordered without the –C1 Control Transformer option require

Bay
(D) (F) (F)
(E)
240V Control Power (B)
(C)
24V Auxiliary Power
(A)
Three-phase Power
Energize


Chapter 1 Startup
4. Energize 240V control power (D).

7. After drive system boots up, clear faults related to the three-phase
outage.
De-energize

3. De-energize 240V control power (D). This is only needed to turn off
heatsink fans on LCL filters.
operation.

Chapter 2
Parameter Organization
This chapter lists and describes the parameters in PowerFlex 750-Series

Products with TotalFORCE® Control. The parameters can be programmed
(viewed/edited) using a Human Interface Module (HIM). See the Enhanced
PowerFlex 7-Class Human Interface Module (HIM) User Manual, publication
20HIM-UM001, for information on using the HIM to view and edit
parameters. You can also use Connected Components Workbench™ (version 10
or later) software. If the drive is connected to a ControlLogix® or
CompactLogix™ controller you can also use Studio 5000 Logix Designer®
(version 20 or later).
About Parameters To configure a drive module to operate in a specific way, certain drive
parameters may have to be configured appropriately. Four types of parameters
exist:
• Numeric Parameters
These parameters have a single numeric value (such as 1750.0 RPM).
• ENUM Parameters
These parameters allow a selection from two or more items. The LCD
HIM will display a text message for each item.
• Indirect Parameters
These parameters assign or select sources for data. They have a
maximum value of 159999.15. The two most significant digits select the
port of the source. The following four digits select the parameter number
of the source. The two digits below the decimal point select the bit
number of the source.
For example, parameter 0:117 [DI M Start] is an indirect parameter for
selecting the source of the Start digital input function. You may want to
select input 01 on an IO card in port 4. You would enter 04 and 0001
and .01. This assigns bit 01 of parameter 0001 [Dig In Sts] of the card in
port 4 to the Start function.
• Bit Parameters
These parameters have individual bits associated with features or
conditions. If the bit is 0, the feature is off or the condition is false. If the
bit is 1, the feature is on or the condition is true.

Chapter 2 Parameter Organization
Parameter Access Level Three parameter access level options are selectable by 0:30 [Access Level].
• Option 0 ‘Basic’ is the most limited view that only displays parameters
and options that are commonly used by operators.
• Option 1 ‘Advanced’ is an expanded view of parameters that is helpful to
maintenance technicians and for engineers to access more advanced
drive features when they commission the drive.
• Option 2 ‘Expert’ provides design engineers with a comprehensive view
of the entire parameter set.
Parameter References Parameter references are shown as Port#:Parameter# [Parameter Display

Name] convention. For example, 0:30 [Access Level] tells you that the Access
Level parameter is number 30 in port 0.
How Drive Parameters are Connected Components Workbench programming software displays
Organized parameters in ‘Linear List’ or ‘File Group Parameter’ format. The ‘File Group
Parameter’ format simplifies programming by dividing Files into groups of
parameters that are used for similar functions.
Overview and System The PowerFlex 755T architecture is an evolution of the high power (frames
Architecture 8...10) PowerFlex 755 architecture. There are changes to improve usability and
performance. There are changes to include new functionality and additional
power modules.
Ports, files, and groups are containers for control and parameters. This
architecture organizes the parameters among these containers to make them
easy to find. It also limits which parameters are presented. It only presents the
parameters that are related to the active configuration.

Figure 2 - System Architecture
Port 0
System (Whole Product) – See page 37
Monitor Embedded ENET
Product Config Protection
Feedback & I/O Diagnostics
Communication
Port 10 Port 11 Port 12

Pri MtrSideCtrl – See page 38 Sec MtrSideCtrl– See page 38 Motor Side Power – See page 38
Monitor System Monitor System MotorSide Common
Dynamic Control Feedback Dynamic Control Feedback Trq Accuracy Mod
Protection Position Protection Position M0…M9 Power Module
Diagnostics Velocity Diagnostics Velocity
Electrical Torque Electrical Torque
Port 13 Port 14 Port 9

Line Side Ctrl – See page 38 Line Side Power – See page 38 Application – See page 38
Monitor Protection Line Side Common Process PID DeviceLogix
Dynamic Control Diagnostics L0…L9 Power Module Torque Prove Diagnostics
AC Precharge Oil Well
F0…F9 LCL Filter
Port 1 Port 2 Port 3 Port 4 Port 5 Port 6 Port 7 Port 8

HIM (Pod) HIM (Door) HIM (Ext.) Option Slot Option Slot Option Slot Option Slot Option Slot
See page 38
Port 0 PowerFlex 755T System Port
This port contains parameters for monitoring and configuring the whole
product (drive or bus supply). It contains parameters for configuring digital
input functions and motor encoder feedback channels. It includes parameters
for the Embedded EtherNet/IP interface.
This port also contains parameters that configure port 9 (the application port)
and port 10 (the primary motor control port). These parameters determine
what ports 9 and 10 contain. Ports 9 and 10 do not display parameters or
software that is related to unused configurations. For example, if you do not
select Torque Prove in the Application Selection parameter then port 9 does
not contain parameters for Torque Prove. If you do not select the Flux Vector
motor control mode, then port 10 does not display Flux Vector parameters or
software.

Port 9 Application Parameters
This port contains parameters and software that is related to specific

applications. The contents of this port depend the setting of parameter 0:70
[Application Sel]. It can contain nothing, Process PID, or Torque Prove.
Port 10 Primary and Port 11 Secondary Motor Side Control Parameters
These ports contain parameters and software that is related to the primary and
secondary control of the motor side inverter. Port 10 is the primary motor side
control port and port 11 is the secondary port. The contents of these ports
depend the setting of parameters 0:65 [Pri MtrCtrl Mode] and 0:67 [Sec
MtrCtrl Mode]. They can contain Volts per Hertz, Senorless Vector,
Economizer, or Flux Vector control. They contain parameters for configuring
the starting and stopping of the motor side inverter. They contain parameters
for entering the electrical attributes of the motor. They contain parameters for
configuring and monitoring the Position, Velocity, and Torque loops.
Port 12 Motor Side Power Parameters
This port contains parameters that are related to the power hardware in the
motor side inverter. These parameters monitor and configure the power
modules.
Port 13 Line Side Control Parameters
This port contains parameters and software that is related to control of the line
side converter. It contains parameters for configuring and monitoring the
control of the converter. It contains parameters for entering the electrical
attributes of the AC line source.
Port 14 Line Side Power Parameters
This port contains parameters that are related to the power hardware in the
line side converter. These parameters monitor and configure the power
modules, AC precharge, and LCL filters.
Port 1 HIM on Control Pod

The Human Interface Module (HIM) on the control pod connects through port
1.

Port 2 HIM (Door Mount or Handheld)
A second HIM or 1203-USB programming interface connects through port 2.

The factory installed door-mounted HIM connects through port 2.
Port 3 HIM or 1203-USB
A third HIM or 1203-USB programming interface connects through port 3.

Port 3 is visible when using a 1203-S03 splitter cable.
Port 4...8 Option Slot
Ports 4...8 are the DPI and DSI option slots. I/O (see page 447), feedback (see
page 471), communication (see page 444), and functional safety option modules
can be installed in these option slots.
Predictive Maintenance For firmware revisions 10.xxx or later, the remaining life of components with
predictive maintenance appear on the Predictive Maintenance page in the
Device Details window in Connected Components Workbench software and
the Drive Details window in Studio Logix 5000 Designer® application.
Figure 3 - Connected Components Workbench - Predictive Maintenance Page

Notes:

Chapter 3
PowerFlex 755T Control Block Diagrams
Flow diagrams on the following pages illustrate the PowerFlex 755T drive
control algorithms.
755T Control Block Diagrams

Diagram Page
PowerFlex 755T Converter – Overview 44
Metering 45
Phase Locked Loop 46
Power Loss 47
Line Side Converter Data 48
Current Reference Generator 49
Reactive Power Control 50
Droop Control 51
Dynamic Bus Control 52
Voltage Reference Generator 53
Voltage Control 54
DC Bus Observer 55
Power Factor Correction 56
Current/Power Limits 57
Current Control 58
LSC Control Configuration 59
Drive Derating 60
755TM Common Bus Inverter Control Block Diagrams

Diagram Page
Flux Vector Overview 61
Variable Frequency, SV Overview 62
CBI Metering 63
Feedback Configuration & Status 64
Position Homing 65
Position Reference 1 66
Position Reference – Move Profiles 67
Position Reference 2 68
Position Regulator 69
Position Control – Phase Locked Loop 70
Position Control – Position Reference CAM 71
Position Control – Profiler/Indexer 1 72
Position Control – Profiler/Indexer 2 73
Position Control – Roll Position Indicator 74
Position Control – Spindle Orient 75
Velocity Reference Overview 76
Velocity Reference Selection 77

Chapter 3 PowerFlex 755T Control Block Diagrams
755TM Common Bus Inverter Control Block Diagrams

Diagram Page
Velocity Reference – All 78
Velocity Reference – Flux Vector 79
Velocity Reference Flux Vector – Move Profiles 80
Velocity Reference CAM 81
Velocity Regulator – Flux Vector 82
Torque Overview 83
Torque Reference Selection 84
Load Observer 85
Friction Compensation 86
Torque Reference CAM 87
Torque Reference 88
Torque Filters 89
Torque Control – Current, for Induction Motor 90
Torque Control – Current, for Permanent Magnet Motor 91
Process Control 1 92
Process Control 2 93
MOP Control 97
22-Series Inputs & Outputs – Digital 98
22-Series Inputs & Outputs – Analog 99
11-Series Inputs & Outputs – Digital 100
11-Series Inputs & Outputs – Analog 101
11-Series Inputs & Outputs – ATEX 102
Control Logic 103
Inverter Overload IT 104
Motor Overload 105

Chapter 3 PowerFlex 755T Control Block Diagrams
Diagram Conventions and

Definitions
Definitions of the Per Unit system:
1.0 PU Position = Distance traveled / 1 second at Base Velocity
1.0 PU Velocity = Base Velocity of the Motor
1.0 PU Torque = Base Torque of the Motor * Notes, Important:
Symbol Legend: (1) These diagrams are for reference only and may
Drive Option Module Requires port number. not accurately reflect all logical control signals;
Parameters Parameters actual functionality is implied by the approximated
diagrams. Accuracy of these diagrams is not
Read Only Parameter guaranteed.
Read / Write Parameter
Read Only Parameter with Bit Enumeration
Read / Write Parameter with Bit Enumeration
Provides additional information.
( ) = Enumeration Parameter
XX[ ] = Page and Coordinate
ex. Tst [A2] = pg Tst, Column A, Row 2
= Constant value
‘d’ = Prefix refers to Diagnostic Item Number

ex. d33 = Diagnostic Item 33
‘X:YY’ = Parameter in PORT X
TP0000 = Software Testpoint (Name and Number)

44
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
Chapter 3
Metering DroopCtrl CurPwrLmt Freq Overview PRef2 Roll Psn VRef Vect Friction Comp Proc 1 22Series IO Digital Invert
PLL DBC CurrCtrl CBI Metering PReg Spindle Ref Move Trq RefCAM Proc 2 22Series IO Digital Motor I2T
PwrLoss VoltRefGen LscCtrlCfg Fdbk Psn PLL VRef Overview VReg Vect Trq Ref AntiSway 11-Series IO Digital High Speed Wizard
LscData VoltCtrl DriveDerating Homing Psn CAM VRef Sel Trq Overview Trq Filt Oil Well 1 22-Series IO Analog
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Overview
PowerFlex 755T Converter - Overview

Current Reference Generator Current Control
Power Factor Curr/Pwr Limits Active Current
Active Cur Cmd 67
LSC Control Cfg Correction
Iq Rate Lmt 125usec 7 PI
Active Cur Ref 65 ActvCnvtrPwrLimCalc.slx Regulator
226 7
Reference
Selection
and Limiter 40 2 Option Select Cur Reg BW 75 Ki
Active Curr Rate 66 Conv Options Cfg Vq, Vd

LCL Cur Reg Damping 76
AC Line kW 13 Kp
AC Line Model Cur Lmt
1msec 1 101
Command u Cur Reg Ki
Line Side Converter Control Diagrams
Freq 79
ActvCurRegSel.slx Port 0 Regen Pwr
125usec 0 3 106
DC Bus Volts Avail u Cur Reg Kp 77
Motor Pwr PWM
125usec 107
AC Line Freq 1 Avail Cur Reg C/U Sel 74 Auto
Voltage Reference Generator LclSSComp.slx Limit
Gain
Calc
Regen Power Lmt 104 AC Line kVA A 32 Calculation
DC Bus Ref Sel Phase Lock Loop
45
226 4 Vdc Cmd Lmt 105 AC Line Imped% A 34
Motor Power Lmt
ManDCBus Ref Sel 47 Line Voltage
Feedback 80 c Cur Reg Ki
Current Lmt 100 AC Line kVA B 33
226 5 Vdc Rate Lmt Line Angle
DC Bus Ref Preset 48 PLL Config 85 78 c Cur Reg Kp
Reference AC Line Imped% B 35
46 Auto DC Bus Ref
DC Bus Rate Lmt 49 Selection AC Line Freq
Basic PLL Kp 86
and Limiter Phase 1 KVAR Ref 69 AC Line Source 31
2 Basic PLL Ki 87 Locked
AC Line Voltage
Loop KVAR Rate Limit 70
DroopVdcRef 50 DC Bus Command 88 Reactive Current
2 nd Harm Filt BW 89
82
VARCtrlVdcRef Basic PLL Error BusAutoAdjReg Kp VAR Control 8
DC Offst Filt BW 90 VARCtrlVdcRef PI
1msec BusAutoAdjReg Ki 83 Regulator
ActvCnvtrVbusRefLim.slx
DC Offst LPF BW 91
VarDCBAdjDis 40 3 125usec
20usec
Reactv Cur Cmd 73 VltgRefGen.slx
Voltage Control
Figure 4 - PowerFlex 755T Converter – Overview
Drive Derating 1 msec Power Loss
Rockwell Automation Publication 750-PM101A-EN-P - February 2021

Line Voltage
Power Factor 16
PI
Derated
Port 0 3 Regulator 28 Grid Current Feedback Voltage Sag Condition Status
Port 0 Derating Amps
DC Bus Volts DFDT Limit Condition Status
DC Bus Volts 3 Block
1
Power Ride Through
AC Line Freq Line Sync Loss Condition Status
Disturbance Configuration
Auto DC Bus Ref 46 Phase Loss Condition Status
Volt Reg BW 55 Basic PLL Error 88 Monitor
Power Loss Condition Status
1msec
Volt Reg Damping 56 BasicPLL Err Lmt 192
c Volt DroopCtrl BasicPLL Err Dly 193

Ext Bus Cap 52 Auto 60 Reg Ki 125usec
Gain Metering
Calculation VltgSag Det Actn 173
u Volt Reg Ki 59
DroopCtrlModeSel 350
c Volt 356 NoLdDrpDC Line Voltage 174
58 LSCPhLossDetActn 176 VltgSagRTExpActn
57 Reg Kp BusRef AC Line Feedback
u Volt Reg Kp FullLd DroopGain 351 0 Voltage 177 PhsLossRTExpActn
RMS DFDT Det Actn 179
Volt Reg C/U Sel 54 MaxFullLd Processing Line Voltage Feedback
NoLd DroopGain 352 355
DrpGn 180 DFDTRdTHrExpACtn
PLL LOS Det Actn 181
125usec Linear Converter Current
VbusReg.slx Trans Droop Cur 353 171 PwrLossRTExpActn
Droop DrpGn Converter Feedback
225 9 PwrLoss Det Actn 170
Control Limit Sts
ManDroopDCBusMin 357 Current
Processing RMS RideThrough Time 172
1
Regen Power Lmt 104 Converter Current Feedback
354 Droop Gain
Actv LineSideCnv Data
Motor Power Lmt 105 NonLinear LCL Filter
Droop Grid 13 AC Line kW
Auto DC Bus Ref 46 Control DroopVdcRef Capacitor Current
Current Feedback
Processing Line Voltage Instantaneous 14 AC Line kVA
Rated Volts 25 Feedback
Power
Calculator 15 AC Line kVAR
Active Cur Cmd 67 Converter Current
DC Bus DC Bus Feedback
1msec Voltage Voltage Feedback 16 Power Factor
DroopVdcRef.slx Processing
125usec
125usec ActvCnvtrPwrCalc.slx
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Metering
A B C D E F G H I
VqSyncFilt VqSyncFilt1
LPF LPF1
1
Metering (Metering)
Vrs VqSyncFdbk Active Current
Ir
Vq
AC Line Voltage Analog to Digital 3ф 2ф 7
Conversion, Scaling and
Vst Converter Current Analog to
Is 3ф 2ф
Processing 2ф Digital Conversion, Scaling I0Fdbk
Vtr
dq Vd and Processing 2ф dq 8
It
VdSyncFdbk
Reactive Current
VL12Inst LPF LPF1
Display Filter 307 0 VdSyncFilt VdSyncFilt1
VL23Inst OR Display Filter 307 0
Display Filter 307 OR
2 2
VL31Inst Display Filter 307
Figure 5 - Metering
0 AC Line Voltage
0
Peak to RMS 2
Averaging Peak to RMS 6
Conversion 1 Averaging
LPF Conversion 1
LPF
Input AC Line Current
LPF 21
0
ACLineMemory 0
3 Init
IaInst
1 9
LPF VabFdbkFilt 1
3 LPF
R-S Line Volts
0 22 IbInst R Phase Current
0
4
1 ACLineMemReset 10
LPF VbcFdbkFilt IcInst 1
LPF
S-T Line Volts
0 S Phase Current
0
5 11

LPF 1 VcaFdbkFilt
LPF 1
T-R Line Volts Converter Current T Phase Current
Display Filter 307 0
Feedback OR
OR Display Filter 307 3
4 Display Filter 307 9
Chapter 3
AC Line Voltage
Feedback
Phase A
DC Voltage Analog to Digital Conversion, Line Current
Scaling 0
Port 0
5 and Processing 3 DC Bus Volts LCL Capacitor
LPF 1
Current Analog to Digital Phase B
text Conversion, Scaling
and Processing Line Current
OR Phase C
Display Filter 307 11 LCL Capacitor Current Line Current
DC Bus Voltage
Feedback
Feedback
6
45
46
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PLL
A B C D E F G H I
1
Phase Locked Loop (PLL)
Nom Line Freq 30

PLL DC Offst 85 2
Basic PLL Error 88

Line Voltage
Metering [B1] 3ф
0
2 PI Regulator Integrator
dq Line Angle
Basic PLL Kp 86
Figure 6 - Phase Locked Loop
0 1 AC Line Freq
DC Offset 1 Basic PLL Ki 87
Cancellation
PLL Freq Src 85 3

3
PLL Unbl Rej 85 1
DC Offst Filt BW 90
DC Offst LPF BW 91 LPF 1

0 0
0
89 Unbalance
Rejection 1
2 nd Harm Filt BW
1
OR
5
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PwrLoss
A B C D E F G H I
1 Power Loss (PwrLoss)

RideThrough Time 172 To Condition Handler
AC Ride Thru 935 21 (Faults & Alarms)
RMS Line Voltage Power Loss PwrLoss Det Actn 170 Ride Through PowerLoss Det
Metering [D3] Detection Configuration
Timer PowerLoss RTExp
2 PwrLossRTExpActn 171
Figure 7 - Power Loss
Voltage Sag VltgSag Det Actn 173 Ride Through Line Sag Det
Line Voltage
Metering [B1] Detection Configuration Line Sag RT Exp
Timer
VltgSagRTExpActn 174
3
935 22 Input Phase Loss
Phase Loss Ride Through Phase Loss Det

LSCPhLossDetActn

176
Detection Configuration Phase Loss RTExp
Line Current Feedback Timer
Metering [H5]
PhsLossRTExpActn 177
4
Chapter 3
AC Line Freq DFDT DFDT Det Actn 179 Ride Through High df/dt Det
1
PLL [H3] Detection Configuration High df/dt Det RTExp
Timer
DFDTRdTHrExpACtn 180
BasicPLL Error 88
Line Sync LnSyncLoss Det
BasicPLL Err Lmt 192 PLL LOS Det Actn 181 Ride Through
Loss
Configuration
Detection Timer LnSyncLoss RTExp
BasicPLL Err Dly 193
935 23 AC Line Sync
6
47
48
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog LscData
A B C D E F G H I
1 LineSideCnv Data (LscData)

Vrs
Metering [B1]
Ir X 16 Power Factor
Metering [F1] X
13 AC Line kW
2
Vst
Metering [B1]
Is X2
Metering [F1] X
Figure 8 - Line Side Converter Data
√X 14 AC Line kVA
3
It
Metering [F2] X
X2

X
4
X 15 AC Line kVAR
1/√3
Vtr
Metering [B1] X
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog CurRefGen
A B C D E F G H I
1
Current Reference Generator (CurRefGen)
LscCtrlCfg [C3]
Active Cur Ref 65
Rate
Limit 226 7
Iq Rate Lmt
3
Figure 9 - Current Reference Generator
Active Curr Rate 66

4
Chapter 3
49
50
Chapter 3
PLL DroopCtrl CurrCtrl CBI Metering PReg Spindle Ref Move Trq RefCAM Proc 2 22Series IO Digital Motor I2T
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VarCtrl
A B C D E F G H I
1 Reactive Power Control (VarCtrl)

BusAutoAdjReg Kp 82 VarDCBAdjDis 40 3
BusAutoAdjReg Ki 83
2 Vq
Metering [D1] BusRefAutoAdjReg 0
Port 0,DC Bus Volts

Metering [D5] VoltRefGen [C5}
3
Vq
Figure 10 - Reactive Power Control
Metering [D1] 1
3
SourceImpedance
LscData [C5]
BusRefAutoAdjCalculation

Active Cur Cmd 67
4
CurrPwrLmt [F5}
Reference Reactive Current
5 Calculation
KVAR Ref 69
Rate
Limit
KVAR Rate Limit 70

6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DroopCtrl
A B C D E F G H I
Droop Control -Linear Mode

+100% Regen Power Limit
1 Regen +100%
Power Lmt 104 |u| 0%
0%
355 MaxFullLdDrpGn
Abs Limit
Limit
+100% Motor Power Limit
Motor 105 |u| 0%
Power Lmt FullLd Droop Gain Lmtd
Abs
Limit
Auto DC 46 Limit 225 9 DrpGn Limit

Bus Ref Droop
ManDroop Gain
Vdc Vdc Minimum
357 Limit 0%
DCBusMin Minimum
Calc
2 sel
Man Droop NoLd Droop Gain Lmtd
DcBusRefMin
Enbl
VbusRef Vbus Ref Maximum CurPwrLmt [G3]

Figure 11 - Droop Control
Rated Volts 25 Max Calc CurPwrLmt [G3] Active Cur Cmd 67

Active Cur
Trans Droop 67
353 Cmd Droop Gain Actv
Cur Active
Droop
NoLd Gain
354
352 FullLdDrpGainPrc
DroopGain Calc
Vdc Droop Ref Calc
FullLd
3 351 NoLdDrpGainPrc
DroopGain No Load Droop Vdc
Ref Calc
Trans Droop Cur
No Load Vdc Ref
Vdc Min
Motoring Limit
356 NoLdDrpDCBusRef

Droop Control - NonLinear Mode 356 NoLdDrpDCBusRef
DroopVdcRef
No Load Vdc Ref VoltRefGen [C5]
0%
4
Chapter 3
1stOrderCoef Prc
3rdOrderCoef Limited No Load Droop Vdc
Vdc Minimum
Ref Calc
Vdc Droop Ref Calc
Motor Power Limit 3rdOrderCoef Prc
Limit 225 9 DrpGn Limit
Regen Power Limit Coef 3rdOrderCoef Max

Limit
Calc
Vbus Ref Maximum 67
Active Cur Cmd
+100% CurPwrLmt [G3]
5 FullLd 1stOrderCoef MaxFullLdDrpGn 355 MaxFullLdDrpGn
351
DroopGain Gain 0%
Coeff Calc
Scaling
NoLd 3rdOrderCoef Limit
352
DroopGain
1stOrderCoef
1stOrderCoef Active
Droop 354 Droop Gain Actv
CurPwrLmt [G3] 3rdOrderCoef
Gain
6 Calc
Active Cur Cmd 67
51
52
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DBC
A B C D E F G H I
1 Dynamic Bus Control (DBC) DBC Mode Sel

DBC NomMtrPwrLm 330
61
DBC IdleMtrPwrLm 331

DBCMtrngPwrLimActv
332 CurPwrLmt [B2]
DBC NomRgnPwrLm
Parameter
DBC IdleRgnPwrLm 333 Linear DBC Power Limit Calc Selection
2
104
Regen Power Lmt
DBCMtrngPwrLimActv
Motor Power Lmt 105
3
Figure 12 - Dynamic Bus Control
NonLinear-
Port 0,DC Bus Volts OrderRegen
Metering [D5]
3
Parameter DBCRegenPwrLimActv
Selection

Nonlinear Order Calc CurPwrLmt [B2]
NonLinear DBC Power Limit Calc
DBCRegenPwrLimActv
NonLinear-
OrderMtrng DBC Mode Sel(61):
62
DBC V Thresh Lo
0- Linear
63 DBCVdcRef 1-Nonlinear.
5
DBC Vref Calc
VoltRefGen [B6]
DBC V Thresh Hi
64
DBC V Thresh Nom
7
Active Current
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VoltRefGen
A B C D E F G H I
DC Bus Ref Selector: Voltage Reference Generator (VoltRefGen)

1
0- Auto
1- Manual
2- Droop Ctrl
3- VAR Control
VbusRefHiLim
DC Bus Ref Sel 45

2 Auto DC Bus Ref 46
0
VbusOptRef
High
Max Boost 1
1.02 MAX
Voltage
Rms DC Bus Command

0
AC Line Voltage 2 x
[2E2] Pk 50
Calc
3
Figure 13 - Voltage Reference Generator
ManDCBusRefSel VoltCtrl [F2]
47 VbusRefLmtd
MAX
Low
DC BusRef Preset
Inverter DC Bus Limit VbusRefLowLim

48
ManDC BusAnlgHi
41 Limit 226 4 Vdc Cmd Lmt
4 1
Parameter
Chapter 3
42
Anlg In Selection VbusLimSts
ManDC BusAnlgLo
Rate
Limit 226 5 Vdc Rate Lmt
DC Bus Rate Lmt 49
VbusRateLim
DroopVdcRef 2
5
DroopCtrl [I4]
KVARVdcRef 3
KVARCtrl [G2]
DBCVdcRef 4
DynamicBusCtrl [E5]
6
53
54
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VoltCtrl
A B C D E F G H I
1 Volt Reg C/U Sel Selector: Voltage Control (VoltCtrl)

0- Calculated
1- User Entered
Port 0,DC Bus Volts

Metering [D5]
3
2 BusObsConfig(320):
BusObsConfig
320 BusRegIntegTerm
0- Disabled
1- BusObsOnly.
Figure 14 - Voltage Control
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]
3
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
4 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
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DCBusObs
A B C D E F G H I
1
DC Bus Obs
Total Sys Cap
VoltCtrl [C4]
LscCtrlCfg [C5]
IqRefVbusReg
IqRefDcBusObs
+ X
- Limit
2 Cur Lmt Command
101
BusObsConfig(320):
-1
Figure 15 - DC Bus Observer
BusObs Curr Est

0- Disabled X 325
1- BusObsOnly.
2- BusObsVltEst.
X
3
0
0 1,2 0 1,2
320
BusObsConfig 0

1.0
4
Chapter 3
VoltCtrl [F3]
1,2 BusObs Volt Est
Port 0
3 + X
DC Bus Volts
-
5
c BusObs Kp 321 323 cBus Obs Ki
u BusObs Kp 322 324 u BusObs Ki
X X
6
55
56
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PFC
A B C D E F G H I
1
Power Factor Correction (PFC)
2
IqRefComp
AC Line Freq 1
PLL [H3]
Active Current CurPwrLmt [E4]
0 Compensation
Figure 16 - Power Factor Correction
LCL Data VqRefComp
3
VqFeedFwd
LscCtrlCfg [F3] Vq, Vd Feed Forward
and Decoupling
VdRefComp
360 FFVltgLPFTime

VdFeedFwd
Vd
Metering [D1]
Low Pass
Filter
4 IdRefComp
Reactive Current
Vq Compensation
CurPwrLmt [F5]
Metering [D1]
Low Pass
Filter
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog CurPwrLmt
A B C D E F G H I
DC Bus Ref Sel
45 Curr/Pwr Limits (CurPwrLmt)

1
0,1,2, 3
Regen Power Lmt 104
DBCRegenPwrLimActv 4 Derated Amps 28

DynamicBusCtrl [H2] DriveDerating [H3]
106 Regen Pwr Avail
AC Line kW 13
LscData [D2]
2
Available
Power 107 Motor Pwr Avail
Calculation
Motor Power Lmt
0,1,2, 3 71 KVAR Available
105
Figure 17 - Current/Power Limits
DBCMtrngPwrLimActv
DynamicBusCtrl [H4] 4
ILmtUsrSts
Vq
226 0 Current Lmt
Metering [D1]

Vd IqVbusCurLim
226 2 Mtrng PwrLmt
Metering [D1]
Port 0 3 DC Bus Iq Current Active Cur Cmd
Iq Cur Lim Abs 226 3 Regen PwrLmt
DC Bus Volts Current Limit Limit 67
4 Metering [D5]
Chapter 3
Calculation 100 Calculation

Current Limit
AC Line Frequency
1 CurrCtrl [11F2]
PLL [H3] PFC [H2] 226 6 Iq Cmd Lmt
Total Inductance
101 Cur Lmt Command
Reactv Cur Cmd
IdVbusCurLim
73
CurrCtrl [11F4]
5 Iq Ref Lmtd
Id Cur Lim Abs Id Current

Limit 226 8 Id Cmd Lmt
VarCtrl [G5] Calculation
PFC [H4] 72 KVAR Command
57
58
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog CurrCtrl
A B C D E F G H I
1
Current Control (CurrCtrl)
Cur Reg C/U Sel Selector:

0- Calculated
1- User Entered IqSyncErr CurRegqOut
Active Cur Cmd 67

2
CurPwrLmt [G3] PI Regulator
Active Current
Figure 18 - Current Control
7
Cur Reg C/U Sel 74 CurRegKiIq
Metering [I1]
VqSyncRef
PFC [G3]
c Cur Reg Ki 80 CurRegKpIq
Cur Reg BW 75 0
3
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
4 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
Processing Metering [I2]
AC Line kVA B 33
PFC [G4]
5 AC Line Imped% B 35
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog LscCtrlCfg
A B C D E F G H I
1
LSC Control Cfg (LscCtrlCfg)
PwrFeedFwdConfig(300):
0- Disabled
1-Enabled.
IqRefOpSel
2
BusObsConfig(320): 40 2
Conv Options Cfg

0- Disabled
1- BusObsOnly. CurRefGen [F2]
2- BusObsVltEst.
VoltCtrl [H2]
Figure 19 - LSC Control Configuration
3
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
4
Chapter 3
X
Output Power 10:4
Metering [D1]
Vq X
3/2
BusObsConfig
320
0
5 0
DC Bus Obs[H2]
IqRefDcBusObs 1,2
59
60
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DriveDerating
A B C D E F G H I
1
Drive Derating (DriveDerating)
2
Figure 20 - Drive Derating
Running
225 16
Line Side Sts 1

Port 0
3 DC Bus Volts 3
Metering [D5]
X Low Pass Filter a 3X 3 + a 2X 2 + a 1X + a 0 1
Auto DC Bus Ref 46 Rated Amps 26
Power Factor 16
X 28 Derated Amps

4 DFE Derating 0
Data
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Vector Overview
Position Control Flux Vector Overview (Vector Overview)

PReg Fb Sel Position Init
Position Fb Preset
1013
Home Psn 1745 Position Actual
Feedback 1746 Homing
6
Position
User 1648
Option
Fdbk Proportional Channel
Cards Selection
'
Load Psn [N]
Load Fdbk ' Integration Channel
Fb Sel Selection
[D]
1014 Gear Ratio
PTP Reference u PReg Kp

PsnVelTrq Actv
PTP Command 1404 1755 PReg Vel Out 1767
Profiler Pos Profiler 34 Velocity Control – Regulator
Steps 1-16 Spd Profiler 1391 Vel Limit Pos
u PReg Ki
PsnVelTrq Actv
1898
( PReg Vel Out )

Psn 1757
Motor Side Inverter Control Diagrams
PTP Ref PTP PRef

PTP Ref PTP Mode 34 VReg Output
Sel 1383 Position
Selection Selection Selected VRef Final
Planner 1969
PRef EGR Out
+
Vel 1684 + 1933
Vel PI +
1686 Regulator x PI Regulator
PCAM Psn PCAM Limit
1426 Planner Pos
Select 1042
[N]
PLL Ext Vel Position 1899 Vel Fb Active
1591 [D] '
Vel Sel PLL Mode 1752 Psn Gear Ratio
Pos Gear Ratio
Droop RPM
Planner Selection 1961
PLL PRef 1595 Vel Limit Neg at FLA
System BW 906
Sel Position + Ref NF 1 &
Offset + 1731 Position Command
Ref NF 2 VReg Kp 1955 1956
PRef Direct
PRef VReg Ki 1957 1958
Direct Ref
1681 Selection
1683
Select
Figure 21 - Flux Vector Overview
( VReg Output )
Psn Gear Ratio 1752 x ( VRef Profilr ) ( Vel FF Ref )
Velocity Control – Reference Torque Control
( Vel Comp Out )

Accel FF Gain 1973 1974 TqCAM Trq Out
VRef A Sel Trq PsnVelTrq Actv
PTP VRef Fwd 1405 Ref
PsnVelTrq Actv 2524 Trq Ref Out
1800 VRef Selected Accel FF Mode 1972 CAM 34 Torque Step
34 Vel Comp Sel 1927 2072
VRef B Sel 1892 PCAM Vel Out 1503
Accel FF 2077 Trq Ref Trq Ref Limited
1752 Psn Gear Ratio
( VRef Scaled )
1807 Output Filtered 2087
PLL Vel Out 1612 Vel FF +
RefA TrimPct Sel VRef Selection x Accel FF 2070 + + X 2080
Selection Position/ FOC
&
-
1850 FrctnComp Velocity/ Perm Magn
+ Torque
Limits VRef Vel FF Gain Vel Comp 1930 Mode FrctnComp Torque + Ref
RefB TrimPct Sel +

1923 Load Total Filters
& Vector
Ramped 1760 2050 Out Mode +
1860 PsnVelTrq Actv x Vel Comp Observer Inertia Control
PID Output Sel Selection Limit
Out 2057
Speed 34 1761
RefA Trim Sel Ref 9:14 2020
x Friction Comp 2076 Current
1855 TrimPct
Ref Vector LdObs Mode Processing
Speed Ref NF 1
Trim + + Trq Ref Selected
RefB Trim Sel PID Vel Vel Profiling Jogging Ramp &
Ref + & + X
Exclusive Ref Selection Selection Move
1865 Ref NF 2 + 1042
Chapter 3
Selection CAM Torque

Profiles Trq
Limit
1814 Vel Fb Active Ref
Preset Speed 1 Generation Motor
CAM
Jog Speed 1 1894
Preset Speed 2 1815
1932 E1
Preset Speed 3 1816 Jog Speed 2 1895 PID Speed Trq Ref A Stpt Trq Ref A Sel
Virtual Encoder Trq
Trim VRef Scale
1817 Selection 2001 2000 Commanded
Preset Speed 4 Torque Gear
1818 Trq Ref B Stpt Trq Ref B Sel Ref 2073
Preset Speed 5
9:14 Selection
1819 2008 2007 Load
Preset Speed 6
1820 PID Output Sel
Preset Speed 7 E2
PID Torque
Trim / Excl
Process Control ( PID Output Meter ) Selection
PID Output Meter 9:14

PID Ref Meter
PID 9:13
Reference
PID Output Sel
PID Ref Sel 9:25 9:26
Selection
PID Fdbk Meter PID Regulator ( PID Output Meter )
PID
PID Fdbk Sel 9:35 Feedback 9:36
Selection Limit
PID LPF
PID Prop Gain 9:4 9:10
BW
PID Int Time 9:5
PID Deriv Time 9:6
61
62
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Freq Overview
A B C D E F G H I
1
Variable Frequency (V/Hz), SV Overview (Freq Overview)
Velocity
Jog Speed 1 1894 Convert
Vref 1923 Limited Electrical to
MOP Jog Speed 2 1895 Mechanical Units

VRef All [I4] VRef Ramped
PID Output Sel 9:14 VRef
Commanded
Vref Sel Vref All 1914 Velocity Control – Current/Bus Limiter
1892
VRef Selected
2
954 Ref NF1 Freq Act
From Anti-Sway [D2] 956 Ref NF1 Depth Act
957 Ref NF1 Gain Act
Velocity Referencing (I/O) - Frequency 943 Ref NF1 Width
Variable Torque
Max Speed
Auto Tune Start/ Stop Convert Limits
Boost Proving
Override Override Mechanical to Bus/Current
Override Override
Electrical Units Limiter
Ref NF1 Ref NF2 '
6 and
VelRamp Rate Rate Integrator
3 Limit
2
Control Ref NF2 Freq 948
Ref NF2 Width 949
Figure 22 - Variable Frequency, SV Overview
Mtr Cfg 420 15 Vel Limit Pos 1898

VRef Ramp In V/F Ramp and Rate Select Options Ref NF2 Depth 950
(Jerk Select) 1899
1 Ref NF2 Gain 951 Vel Limit Neg
Overspeed Limit 1904

Vel Ctrl Options 1950
Accel Time 1 1915 Velocity Ramp Rate
Scale and Display
Accel Time 2 1916 Filter
1044 Motor Vel Fb
Status
Ramp 1942 Output Frequency
4 Decel Time 1 1917 Vel Fb Active
S Curve Convert
Decel Time 2 1918 Electrical to 1933 VRef Final
Mechanical Units
1
V/Hz
Jog Acc Dec Time 1896
VRef Accel, Decel Jerk 1919 1920 Fdbk [D5], Current
Limit
Proc 1 [E4], Processing
Vel Limit Pos 1898 Proc 1 [H3]
Vel Limit Neg 1899
Vel Limit Pos

Overspeed Limit 1904
1898
Motor
5 Vel Limit Neg 1899 Limit At Limit Status 365 3
(OverSpd Lmt)
Frequency Adder
Process Control
Vel Droop 3 Mtr Cfg Options 420 14
PID VCL CReg C/U Sel 444
Droop RPM at FLA (SlipCompSclr)
Limit 1 1
1961 c Slip RPM atFLA 489
[NP Spd] [NP Spd] 1
9:13 X u Slip RPM atFLA 490
X
Filtered (100 R/S) Iq Feedback (pu) LPF
6 PID Output Meter Vel Limit Pos 1898 Iq Feedback (pu) 0
0
Vel Limit Neg 1899 Slip Comp LPF BW 491
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog CBI Metering
A B C D E F G H I
1 CBI Metering Signals (CBI Metering)
Command Signals Output Signals

2
VRef Commanded 1914 1 Output Frequency
VRef Final 1933 Common Bus Inverter (CBI) 2 Output Voltage
Figure 23 - CBI Metering
Trq Commanded * 2073 3 Output Current

Position Command ** 1731 4 Output Power
Motor Side Power Structure 5 Output Pwr Factr
DC + Bus
U Motor Phase
AC
V Motor Phase
Motor

W Motor Phase Digital
Encoder
Option
4 Feedback Signals
Chapter 3
8 Torque Cur Fb
DC - Bus 9 Flux Cur Fb

11 Motor Voltage Fb
13 DC Bus Memory
1044 Motor Vel Fb – for Freq control modes, this is filtered VRef Final
1745 Position Actual **

1746 Position Fb **
5
* Flux Vector Only

** Flux Vector with Encoder Only
63
64
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Fdbk
A B C D E F G H I
1
LdObs Mode [2020]: Feedback Configuration & Status (Fdbk)
Fdbk Loss
Fb Loss Action 1019 Detect
0- Disabled
1- LdObs Only
2- LdObs VelEst 1002 c Vel Fb LPF BW 355 5 Motor Side Sts 2

3- Vel Est Only (Fdbk Loss Sw0)
1003 u Vel Fb LPF BW
4- Accel Fdbk Vel Fb Taps 1001
1004 c Vel Fb LPF Gn LdObs Mode
2020
1005 u Vel Fb LPF Gn Ld Obs [C3]
Pri Vel Feedback Vel Fb Active

Pri Vel Primary VReg Vect [A3],
0 0 0, 1, 4
Feedback Velocity Fb LPF 1040 1042 Cur IM [B3]
2 Source Processing Cur IPM [B3]
Parameter 1
Selection 1008 c AltVelFbLPF BW
Ld Obs [H5]
Pri VelFb Sel 1000 = Open Loop 1009 u AltVelFbLPF BW Trq Ref [C4]
1021 c AltVelFbLPF Gn LdObs Vel Est Motor Vel Fb
2, 3 Display
1007 1022 u AltVelFbLPF Gn 2034 1044
Alt Vel Fb Taps Filtering
Note: Load Observer Velocity

Alt Vel Alternate Alt Vel Feedback Estimate is not available in LdObs Vel Fb In
0 1
Feedback Velocity Fb LPF 1041 Torque or with Open Loop 2028
3 Source Processing Feedback
Parameter 1
Selection 0 Ld Obs [A5],
Alt VelFb Sel 1006 Trq Ref [A4]
= Open Loop
Figure 24 - Feedback Configuration & Status

Homing [B4],
Pri Psn Pri Position Fb Position Fb PRef 1 [C5],
0
Open Loop Fb Feedback 1769 1746 PReg [A3, A4]
Torque Current Ref Open Loop Source Roll Psn [A2].
4 Cur IM, SPM [H2] Velocity Open Loop Parameter Spdl Orient [A2].
FV Open Loop Calc Virtual Encoder 1048 Selection
(Est Mtr Omega)
Torque Cur Fb 8 PReg Fb Sel 1013
1018 Alt Position Fb

Alt Psn
526 527 1
Virtual Enc EPR Feedback 1770
VEncdls VEncdls Source
FReg Kp FReg Ki Parameter
Selection
Alt PReg Fb Sel 1012 Enc VRef Taps

Load Ratio Virtual Enc EPR
1833
5 901 1018
VRef Final Simulator Fb Enc VRef

Aux Encoder Vel Aux Velocity
Motor Simulator
VRef Overview [G4] 1933 Virtual Encoder 1050 Reference Reference 1834 VRef Sel [A3]
Source Processing
Parameter
Selection
Cur IM SPM [E2] 2087 Enc VRef Sel 1832
Cur IPM [E2] 900
Trq Ref Limited
6 Motor Inertia
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Homing
A B C D E F G H I
1. When Homing function is enabled, Alarm Status B
1
Home Psn Actual ( 1647) is loaded with 466 8 Homing Actv
Position Homing (Homing)
Position Fb (1746) .
2. When Homing function is complete, Find Home Speed 1643

Zero Position ( 1697) is loaded with
Home Psn Actual [1647] - Home Psn Find Home Ramp 1644 Speed
Homing
User [1648].Then Position Actual [1745]
is loaded with Position Fb [1746] - Zero
Position [1697]. Home Torq Thresh 1649 Homing Event
VRef Homing
VRef All [G3]
3. When Position Redefine is enabled, Home Torq Limit 1650
Home Psn Actual [1647] is loaded with
Position Fb [1746] .
2 Home Torq Time 1651
4. Parameter P1649 to P1655 are only
applicable while performing Home to Home Offset 1652
Torque operation.
5. If Home Offset (1652) is non – zero, Home Return Spd 1653 PTP Command
Figure 25 - Position Homing
than the Home Psn Actual [1647] = a c 1391 PRef 1 [E2]

b Position
[Position Fb [1746] / Marker Psn] +/-
Home Accel 1654
Home Offset (1652). Once Torque
Reference > Home Torq Thresh (1649),
the drive ramps down to point b after Home Decel 1655
3 Home Torq Time (1651) expires. Drive
performs PTP move to go back to Home Zero Position
Psn Actual [1647], which is point c. Home Psn User 1648 - 1697 PReg [B3]
+
6. If Home Offset (1652) is zero, than Home Psn Actual
Home Psn Actual [1647] = [Position Fb - Position Actual
1647 + 1745 PReg [B3]
[1746] / Marker Psn] . Once Torque
Reference > Home Torq Thresh (1649), Position Fb

the drive ramps down to point b after 1746
Home Torq Time (1651) expires. It stays
at point b and drive does not perform Fdbk [H4]
any PTP move.
4 Home Ctrl Options Homing Status
Chapter 3
7. If Home Ctrl Option (1640) bit 1 –

1640 0 Find Home 1641 0 Home Request
Home DI and bit 8 – Home Torque are
set and user sets or toggle bit 0 – Find 1 Home DI 1 Home Enabled
Home from 0 to 1, drive does not
2 Home Marker 2 Homing
generate Home Request. It will generate
Type 2 Alarm – Invld Homing Cnfg . 3 Return Home 3 At Home
4 Psn Redefine
5 Homing Alarm
6 Home DI Inv
5 7 Hold At Home
8 Home Torque
0:170 DI Find Home

0:171 DI Return Home
0:172 DI Redefine Psn
0:173 DI OL Home Limit
6
65
66
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PRef1
A B C D E F G H I
Profile Indexer
1
Position Reference 1 (PRef1) Position Mode Selection
Step 1-16 Values 1209 1220 1374 Profile Indexer PTP Planner and Move Profiles (PRef Move) PsnVelTrq Actv
Trq Ref [E5]
34
Step 1-16 Dwell 1210 1221 1375 Ref Move Type
1202 0-4 StrStepSel0-4 Zero Torque 0
Step 1-16 Batch 1211 1222 1376 931
PsnVelTrq Actv
1212 1223 1377 Profile 8 Hold Step
Step 1-16 Next
Command Trq Ref [E5]
1213 1224 1378 10 Restart Step Speed Reg 1
Step 1-16 Action
34 PTP VRef Fwd
2 PTP Reference and Indexer Profiler 1405 Torque Reg 2
PTP
PRef Move [H3]
PTP Control 1381 0 Vel Override PTP Mode 1382 Command
Psn PTP SLAT Min
1391 1404 3
4 Intgrtr Hold ¦
Absolute Absolute 0 LinScurve
PRef Move [B3], PTP Reference
5 Ref Pause Position Prof Ind 1 [H3], SineSquared
Homing SLAT Max 4
6 Ref Sync Homing [H2]
PTP EGR [G2] Poly5
Figure 26 - Position Reference 1
Move Mult/Div
Cubic
PTP PTP Sum 5
1388 1641 1 Home Enabled
Ref Scale Control 1381 1
PTP Ref Sel 1383 1389 Homing Status
3 1385
PTP Setpoint Psn PTP 6
PCam Planner
1384 [N] Index 1
Index
X PCam [G3] Profiler
Other Ref Position [D] PCAM Psn Select 1426 11
PCAM Vel Out
Sources Parameter Gear Rat PCAM
Selection 1427 1575 PRef
PTP Psn Stpt
Psn

Psn Ref CAM Selected
Control Camming 8
X Other Ref 1574 1684
DI Indx Step 0:176 1381 2 Reverse Move Sources Parameter
DI Indx StepRev 0:177 PCAM Psn Out PRef 2 [A1]
1386 3 Preset Psn Selection Psn PLL 9
PCam [G2]
DI Indx StepPrst 0:178 PTP PCAM Main
4 1446
Index Pt M 0...15 1422 PCAM Mode
Psn Direct 7
Preset Immediate 2
Change PCAM Main
1478 1445 PCAM Main Types
Pt S 0...15 Psn SpndlOrnt 10
Direct Position Reference Selection
PLL Planner 0,1,2,3,4,5
0
PRef Select 1681 PLL Ext Vel Sel 1591 PLL Vel Out
PLL Ext 1612
Psn Direct Stpt 1592 PLL [H3] Spd Ref
1682 Vel Stpt PLL Enc Out 0,1,2,3,4,5,7
Other Ref 1615 0
Parameter
Sources PLL PLL [H4]
5 Virtual EncDelay Selection
Control PLL Vel Out Adv
1017 Psn PTP 6
VRef Vect [H2] PLL Psn 1613
1596
Parameter Stpt
Virtual Enc Psn PLL Enc Out Adv PLL [H3]
1046 Selection Other Ref Profiler 11 Vel FF
VRef Vect [H2] Parameter 1616
Sources Selection PLL [H4]
VRef Vect
PLL PRef Sel 1595 Psn
Other Ref Camming 8 [I4]
Sources
1683
6 Psn PLL 9
PRef Direct
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PRef Move
A B C D E F G H I
1
PTP Position Reference – Move Profiles (PRef Move)
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 1396
Encoder
2 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 2 PTP Int Hold

1403
3 SpdFFRef En
3 PTP VRef Fwd

PTP 1405
Command
Figure 27 - Position Reference – Move Profiles
PRef 1 [E2] 1391 6 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
4 PTP Decel Max
Chapter 3
1408
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 4 Move Failed
3- Reversing
Ref Max Decel 937
5
Ref Fault Config 941 24 PTP VelMax Time

25 PTP AccMaxTime
26 PTP DecMaxTime
27 PTP Time Left
28 PTP Iterations
67
68
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PRef2
A B C D E F G H I
1 EGR is skipped when

PRef EGR Out
Position Reference 2 (PRef2)
Electronic Gear Ratio Position Command
Point to Point Position 1686
PRef Selected control is active. 1731 PRef NF Del
15
[N] PRef NF Del
PRef 1 [I4] 1684 + Ref NF 1 Ref NF 2 '
[D] + PReg [C3]
Gear Rat
Psn Offset 1 Sel 1690 Psn EGR Mult 1687

PRef OfstPsn
Psn Offset 1 Psn EGR Div 1688 13
1691 954 Ref NF1 Freq Act 948 Ref NF2 Freq
2 Position Reference Offset 949 Ref NF2 Width
Other Ref 956 Ref NF1 Depth Act
Sources Parameter 950 Ref NF2 Depth
Selection 12 PRef Ofst In 957 Ref NF1 Gain Act
951 Ref NF2 Gain
+ 0
Virtual 943 Ref NF1 Width
ReRef Encoder
Psn Offset 2 Sel 1693 +
From Anti-Sway [D2]

Psn Offset 2 1 Rate Lim
1694
Figure 28 - Position Reference 2
2 1730
Other Ref
Sources Parameter Psn Ctrl Options 1695
Selection
Psn Ctrl Options
(OffsetReRef) 1730 3
Psn Offset Vel (OffsetVel En)
3
P o s i ti o n W a tc h 1 P o s i ti o n W a tc h 2
Psn Ctrl Options Psn Ctrl Options

1730 6 PsnWtch1Arm 1730 8 PsnWtch2Arm

7 PsnWatch1Dir 9 PsnWatch2Dir
PsnWatch1 DtctIn 1738 PReg Status PsnWatch2 DtctIn 1742 PReg Status
4 1732 9 PsnW1Detect 1732 10 PsnW2Detect

Other Ref Other Ref
Sources Parameter
Sources Parameter
Selection Position Watch 1 Selection Position Watch 2
PsnWatch1 Select 1737 PsnWatch2 Select 1741
1739 1743
PsnWatch1 Stpt PsnWatch2 Stpt
In Position Detect
5
PReg Status
Position Error 1750 1732 11 InPsn Detect

PReg [D3]
In Position Detect
In PosPsn Window 1734
In PosPsn Dwell 1735
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PReg
A B C D E F G H I
Parameter initializations performed with

906 System BW Position Regulator INACTIVE
1 Position Regulator (PReg)
* Set (905) System C/U Sel = 1010 AltFb Gn Scale
User to manually adjust Kp 1. If Homing function is enabled,
and Ki gains. Otherwise the 907 System Damping Position Actual (1745) is loaded with
following params determine Position Fb (1746) .
Calc gains. 901 Load Ratio 2. Else, if Zero Psn (1730 Bit 04) is
set, Position Actual (1745) is loaded
902 Load Coupling with Position Fb (1746) – Zero
Position [1697).
3. Else, Position Command (1731) and
PRef EGR Out (1686) are loaded with
Position Actual (1745)
2 *4. EGR is skipped when Point to
Point Position control is active
(included Profiler, PLL with PTP)
PRef NF Del PReg Vel Limit Pos 1766

PRef 2 [H1] PReg Vel Limit Neg 1768
Psn Feedback Scaling PI Regulator
Figure 29 - Position Regulator
Psn Ctrl Options Zero Position

(Zero Psn) Position Actual
4 1730 1697 1745 Position Error PReg Vel Out
Calib 1 VRef Vect
3 Homing + 1750 kp + 1767
6 Const [D5]
[H3] - +
Xzero PRef 2 [C5] Limit
Psn Fb Del P Gain 0
Preset 6 21
0
1746 Psn Gear Ratio c PReg Kp* 1754

' Motor Speed 1752 PReg Status
( Gear Output Spd ) u PReg Kp* 1755

Position Fb PReg Int Out
1732 0 OffsetIntgrtr
Fdbk [H4] Psn Load Actual 1748 PReg LdError Psn Ctrl Options
1765 1 Offset ReRef
22
Load Psn Fb Sel ki
Calib kp 1730 0 Reserved 2 Psn Intgrtr
1014 + 6 Const
+ s
4 LdPsn Fb Del
- - 1 Intgrtr En 3 Psn Reg Lmt
1746
Chapter 3
P Gain I Gain
20
6 PReg 2 Offset ReRef
Position Fb 4 Reserved
Status
LdPsn Geared 3 OffsetVel En
Fdbk [H4] 5 Reserved
[N] c PReg Ki* 1756 1732 8 Intgrtr Hold
' 23
[D] 4 Zero Psn 6 Reserved
u PReg Ki* 1757
Other Position Parameter Gear Rat 5 Intgrtr Hold 7 Psn Reg Actv
Feedback Selection
PReg Droop 6 PsnWtch1Arm
Sources 8 Intgrtr Hold
1763 7 PsnWatch1Dir 9 PsnW1Detect
Load Psn Fb Mult 1015 8 PsnWtch2Arm 10 PsnW2Detect
Droop 9 PsnWatch2Dir 11 InPsn Detect
5 Load Psn Fb Div 1016
10 Add Spd Ref
On PReg Output Limit

Intgrtr En
Or Inv
Intgrtr Hold
69
70
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Psn PLL
A B C D E F G H I
1
Position Control – Phase Locked Loop
(Psn PLL)
PLL Ctrl Options
1590 0 PLL Enable

- Bit4 enables PCAM function with PLL.
1 Velocity FF - Bit5 enables PTP function with PLL
PLL Ext VelScale - Bit6 enables Profiler function with PLL
2 Ext Vel FF
1593 PLL Ctrl Can not select multiple bits.
PLL Ctrl PLL Ctrl 3 Accel Comp
2 Options PLL Ctrl Options PLL LPF BW PLL references must connect to
Options Options
4 PCAM Enable appropriate outputs of the function.
1590 1590 2 1590 1 1590 3 1598
1592 5 PTP Enable
PLL Ext Vel Stpt Ext Velocity Accel
0 Vel FF FF Comp 6 Prof Enable
1
Other Ref X
Sources Parameter 0 1
Selection LPF
0
PLL Ext Vel Sel 1591 0
PLL Ctrl Options
3 PCAM Enable 1 1590 0 PLL Enable

PCAM Vel Out 1575 4 X to V PLL BW
1 Conv 1600 1612 PLL Vel Out
PTP Enable Delay
5 PRef1 [G5]
Prof Enable
1
1405 1
PTP VRef Fwd 6 1613 PLL Vel Out Adv
Figure 30 - Position Control – Phase Locked Loop

PRef1 [G5]
0
0
Delay 1615 PLL Enc Out
PLL Psn Stpt 1596 PRef1 [G5]
0 + 1
+ Loop + VE 1616 PLL Enc Out Adv
Other Ref -
4 Filter PRef1 [G5]
Sources Parameter 0
Selection
0
1597 PLL Psn Out Fltr

PLL PRef Sel 1595
PCAM Enable 1
PCAM Psn Out 1574 4 EGR
[ ]
PTP Enable 1
5
1 [ ]
Prof Enable
PTP Reference 1404 6
5 1604 PLL Virt Enc RPM
PLL EPR Input 1606 X X
1607 PLL EPR Output
PLL Rvls Input 1609 1610 PLL Rvls Output

6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Psn CAM
A B C D E F G H I
Position Control – Position Reference CAM

1
(Psn Ref CAM)
PCAM Mode 1422 0 - Off
1 - Single step
2 - Continuous Position Reference CAM
3 – Persistent *
*(not for P1420 [PCAM Type] = 1 - TCAM )
PCAM Slave Scale 1436
Y (slave)
Other Ref
Sources Parameter
2 Selection
1574 PCAM Psn Out
PCAM SlaveSclSel 1435 Pref 1 [G4]
PCAM Type 1420

Unwind FIR
X 1575 PCAM Vel Out
Filter *
PCAM Psn Stpt 1427 Pref 1 [G3]
0 - PCAM
X (master) 1576
Other Ref Unwind
Sources Parameter PCAM Vel OutTaps
time
3 Selection *(PCAM only)
1 - TCAM
PCAM Psn Select 1426 Virtual Encoder
PCAM Psn Ofst 1428 PCAM Master Scl 1434

0– Pnt Zero

1– Last Stop
Figure 31 - Position Control – Position Reference CAM
PCAM PsnOfst Eps 1429 2– Actl Input PCAM Vel Scale 1438 DI PCAM Start 0:880
3– Remainder Other Ref
PCAM Start Cfg 1425 Sources Parameter PCAM Status 1423
Selection
Chapter 3
4 PCAM Control 1421

Started 0
Profile Definition PCAM Vel SclSel 1437 In Cam 1 Start 0
TCAM 2
Pt M00 1446 Pt S00 1478 Both Main and Aux CAM DirectionOut 1
PCAM Start Slope 1442 Single Step 3 Aux Cam En 2
Pt M01 1447 Pt S01 1479 Pt M01 1512 Pt S01 1543 Continuous 4
PCAM End Slope 1443 VReg IntHold 3
DirectionOut 5 Reserved 4
PCAM Pt M15 1461 Pt S15 1493 PCAM Pt M15 1526 Pt S15 1557 Aux Cam En 6 Reserved 5
Main Aux 7
VReg IntHold Direction In 6
5 Types 1445 0 - - 14 x Types 1511 x 1 - 14 x
MainWrongOrd 8
Linear or Cubic Linear or Cubic Offset En 7 Not
EndPnt 1444 AuxWrongOrd 9 TCAM
End Pnt 1510 RerefPsnOfst 8
Persist Mode 10 Unidirection 9
Direction In 11 CamProfNrml 10
Not
Offset En 12 TCAM
RerefPsnOfst 13
6 Unidirection 14
PCAM 15
71
72
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Prof Ind 1
A B C D E F G H I
Position Control – Profiler/Indexer (1)

1
Step Step Step Step Step Step (Prof Ind 1)
1 2 3 4 15 16
Speed/Position Profiler/Indexer
Type 1205 1216 1227 1238 1359 1370
Velocity 1206 1217 1228 1239 1360 1371
Vref Prof Ind 1
Accel 1207 1218 1229 1240 1361 1372
Vref All [C3]
Move Table
Decel 1208 1219 1230 1241 1362 1373
1209 1220 1231 1242 1363 1374 PsnVelTrq Actv
Value
Dwell 1210 1221 1232 1243 1364 1375 34 Trq Ref [D5]
2
Batch 1211 1222 1233 1244 1365 1376
Profiler
Next 1212 1223 1234 1245 1366 1377 PTP
Action 1213 1224 1235 1246 1367 1378 Command
Time Other
0 1391
Blend P1 Sel 1214 1225 1236 1247 1368 1379
Blend P2 Sel 1215 1226 1237 1248 1369 1419 Pref 1 [E2]
Dig In 0:860 0:861 0:862 0:863 0:874 0:875
Profile Command Profile Status

3 Prof DI Invert 0:850 0 Hold Step Counts Per Unit 1203 1202 0 StrStepSel0 1200 0 Step Bit 0 1201 Units Traveled
1 Abort Step ProfVel Override 1204 1 StrStepSel1 1 Step Bit 1
Starting Current
2 AbortProfile 2 StrStepSel2 Step 2 Step Bit 2 Step
(0-16) (0-16)
Figure 32 - Position Control – Profiler/Indexer 1
3 Vel Override 3 StrStepSel3 3 Step Bit 3
4 StrStepSel0 4 StrStepSel4 4 Step Bit 4

5 StrStepSel1 5 Reserved 5 Reserved
4 8 StrStepSel4 0:851 DI Hold Step 8 Hold Step 8 Enabled
9 Step1 0:852 DI Abort Step 9 Vel Override 9 Running
10 Step2 0:853 DI Abort Profile 10 Restart Step 10 PositionMode
11 Step3 0:854 DI Vel Override 11 HomNotSetAlm 11 Dwell
12 Step4 0:855 DI StrtStep Sel0 12 Prof Run Alm 12 Holding
13 Step5 0856 DI StrtStep Sel1 13 In Position
14 Step6 0:857 DI StrtStep Sel2 Alarm Status B 14 Complete
15 Step7 0:858 DI StrtStep Sel3 466 7 Profile Actv 15 Stopped
5 16 Step8 0:859 DI StrtStep Sel4 9 Not Home Set 16 Resume
17 Step9 17 Restart Step
18 Step10 18 Vel Override
19 Step11 19 Home Not Set
20 Step12
21 Step13
22 Step14
6
23 Step15
24 Step16
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Prof Ind 2
A B C D E F G H I
1
Position Control – Profiler/Indexer (2)
(Prof Ind 2)
Type = Position Absolute (Posit Abs)

Action Posit Blend Time Param Digin (+/-) Wait Step to Next End
Blend Blend Blend Digin
Velocity Move vel N/A N/A N/A Move vel Move vel N/A
Accel Move accel N/A N/A N/A Move accel Move accel N/A
Decel Move decel N/A N/A N/A Move decel Move decel N/A
2 Value Absolute N/A N/A N/A Absolute Absolute N/A
Target pos Target pos Target pos
Dwell N/A N/A N/A N/A Dwell Time Dwell Time Dwell
Time
Batch N/A N/A N/A N/A N/A N/A N/A
Next Next Step N/A N/A N/A Next Step Next Step N/A
Next Step Position > N/A N/A N/A DigIn Position > Restart
Condition Value transition Value Indexer
DigIn # N/A N/A N/A N/A Digin # N/A N/A
Type = Position Incremental (Posit Incr)

Action Posit Blend Time Param Digin (+/-) Wait Step to Next End
Blend Blend Blend Digin
3 Move vel N/A N/A N/A Move vel Move vel N/A
Velocity
Accel Move accel N/A N/A N/A Move accel Move accel N/A
Decel Move decel N/A N/A N/A Move decel Move decel N/A
Value Incremental N/A N/A N/A Incremental Incremental N/A
Target pos Target pos Target pos
Figure 33 - Position Control – Profiler/Indexer 2
Dwell N/A N/A N/A N/A Dwell Time Dwell Time Dwell
Time

Batch N/A N/A N/A N/A Batch # Batch # N/A
Next Next Step N/A N/A N/A Next Step Next Step N/A
Next Step Position > N/A N/A N/A DigIn Position > Restart
Condition Value transition Value Indexer
DigIn # N/A N/A N/A N/A Digin # N/A N/A
Chapter 3
4
Type = Speed Profile
Action Posit Blend Time Blend Param Blend Digin (+/-) Wait Step to Next End
Blend Digin
Velocity Move vel Move vel Move vel Move Vel Move vel Move vel N/A
Accel Move accel Move accel Move accel Move Move accel Move accel N/A
accel
Decel Move decel Move decel Move decel Move Move decel Move decel N/A
decel
Value Incremental Total Time Compare Param # N/A Total Time Total Time N/A
Target pos (+/-)
Dwell N/A N/A CompareParam # Dwell Dwell Time Dwell Time Dwell
Time Time
Batch N/A N/A N/A Batch # Batch # Batch # N/A
Next Next Step Next Step Next Step Next Step Next Step Next Step N/A
5 Next Step Position > Time > Param[Blend P1] Digin Digin Time > Restart
Condition Value Value Compare to [Value] transition Value Profile
Param [Blend P2] transition
DigIn # N/A N/A N/A Digin # Digin # N/A N/A
73
74
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Roll Psn
A B C D E F G H I
1 Position Control – Roll Position Indicator

(Roll Psn)
Roll Psn Offset
1085
Roll Psn Config

Roll Psn Config
1080 0 Enable Roll Psn Status
ReRef 1080 2 Rereference
1081 0 Enable
Roll Psn Config 1 Rereference

2
' 1080 1 Preset
RP Pos Fd Stpt 1083 RPsn Mod In

Roll Psn Preset 64
Position Fb 1746 1
EGR 1084
[ ] Modulo Divider
+ 0
' + 6 Mod 1090 RP Psn Output
Other Ref [ ]
Sources Parameter 60
Selection RPsn Dlt In 63
RPsn Dlt Out X 1092 RP Unit Out
3
RP Psn Fb Sel 1082
62 61
RPsn EGR Den RPsn EGR Num
X X
*1 *1

Figure 34 - Position Control – Roll Position Indicator
1086 1087 1088 1089 1091

RP EPR Input RP Rvls Input RP Rvls Output RP Unwind RP Unit Scale
4
Gear Ratio
*1: Product need to be within 32-bits integer range
RP Psn Output
1090
RP Unwind 1089
Position
0 Feedback
Input
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Spindle
A B C D E F G H I
SO Config Position Control – Spindle Orient

1060 0 Home DI
1 (Spindle)
1
Home DI
Rising
0 Edge SO Status SO Config
Marker Pulse 1061 0 At SO Speed 1060 0 Home DI
1 Mode 1 Home DI Inv

Spindle Position Indicator
2 Orient Cplt 2 Recap Hm Psn
SO Offset 1063 ReCap
3 ShortestPath
EGR
2 [ ] Modulo Divider SO Position Out 4 Scale Invert
Position Fb 1746 ' + 6 Mod 1069

[ ] -
SO Config 1060 4 Scale Invert
0 SO Unit Out
X 1070
1013
Preg Fb Sel 1
ReCap ÷
3
X X
Figure 35 - Position Control – Spindle Orient
*1 *1
SO Offset SO Cnts per Rvls

1064 1065 1066 1063 1067 SO Unit Scale 1068
SO Vel Lim Fwd SO Vel Lim Rev
SO EPR Input SO Rvls Input SO Rvls Output SO Status 1073 1074
1061 1 Mode
Gear Ratio
Chapter 3
*1: Product need to be within 32-bits integer range

SO Setpoint
1062 Spindle Position Command Spindle Position Planner
SO Vel Lim Fwd

Vref Ramped 1923
1073
SO Position Out
5
1069 1071 1072
SO Accel Time SO Decel Time
1067
SO Cnts per Rvls Limit
1074
0 Position Feedback Input
6
SO Vel Lim Rev
75
76
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef Overview
A B C D E F G H I
Velocity Reference Selection
1
Velocity Reference Overview (VRef Overview)
VRef Selected
VRef A
RefA Auto Velocity Reference Control
RefA Trim
+
RefA TrimPct
VelRefCAM/ VRef
VRef B Profiling/ Limited
VRef Commanded Direction Limit VRef
2 Jogging/ Skip
+ Switch Stop / Torque
RefB Auto Lift App/ Mode Bands
RefB Trim Control Proving
Autotune/
+ Homing/ Limit
RefB TrimPct Overrides
From
PI Regulator
Presets 3-7 Auto (Exclusive Mode)
DPI Ports 1-6 Manual
ENet VRef
3
Figure 36 - Velocity Reference Overview
Accel Accel FF
Vector Velocity Control FF to Trq Ref
Virtual
Encoder
Vel
Comp Friction Friction Comp
Vector Ramp and

Move Profiles Comp Torque Ref
Flux Velocity VRef Ramped

Vector Ref NF 1 Motor VRef
Ramp &
& x
Move
Ref NF 2
4 Profiles 1933 VReg
Limit
From From Vel Limit
VRef Final Ref
PTP Profile PI Regulator VRef Scale
Generator (Trim Mode)
Rate
Select From Position
Regulator
VRef Ramped V/F Velocity Control
VF or SV Linear Ref NF 1
5 Ramp & & 1 Frequency
S Curve Ref NF 2 Ref
Output
Limit Limit Frequency
V/F Ramp S-Curve
Vel Limit Vel Limit &
Droop Overspeed Limit
From
From Velocity
Slip Comp Status
PI Regulator Velocity Feedback Status
(Trim Mode) Vector Ramp Status
6 FF Ramp Status
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef Sel
A B C D E F G H I
VRef A Sel Velocity Reference Selection (VRef Sel)

1 1800
* Note: Analog Hi, Lo
scaling only used when 350 VRef Source
Analog Input is selected ‘d’ Prefix Refers to Diagnostic Item Number (ex. d33) – Reference Symbol Legend Velocity Units 0:46
1870 VelTrimPctRefSrc
Disabled (0)
1871 Vel Trim Source
VRef A Stpt 1801 1890 VRef Sel Sts
RefA TrmPct Sel RefA Trim Sel
1850 1855 0:47 Vel Units Act
Preset Speed 1 1814
Preset Speed 2 1815
Motor Side Sts 1 354 9 14 13 12 11 10
Preset Speed 3 1816 Man Ref Ref Ref Ref Ref
2 Disabled (0) Disabled (0) Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Preset Speed 4 1817 0
0
Preset Speed 5 1818 RefA TrimPct Stpt 1851 Default RefA Trim Stpt 1856 Default
1
( Ref A Auto ) VRef Sel
Preset Speed 6 1819
Port 1 Reference 0:214 Port 1 Reference 0:214 VRef All [A1]
Preset Speed 7 1820 2
( Ref B Auto )
Port 2 Reference 0:215 Port 2 Reference 0:215
MOP Reference 1823 Port 3 Reference 0:216 Port 3 Reference 0:216 3
1816 ( Preset Speed 3 )
MOP [G3]
Parameter Port 4 Reference 0:217 Port 4 Reference 0:217 4
Enc VRef 1834 Selection 1817 ( Preset Speed 4 )
Fdbk [H5] Port 5 Reference 0:218 Port 5 Reference 0:218
3 Parameter Parameter
Selection Selection 5
Figure 37 - Velocity Reference Selection
Port 6 Reference 0:219 Port 6 Reference 0:219 1818 ( Preset Speed 5 )

Port 1 Reference 0:214 Default
Port 2 Reference 0:215 6

Anlg In1 PortVal Anlg In1 PortVal 1819 ( Preset Speed 6)
Port 3 Reference 0:216 (option port) (option port)
7
1820 ( Preset Speed 7)
Port 4 Reference 0:217 Anlg In2 PortVal Anlg In2 PortVal

(option port) (option port) 17
Port 5 Reference 0:218 0:214 ( DPI Prt1 Man )
Port 6 Reference 0:219
RefA TrmPct AnHi 1852 * RefA Trim AnHi 1857 * ( DPI Prt2 Man )
18
0:215
Option Ports: RefA TrmPct AnLo 1853 RefA Trim AnLo 1858
4 19
Analog, EtherNet 0:216 ( DPI Prt3 Man )
Chapter 3
VRefA AnlgHi
* x x + ( DPI Prt4 Man )
20
1802 0:217
VRefA AnlgLo 1803 VRef A Mult 21
0:218 ( DPI Prt5 Man )
1804
22
0:219 ( DPI Prt6 Man )
Disabled (0) Disabled (0) Disabled (0)

VRef B Stpt 1808 RefB TrmPct Stpt 1861 RefB Trim Stpt 1866
DI ManRef AnlgHi
5 VRefB AnlgHi 1809 RefB TrmPct AnHi 1862 RefB Trim AnHi 1867 0:148 16
( DI Man Sel )
VRefB AnlgLo 1810 RefB TrmPct AnLo 1863 RefB Trim AnLo 1868 0:149
* Parameter * Parameter Parameter
* Parameter
Other Ref Sources Selection Other Ref Sources Selection Other Ref Sources
* Selection DI ManRef AnlgLo Selection
0:147 DI Man Ref Sel

VRef B Sel 1807 RefB TrmPct Sel 1860 RefB Trim Sel 1865 Alt Man Ref AnHi
1836 31
x ( Alt Man Sel )
+ 1837 * Parameter
6 x Alt Man Ref AnLo Selection
VRef B Mult 1811
1835 Alt Man Ref Sel
77
78
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef All
A B C D E F G H I
Position Control – Add Speed Reference Option

Trq Ref [E5] Psn Ctrl Options Velocity Reference – All (VRef All)
1 PsnVelTrq Actv (Add VRef)
34 1730 10
Position
VRef Sel 1 VRef Selected

(>= 6)
1892 Velocity Reference CAM V e l o c i ty P r o f i l i n g J o g g in g Lift App (Micro Positioning) Pump Application Homing
VRef Sel [I2]
0
Non-position 0 Trq Ref [E5] Motor Side Sts 1 Trq Prove Status
(< 6) Homing Status
VCAM Control PsnVelTrq Actv (Jogging) (Micro Psn) Oil Well 1 [H3] Oil Well 2 [H4]
(Cam Enable) 354 17 POfVelRefSts 1641 1
34 9:52 2 PumpJackSpdRefEnbl
PI Speed Exclusive 2201 3
0 0 ≠6 0 0 0
0 0
2
1 Vel Ref Profiler 1,0 PumpJack 1 1 1
9:13 6 Jog 1 1 POf Vel Ref
PID Output Meter CAM [H2] 1894 x SpdRef
Proc 1 [H2] Speed 1 Oil Well 2 [H4]
VCAM Vel Out Profile Status Oil Well 1 [H3]
Jog 0,1
PID Enable 2354 Position 1895
PID Status 9:3 0 1200 10 Speed 2
Mode 9:71
Motor Side Vel 1 1 Position MicroPsn
354 16 Running & Ref 0 Logic [H3] VRef Homing
Sts 1 ScalePct
CAM
Speed Excl Drive Logic Jog1 31
9:14 0 Speed 879 2 19
30 VRef Profilr Rslt Jog2
Figure 38 - Velocity Reference – All
VRef PID Sel 67

PID Output Sel = 1 VRef Homing x 1752
3 Homing [H2] Psn Gear Ratio
VRef Prof Ind 1752 Psn Gear Ratio
x
Prof Ind 1 [H2]
Direction Mode Control Autotune Tests Limit Switch Control Velocity Ref Command Limits

VRef Commanded
1914
Direction Mode VRef Sel Sts VRef Sel Sts
Direction Skip Bands
(Decel Lmt Sw) (End Lmt Sw)
930 Test Min Velocity Max Velocity
4 Limits Limits VRef SkipOut
1890 13 1890 14 VRef CLmt In 34
Bipolar 33 VRef Vect [A1]
1 0 0 0 1906 Skip
Rev Disable VRef Limited Bands
2 1 1
Max 1 Limit Limit
5 Hz 0 Proc 2 [B2]
0 Unipolar 0
X Skip Speed 1 1908 VRef OverRide
912
1814 Testpoint 39:
Foward Autotune Preset Speed 1
Skip Speed 2 1909 0- No Override
Command Vel Lim Id or 1- Psn Cntrl – Add Spd Ref Option
Logic Inertia Vel Low Lim Pos 1900 Skip Speed 3 1910 2- PI Speed Exclusive
5 VRef Dir Sel 32 Test 3- Speed Profiling
Vel Low Lim Neg 1901 Skip Speed 4- Jogging
Unipol 1 1911
(+1) Band 5- Homing
Fwd
Vel Limit Pos 1898 6- Autotune
Unipol 0 7- Direction Test
(-1) Rev Vel Limit Neg 1899
8- Limit Switch Decel Limit
Internal Load Dependent 9- Limit Switch End Limit
Max Limit 10- Torque Proving
(Lift Application) 11-Oil Well Pump
12-Variable Boost
6 Trq Prove Status
9:52 5 13-Velocity Ref CAM
(LoadTestActv)
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef Vect
A B C D E F G H I
Start/Stop
Velocity Reference - Flux Vector (VRef Vect)
1 Motor Side Sts 1 (Running) Velocity Ramp and Move Profiles (VRef Move)
VRef OverRide
354 16 (Testpoint 39) = Vel Ctrl Options
Motor Side Sts 1 OR Velocity Ref (Delayed Ref)
(Stopping)
355 9 CAM (13)?
VRef Ramp In 1950 8
VRef Commanded 354 18 Motor Side Sts 2 1923 VRef Ramped
1
0 (Autotuning) 1 0 Proc 2 [C2] 0
VRef All [I4] 1914
Not Stopping
and Active
Virtual Encoder
0
0
1 VRef Delayed
0 One 1
Stopping LinScurve 1924
or Not Active Scan
2 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
Int Ramp Ref PRef 1 [C5]
Ref NF2 Depth 950 1
Trq Ref [G1] Ref NF2 Gain 951
Velocity Control
3
VRef Filtered
VRef NF In
Accel Feed Forward 1925
Figure 39 - Velocity Reference – Flux Vector
36
Ref NF2 Ref NF1
Accel FF Mode
Accel FF Output
1972 Velocity Comp
2070

Disabled Vel Comp Sel
0 Accel 0
0 1927
FF
Int Ramp Ref 1 d Accel FF Output Not Used
1 0
0 Trq Ref [A2] Vel Comp Out
dt 905 System C/U Sel
4 Ext Ramped Ref Ramped Ref 1 1930
Chapter 3
d From Anti-Sway [D2]

2 d
1978 1973 c Accel FF Gain 140 Cur Lmt Stop dt VRef Psn FF
dt OR Rate Ref 2 35 1760 c Vel FF Gain
3 1974 u Accel FF Gain 1931 Speed 954 Ref NF1 Freq Act
1931 130 LineLoss Act 0
Comp x 1761 u Vel FF Gain
FF Vel Rate Ref 956 Ref NF1 Depth Act
FF Vel Rate Ref 1975 Accel FF NegGain
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
VRef Scaled
37 Motor Side Sts 1 Psn Gear Ratio
X Velocity Ref Final Limits (Jogging)
1932
5 VRef Scale 140 Cur Lmt Stop
Position Reg Output At Limit Status OR

PI Velocity Trim
VRef FLmt In (MaxSpeed Lmt) 130 LineLoss Act
Max Speed Limit
2 0 38
Proc 1 [H2] 9:13 0 365 2
PReg Vel Out 1767 0
PID Output Meter ≠2 VReg Vect [A3]
0 1 PReg [H3] PReg Vel Out 1
0 1
0
Limit 0 1933
9:14 354 17 354 17 Vel Limit Pos 1898 VRef Final
PID Output Sel Motor Side Sts 1
6 (Speed Trim) (Jogging) Motor Side Sts 1 Vel Limit Neg 1899
(Jogging)
79
80
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Ref Move
A B C D E F G H I
1
Velocity Reference, Flux Vector – Move Profiles (VRef Move)
Ref Move Type
Motor Side Sts 1 354 17 Jogging

931
0
1,0 VelRamp Rate
VRef Accel Time1 1915
2
VRef Accel Time2
0,1
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
2
0 (NoSCrvSpdChg) 9
Logic [H3] 1917 1,0
VRef Decel Time1
VRef Decel Time2 1918 0,1
LinScurve (0)
MS Logic Rslt
0:200 10 11
(Decel Time 1, 2)
Logic [H3]
VRef Accel Jerk 1919
VRef Decel Jerk 1920
3 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
Figure 40 - Velocity Reference Flux Vector – Move Profiles
1 = Time 1935 VRef AccJerk Max

Ref Accel Time 934
4 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 4 Move Failed
3- Reversing
Ref Max Decel 937
5
Ref Max AccJerk 938
Ref Max DecJerk 939

Ref Fault Config 941 4 VRefAccelMaxTime
5 VRefAcJrkMaxTime
6 VRefDcJrkMaxTime
7 VRef Time Left
8 VRef Iterations
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VelRefCAM
A B C D E F G H I
Velocity Reference CAM

1
(Vel Ref CAM)
VCAM Mode 2202 0 - Off
1 - Single step
2 – Continuous (not for P2200 [VCAM Type] = 2 – VCAM) Velocity Reference CAM
3 – Persistent (not for P2200 [VCAM Type] = 1 – TCAM)
VCAM Slave Scale 2216
Y (slave)
Other Ref
Sources Parameter
2 Selection
2354 VCAM Vel Out
VCAM SlaveSclSel 2215 VRef All [D3]
VCAM Type 2200
VCAM Psn Stpt 2207

0 - PCAM
X (master)
Figure 41 - Velocity Reference CAM
Other Ref Unwind

Sources Parameter
3 Selection
time 1 - TCAM
VCAM Psn Select 2206 Virtual Encoder
VCAM Psn Ofst 2208 '

VCAM PsnOfst EPS 2209 0:883
VCAM Status 2203 DI VCAM Start
VCAM Vel Stpt 2211 Started 0
2 - VCAM In Cam 1
4 Other Ref VCAM Control 2201
Chapter 3
Sources TCAM 2
Parameter
Selection Single Step 3 Start 0
0– Pnt Zero
1– Last Stop Continuous 4 DirectionOut 1
VCAM Vel Select 2210 VCAM Master Scl 2214
2– Actl Input DirectionOut Aux Cam En 2
5
3– Remainder
VCAM Start Cfg 2205 Aux Cam En 6 Cam Enable 3
Profile Definition Reserved 7 Reserved 4

MainWrongOrd 8 Reserved 5
Pt M00 2226 Pt S00 2258 Both Main and Aux CAM AuxWrongOrd 9 Direction In 6
5 VCAM Start Slope 2222
Persist Mode 10 Offset En 7 Not
Pt M01 2227 Pt S01 2259 Pt M01 2292 Pt S01 2323 TCAM
VCAM End Slope 2223 Direction In 11 RerefPsnOfst 8
Not
Offset En 12 TCAM Unidirection 9
VCAM Pt M15 2241 Pt S15 2273 VCAM Pt M15 2306 Pt S15 2337
Main RerefPsnOfst 13 CamProfNrml 10
Aux
Types 2225 0 - - 14 x Types 2291 x 1 - 14 x Unidirection 14
Linear or Cubic Linear or Cubic 15
PCAM
EndPnt 2224 End Pnt 2290
6 VCAM 16
81
82
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VReg Vect
A B C D E F G H I
1
Velocity Regulator - Flux Vector (VReg Vect)
906 System BW
System C/U Sel (905):
* Set (905) System C/U Sel = 1010 AltFb Gn Scale
905 0- Calculated* User to manually adjust Kp
and Ki gains. Otherwise the 907 System Damping
1- User Entered
following params determine
2- Load Calculated then revert Calc gains. 901 Load Ratio
to User Entered
902 Load Coupling
2
nff
1953 FeedFwd
VReg Anti Backup

At Limit Status VReg Enable
Velocity Error (Spd Reg Lmt) 45
aVRegKp 365 4
1951 VReg Lmt In 0
41
43 0
3 VReg Output
VRef Vect [H6]
- 1
1933 + + + kp + 1969
- +
Figure 42 - Velocity Regulator – Flux Vector
+
VRef Final Trq Ref [B2]
c VReg Kp 1955 P Gain Limit
+10%
ks
u VReg Kp 1956
s -10% 1965
VelFb Active aVRegKi

ServoLck Limit 42
1042 Accel Limit Pos
Fdbk [G2] 40
ki 1966
VReg SrvLock
+ kp
- s Accel Limit Neg
Servo Lock Gain 1952
4 P Gain I Gain
Hold / Reset
At Limit Status 365 1962 VReg Int Out
c VReg Ki 1957
PTP PsnRefStatus u VReg Ki 1958
1380 2
(PTP Int Hold)
c Alt Kvi OL Fb 1959
Vel Ctrl Options 1950 3 u Alt Kvi OL Fb 1960
(SpdRegIntRes) Vel Droop
4
(SpdRegIntHld) 3
(Jog No Integ) 6
Droop
Kj
Preset
5 VReg Trq Preset 1980 1961 44
Droop RPM at FLA

Trq Ref Selected 2076
Trq Ref [G3]
PsnVelTrq Actv 34 Bumpless

Trq Ref [E5]
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Trq Overview
A B C D E F G H I
1 Torque Overview (Trq Overview)

Trq
VReg PI Out
Ref
Accel FF VReg CAM
Output +
Trim -
Select
2
Torque Step
VelFb
Load
Observer Position /
Trq Ref
Velocity / Te
+ Filtered Torque
Torque + Trq Iq
Figure 43 - Torque Overview
+ Current
Mode + Filters Torque Current Rate Ref
Limit Calc Limit Limit
Select
Friction
Trq Ref 1 Torque Comp
3
Reference
Trq Ref 2 Scale
and
Trq Trim
Trim

Pos Torque Limit
Regen Power Limit
4
Chapter 3
Drive Voltage and Current

Current Ratings Pwr
Bus Torque Limit
+ Te
DC Bus Voltage Voltage + Limit Processing
Regulator Select and
Calc Selection
Brake/Bus Config
Neg Torque Limit
Power, Torque, and Current Limit Reference Generation

5
83
84
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Trq Ref Sel
A B C D E F G H I
* Note: Analog Hi, Lo Torque Reference Selection (Trq Ref Sel)

1 scaling only used when
Analog Input is selected
Trq Ref B Sel 2007
2
0.0 ( Disabled ) Default
Trq Ref B Stpt 2008 ( Setpoint )
From DIO Option Card ( Analog In 1 )

Parameter
( Analog In 2 ) Selection
From DIO Option Card
Trq Ref B AnlgHi 2009

Trq Ref A Sel 2000 Trq Ref B AnlgLo 2010
*
3
Figure 44 - Torque Reference Selection
0.0 ( Disabled )
Trq Ref A Stpt
2001 ( Setpoint ) Default
From DIO Option Card ( Analog In 1 )

From DIO Option Card ( Analog In 2 ) Default 0
Parameter
Selection PID Output Sel
Trq Ref A AnlgHi 2002 1
Trq Ref A AnlgLo 2003

* 9:14
4 PID Output Meter 3 = Torque Excl
(PID Torque Trim) 4 = Torque Trim
Proc 1 [H2 ]
3,4
9:13
Trq Commanded
Bit Other
0 2073
Source
Parameter Other Trq Ref [B4],
DI M TorqueStptA 0:167 Selection x +
Trq Ref B Mult 2011 Proc 1 [A4]
3
0
5
Other
Trq Ref A Mult 2004 x
3
0
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Ld Obs
A B C D E F G H I
Trq Scale
Motor NP RPM 403 44 Kj Load Observer (Ld Obs)
1 50
Mtr NP Pwr Units 405
Motor NP Power 406 Acc

Motor Inertia 900 Trq
Load Ratio 901 LdObs Acc Ref Out Trq Ref Out
Calc
2037 2072
LdObs Acc Ref In 2027 + X Trq Ref [D2]

TrqRefPosLimActv
-
Trq Ref [B2]
51 Limit
2
Active Pos 1
LdObs Mode (2020): Torque Limit Trq Scale
Cur IM, SPM [E3] TrqRefNegLimActv
0- Disabled 52
Cur IPM [E3] Active Neg
1- LdObs Only 1 Trq Ref [D3]
Torque Limit
Figure 45 - Load Observer
2- LdObs VelEst Trq Scale

LdObs Torque Est
3- Vel Est Only
4- Accel Fdbk X 2036
Note:Load Observer is X Trq Ref [C3]

internally disabled in 0 LdObs Accel Est
3 TrqReg mode or
0,3 4 1,2 0,4 1,2,3 2035
VelMode with open loop
LdObs Mode 2020
feedback
0 0.5

K j * aVRegK p
1961 ----------------- -
Np RPM +
Droop RPM at FLA
4
Chapter 3
1.0
LdObs Vel Error
2031
Fdbk [E3]
1,2,3,4 LdObs Vel Est
LdObs VelFb In
2028 + X 2034
Fdbk [G3] -
5
c LdObs Kp 2021 2023 c LdObs Ki
u LdObs Kp 2022 2024 u LdObs Ki
X X
6
85
86
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Friction Comp
A B C D E F G H I
1
Friction Compensation (Friction Comp)
Friction Compensation Adjustments
Torque
2 2056
+
+ FrctnComp Rated
2054
+ FrctnComp Stick
2055
Figure 46 - Friction Compensation
+ FrctnComp Slip
3
2052
2051 FrctnComp Hyst 403
403
- -Motor NP RPM - FrctnComp Trig + Motor NP RPM +
Speed

+ FrctnComp Trig
2051
FrctnComp Hyst
2052
4
- FrctnComp Slip
2055
- FrctnComp Stick
2054
- FrctnComp Rated
2056
-
5
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Trq RefCAM
A B C D E F G H I
Torque Reference CAM

1
(Trq Ref CAM)
TqCAM Mode 2372 0 - Off
1 - Single step
2 – Continuous (not for TqCAM Type [2370] = 2 – VCAM) Torque Reference CAM
3 – Persistent (not for TqCAM Type [2370] = 1 – TCAM)
TqCAM SlaveScale 2386
Y (slave)
Other Ref
Sources Parameter
2 Selection
2524 TqCAM Trq Out
TqCAM SlvSclSel 2385 Trq Ref [H3]
TqCAM Type 2370
TqCAM Psn Stpt 2377

0 - PCAM
Figure 47 - Torque Reference CAM
Other Ref Unwind

X (master)
Sources Parameter
3 Selection
time 1 - TCAM
TqCAM Psn Select 2376 Virtual Encoder
TqCAM Psn Ofst 2378 '

TqCAM PsnOfstEPS 2379 0:886
TqCAM Status 2373 DI TqCAM Start
TqCAM Vel Stpt 2381 Started 0
2 - VCAM In Cam 1
4 Other Ref TqCAM Control 2371
Chapter 3
TCAM 2
Sources Parameter
Selection Single Step 3 Start 0
0– Pnt Zero
1– Last Stop TqCAM Master Continuous 4 DirectionOut 1
TqCAM Vel Select 2380 2384
2– Actl Input Scl
DirectionOut 5 Aux Cam En 2
3– Remainder
TqCAM Start Cfg 2375 Aux Cam En 6 Cam Enable 3
Profile Definition Reserved 7 Reserved 4

MainWrongOrd 8 Reserved 5
Pt M00 2396 Pt S00 2428 Both Main and Aux CAM AuxWrongOrd 9 Direction In 6
5 TqCAM StartSlope 2392
Persist Mode 10 Offset En 7 Not
Pt M01 2397 Pt S01 2429 Pt M01 2462 Pt S01 2493 TCAM
TqCAM End Slope 2393 Direction In 11 RerefPsnOfst 8
Not
Offset En 12 TCAM Unidirection 9
TqCAM Pt M15 2411 Pt S15 2443 TqCAM Pt M15 2476 Pt S15 2507
Main RerefPsnOfst 13 CamProfNrml 10
Aux
Types 2395 0 - - 14 x Types 2461 x 1 - 14 x Unidirection 14
Linear or Cubic Linear or Cubic 15
PCAM
EndPnt 2394 End Pnt 2460
6 VCAM 16
87
88
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Trq Ref
A B C D E F G H I
403 44 Kj
Motor NP RPM
Ld Obs[2020] modes: Mtr NP Pwr Units 405
Torque Reference (Trq Ref)
1 50 Trq Scale
406 Acc FrctnComp Mode FrctnComp Out
0- Disabled Motor NP Power
1- LdObs Only 2050 2057
Motor Inertia 900 Trq

2- LdObs VelEst Disabled
3- Vel Est Only Load Ratio 901 0 Friction
0
4- Accel Fdbk Calc Comp
***INTERNAL CONDITION ONLY***
1
Logic Ctrl State VRef Filtered 1925
Ld Obs [A2] Ld Obs [H2] 2051 FrctnComp Trig
(Forced Spd) VRef Vect [D3]
LdObs LdObs Ext Ramped Ref
OR 2 2052 FrctnComp Hyst
Acc Ref In Acc Ref Out Trq Ref Out 1978
Min/Max Cntrl
2027 2037 Zero Torque (Forced Spd) 2053 FrctnComp Time
2 2072 0 Vel Fb Active
VReg Output 0 2054 FrctnComp Stick
1042 3
1969 Speed Reg 1 0
VReg Vect [H3] + + X 2055 FrctnComp Slip
+ -
2056 FrctnComp Rated
Accel FF Output Torque Reg 2 1
VRef Vect [C4] 2070 SLAT TrqRefAtZero
Min 3
Figure 48 - Torque Reference
Min Trq Ref Selected 150

Trq Ref Filt In
Ld Obs [H3]
+ 0
LdObs SLAT 2076 +++ 2150 Trq Filt [A2]
Torque Est Max 4 +
VReg Vect [D5] 1
2036 Max 0
3 c LdObs Kp 2021 LdObs
LdObs Mode Accel Est
u LdObs Kp 2022 Sum 5
2020 2035
Torque
2077 TqCAM
0,3 X + Step
Load Disabled 0 + Trq Out
c LdObs Ki 2023
Observer 2524
1,2,4
2024 6

u LdObs Ki
Psn PTP Trq Ref CAM [H2]
LdObs Vel Est
2,3 7
LdObs VelFb In 2028 2034 Vel Feedback
Psn Direct Trq
Fdbk [G3] Fdbk [E3]
2031 Ref
8
4 Psn Camming CAM
LdObs Vel Error
9
Psn PLL
Trq Commanded 10
Psn SpdlOrnt
Trq Ref Sel [H5] 2073
Profiler 11
Prof Ind 1 [H2],

VReg Vect [D6],
PsnVelTrq Mode A 30 PRef 1 [D2, H1],
5 ABCD VRef All [A1], 34 PsnVelTrq Actv
Select Motor Side Sts 1
PsnVelTrq Mode B 31 VRef All [D2]
0 0
354 21 22 23
PsnVelTrq Mode C 0 1 Select
32
1 0 Logic Torque Mode
PsnVelTrq Mode D 33 1 1 PositionMode
SLAT Err Stpt 39 Speed Mode
DI SpTqPs Sel 1 0:161 SLAT Dwell Time 40
DI SpTqPs Sel 0 0:160 Mtr Cfg Options
6 (Zero TrqStop)
(Trq ModeStop) 420 0 1 2
(Trq ModeJog)
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Trq Filt
A B C D E F G H I
Torque Filters (Trq Filt)

1
Trq Ref Filtered

2080
Torque Torque Torque Torque Torque Torque
2150 Lead Low Notch Notch Notch Notch
Trq Ref Filt In
Trq Ref [H3] Lag Pass Filter Filter Filter Filter
Filters Filter 1 2 3 4 Cur IM [B2]
2
Cur IM SPM [B2],
Cur IPM [B2]
Trq LLF BW
2152
Figure 49 - Torque Filters
Trq LLF Gain

2153
*2156 Trq LPF BW Act
3 *2160 Trq NF1 Freq Act *2170 Trq NF2 Freq Act *2180 Trq NF3 Freq Act *2190 Trq NF4 Freq Act
Key
*2162 Trq NF1 Width Act *2172 Trq NF2 Width Act *2182 Trq NF3 Width Act *2192 Trq NF4 Width Act
* Save in non-volatile
AdptTune Config 2110 memory *2164 Trq NF1 Depth Act *2174 Trq NF2 Depth Act *2184 Trq NF3 Depth Act *2194 Trq NF4 Depth Act
Trq NF Threshold 2111 *2166 Trq NF1 Gain Act *2176 Trq NF2 Gain Act *2186 Trq NF3 Gain Act *2196 Trq NF4 Gain Act
Trq NF Freq LLim 2112

Trq NF Freq HLim 2113
Trq NF WidthMin 2114
TP 265 GnOptTimeLeft
Trq NF WidthMax 2115
4
Chapter 3
Trq LPF BW LLim 2116

AdptTune NF Num 2118
Adaptive Tuning
AdptTuneMinScale 2119
Note: User Trq NF and Selected LPF gains pass through as Active gains when Adaptive Tuning is disabled.
GnStab TorqueLim 2134
GnOpt TorqueLim 2135
2136 2120 AdptTune Status
GnOpt Scale Inc
System C/U Sel 905
GnOpt Error Type 2137 *2121 AdptTune GnScale
c Trq LPF BW 2154 Trq NF1 Freq 2159 Trq NF2 Freq 2169 Trq NF3 Freq 2179 Trq NF4 Freq 2189
GnOptPosErrThrsh 2139 2123 Trq NF Freq Est
5 u Trq LPF BW 2155 Trq NF1 Width 2161 Trq NF2 Width 2171 Trq NF3 Width 2181 Trq NF4 Width 2191
GnOptVelErrThrsh 2140
Trq NF1 Depth 2163 Trq NF2 Depth 2173 Trq NF3 Depth 2183 Trq NF4 Depth 2193 2124 Trq NF Mag Est
GnOptSclHiLim 2141
Trq NF1 Gain 2165 Trq NF2 Gain 2175 Trq NF3 Gain 2185 Trq NF4 Gain 2195 2125 Trq NF Wdth Est
GnOpt Time 2142
2129 AdptTuneStabFreq
2130 AdptTuneStabMag
2138 GnOpt Error Max

6
89
90
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Cur IM SPM
A B C D E F G H I
1
Torque Control - Current, for Induction Motor (Cur IM)
Flux Vector
At Limit Status 365 21 Trq Pos Lmt 25 Cur Lmt FV

22 Trq Neg Lmt 26 Therm RegLmt At Limit Status
23 Mtrng PwrLmt 27 BusVltgFVLmt
365 17 TrqCurPosLmt
24 Regen PwrLmt 28 Mtr Vltg Lkg TrqCurNegLmt 420 16 Mtr Cfg Options
(IqDelay)
IqsRefLmtd
Trq Ref Filtered 101
2 Te 0
Trq Filt [H2] 2080 2087 Torque Current Ref
Iq
Trq Ref Limited Calc -2 1
Limit Limit Rate Lim
Fdbk [C6] Z
Torque Limit Neg 2084 Cur IPM [E2]
TrqRefNegLimActv TrqRefPosLimActv
VelFb Active 52 51 Neg Pos
Active Neg Limit Limit 227
Active Pos
Fdbk [G2] 1042 Torque Limit Torque Limit
Current Rate Lim
Ld Obs [C2]
Regen Power Lim 229
{Regen PwrLmt} Max
-1
3
Bus + Pwr
{BusVltgFVLmt} +
Regulator Te -1
Calc
Min
Motor Power Lim 230

{Mtrng PwrLmt}
Torque Limit Pos 2083

Flux
Figure 50 - Torque Control – Current, for Induction Motor
4
Voltage Ref/ Pk Torque Iq Current Limit
{Mtr Vltg Lkg} Limit
Generation Min
Is,Id Active Iq Current Limit
Iq Flux Vector
Flux Cur Fb Calc Iq,Id (3,6)
9 Is
Calc
Current Lmt Sel 221

ActvCurLim
Power VF or SV
255
Current Limit 1 222 Thermal Mgr Current Limit (0-2,4,5,7,8)
Unit Scale
224 Active Cur Lim
Thermal RMS
Current Limit 2 223 Invert IT [D2]
Parameter Protection
Selection Port 0
{Therm RegLmt} 65
{Cur Lmt FV} Pri MtrCtrl Mode
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Cur IPM
A B C D E F G H I
Torque Control - Current, for Permanent Magnet Motor (Cur PM)

1
Flux Vector
At Limit Status 365 21 Trq Pos Lmt 25 Cur Lmt FV

22 Trq Neg Lmt 26 Therm RegLmt At Limit Status
23 Mtrng PwrLmt 27 BusVltgFVLmt
365 17 TrqCurPosLmt Mtr Cfg Options
Mtr Vltg Lkg (IqDelay)
24 Regen PwrLmt 28 18 TrqCurNegLmt 420 16
Trq Ref Limited IqsRefLmtd

Trq Ref Filtered 101
2 Torque
Trq Filt [H2] 2080 2087 0
Te Current
Fdbk [C6] Iq Ref
Id 1
Limit Limit Rate Lim -2
Cur IPM [E2] Z
Torque Limit Neg 2084
TrqRefNegLimActv TrqRefPosLimActv
Calc Neg Pos
VelFb Active Limit Limit
52 51
Active Neg Active Pos
227
Fdbk [G2] 1042 Torque Limit Torque Limit Is,Id
Current Rate Lim
Iq
Voltage
Regen Power Lim 229 Calc
{Regen PwrLmt} Max Limit Id
-1
3 Te Current
Id
Bus + Pwr Ref
{BusVltgFVLmt} + Calc Limit
Regulator Ld Obs [C2]
Te
Calc
Min
Motor Power Lim 230
{Mtrng PwrLmt}

Torque Limit Pos 2083
4
Chapter 3
Voltage Ref/ Pk Torque Iq Current Limit

{Mtr Vltg Lkg} Limit
Generation
Figure 51 - Torque Control – Current, for Permanent Magnet Motor
Current Lmt Sel 221

ActvCurLim
Power 255
Current Limit 1 222 Thermal Mgr Current Limit
Unit Scale
224 Active Cur Lim
Thermal RMS
Current Limit 2 223 Invert IT [D2]
Parameter Protection
Selection
{Therm RegLmt}
{Cur Lmt FV}
6
91
92
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Proc 1
A B C D E F G H I
From Anti-Sway [D2] Process Control 1 (Proc 1)

DI PID Invert
1
954 Ref NF1 Freq Act 9:23
PID Ref Sel PID Deriv
9:6
948 Ref NF2 Freq Time
9:25 956 Ref NF1 Depth Act -1
Ref NF2 Width Option E

949
Port:
PID Ref PID Ref 957 Ref NF1 Gain Act 950 Ref NF2 Depth Digital In
AnlgHi AnlgLo - PID Status
943 Ref NF1 Width 951 Ref NF2 Gain Parameter + kd-S (PID In Limit)
9:29 9:30 PID Selection
Deadband PID Prop Gain PID Output 9:3 3
PID Error D Gain Mult
9:9 Invert Error Meter 9:4
Option Parameter 9:15
Port: Selection 9:1 1 PID Cfg 9:12
0 0
Analog In (Ramp Ref)
Analog Types PID Output Limited
0 Ref Ref 1 +
x NF1 NF2 +- -1 kp + x Proc 2 [A2]
2 MOP [G3] Scale 1 +
Error Deadband
MOP Reference 1 200% Limit
Limit P Gain
1823 9:27 0 Proc 1 [C5] PID Upper Limit
Float Types Ramp 9:2 3
Hold Request 9:7
PID Ref
PID Setpoint PID Control
Mult
(PID InvError) 9:8
9:28 Default 9:26 9:3 0
9:10 PID Status PID Lower Limit
Figure 52 - Process Control 1
PID Ref PID Status Filter 9:3 1

PID LPF Hold (PID Hold)
Meter (PID Enabled) VRef Freq [I4]
LPass BW
PID Fdbk Sel Output Frequency
PID Fdbk Per
9:35 9:36 1 Hz
Meter Unit
PID Fdbk Mult PID Cfg (Anti Conv
3 PID Output Sel Windup)
Option 9:38
9:14 9:1 5 PID Cfg
Port: 0
Proc 1 [E5] (Preload Int)
Analog In Float Types
1 PID Status 9:1 3
x 1
MOP [G3] (PID Enabled)
PID Fdbk PID Fdbk AntiWind PID Output Sel
MOP Reference -1 9:3 0
AnlgHi AnlgLo Up Z 9:14
1823 PID Cfg VRef Freq [I4]
9:39 9:40 9:1 3 PID Preload
(Fdbk Sqrt) Output Frequency 0 0

PID Fdbk Stpt 9:11
Parameter Per
1 Hz 1
9:37 Default Unit 1
Selection
Conv
Trq Ref Sel [H5] Analog Types DI PID Enable
Trq Commanded 0,2,3,4
9:20 Drive 0.0
2073 PID FBLoss SpSel
4 Scale InLimit Accel Conditional
9:42
ki + 1
Torque Cur Fb +
Analog Loss Option s 1
1,2 ≠0 Motor Side Sts 2 1
8 355 10 Port:
(PID FB Loss) Digital In Motor Side Sts 1 I Gain 0
Output Current 3,4 ≠0 (Stopping) 0.0
Proc 2 [D3, D6] Parameter 0
3 Selection 354 18 PID Control
9:14 9:43 9:5 (PID Reset)
Output Power PID Enable
PID Output Sel PID FBLoss TqSel PID Int Time 2 9:2
PID Status
4 1 9:3 0
(PID Enabled)
0 PID Status
Proc 1 [H3] 1 9:3 2
PID Control (PID Reset)
Option 0 9:2
(PID Enable) 354 16
Port: ≠0
Digital In 9:20 Motor Side Sts 1
5 (Running)
Parameter DI PID Enable
DI PID Hold 9:21 PID Reset
Selection
PID Output Sel PID
PID Hold Stop Option
9:14
≠0 Mode Port:
1 Hold Request 2 0 Digital In
Proc 1 [F2] 1 Parameter
9:22
Selection
9:2 PID Control DI PID Reset
1
(PID Hold) 4 9:1 18 354 9:13 PID Output Meter
PID Cfg Motor Side Sts 1
6 Drive (Stop Mode) (Stopping)
365 1 2 17-31
InLimit
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Proc 2
A B C D E F G H I
PID FBLoss SpSel
PID Output Sel 9:42 Process Control 2 (Proc 2)

1 9:14
Parameter
Selection
Not MOP Reference
PID Output Limited
1823 Float Types
Used 0 MOP [G3]
Proc 1 [H2] VRef A Sel

1800 Default
VRef Ramped
Speed
1923 A
2 Excl 1 To VRef |A| > |B|
[6B2] VRef Vect [G1], B
>0
VRef Freq [D2] -1
Neg Limit
PID Cfg + 1 0
1906 Vref Limited 1
(Percent Ref) +
VRef All [G4]
6 9:1 1 1 PID Output Meter
Speed
Trim 2 0 9:13
1 1 0
Figure 53 - Process Control 2
X
Pos Limit 354 18
Motor Side Sts 1 VRef Vect [B5]
Stopping VRef Freq [A5]
0 0 0
2 9:1
3 355 10 Motor Side Sts 2
PID Cfg
(Zero Clamp) Proc 1 [C4]
PID FBLoss TqSel

9:43

Parameter
Selection
MOP Reference
4 Float Types
Chapter 3
MOP [G3] 1823
Trq Ref A Stpt

676 Default
PID Output Sel
9:14
Torq Ref A
+
Torq Ref B 3
>0
-1
Torque Neg Limit
Excl 3 + 4 1
1 +
PID Output Meter
Torque
5 Trim 4 1 0 9:13
Pos Limit Trq Ref Sel [G4]
0 0
2 9:1
355 10
PID Cfg
(Zero Clamp) Motor Side Sts 2
(PID FB Loss)
6 Proc 1 [C4]
93
94
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog AntiSway
A B C D E F G H I
1
Reference Notch Filter 1 Tuning for Crane
Application (Anti-Sway)
Crane Length 1
966
1 g ≠0
NF1 freq = 954 Ref NF1 Freq Act
2 Crane Length1
0
g = earth acceleration gravity (i.e. 9.81 m/s^2) Ref NF1 Freq 942
Freq Overview [G2]
≠0 VRef Vect [F4]
0 956 Ref NF1 Depth Act
PRef 2 [E2]
0 Proc1 [C1]
3 Ref NF1 Depth 944
1 ≠0
957 Ref NF1 Gain Act
0
Ref NF1 Gain 945

Figure 54 - Reference Notch Filter 1 for Crane Application
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Oil Well 1
A B C D E F G H I
1
Pump Jack and Progressive Cavity Pump (Oil Well 1)
Torq Thresh Low 9:154 TorqAlmTimeoutLo 9:161
TrqRefThreshLo
OilWell Pump Cfg 9:100 X
TorqThreshLo Oil Well Low
Motor Sheave 9:110 Oil well 1 [D3] Torq Timeout 9:104 8 OW TrqLvl Lo
Trq Ref Limited Condition
Gearbox Ratio 9:116 Cur IM [E2] 2087 |u|
Gear 9:109 Total Gear Ratio
Ratio Motor Side Sts 1
2 Gearbox Sheave 9:117 354 8
(AtSpeed)
PCP Pump Sheave 9:160 TrqRefThreshHi

X
OilWell Pump Cfg Motor Side Sts 1
Torq Thresh High 9:151 354 8
9:100 1 PumpJack (AtSpeed)
PrgrsvCavity TorqAlarm Dwell 9:150

Oil Well High
2 9:104 7 OW TrqLvl Hi
TorqAlarm Config ≠0 Torq Condition
9:149 1 TorqThreshLo Trq Ref Limited
(TorqThreshLo) Cur IM [E2] 2087 |u|
=0
0 TorqThreshHi
3 TorqAlarm Config ≠0 Oil well 1 [D3]
(TorqThreshHi) 9:149 0 TorqThreshHi OW TrqLvl TO
1814 9:104 9
Min Rod Speed 9:154 Preset Speed 1
1900 Vel Low Limit Pos
X PumpJackSpdRef
Total Gear Ratio TorqAlmTimeoutHi 9:152
-1 1901 Vel Low Limit Neg Oil Well High
Oil Well [C2] 9:109 VRef All [G2]

TorqAlarmTOActHi 9:153 6 Torq Timeout
1898 Vel Limit Pos
Figure 55 - Pump Jack and Progressive Cavity Pump
X TorqAlarm Action Condition

Max Rod Speed 9:156 9:148 1 PumpJackSpdRefEnbl
Limit Preset Spd1
Total Gear Ratio VRef All [G2]
Online Max Oil Well [C2] 9:109
4 Vel Limit Pos 1898
Chapter 3
Online Min Motor Side Sts 1

Vel Limit Pos 1898 354 8
(AtSpeed)
-1 1899 Vel Limit Neg
Limit
OilWell Pump Cfg 9:100 Online Max VRef Commanded
Vel LimitNeg 1899
Total Gear Ratio Online Min VRefAll [I4] 1914
Vel Limit Neg 1899 X 9:145 Rod Speed Cmd
Oil Well [C2] 9:109 Total Gear Ratio
5 Max Torque Limits 1
Max Rod Torque Oil Well 1 [C2] 9:109
9:157 u
Troq 2083 Torq Lim Pos Vel Fb Active X 9:143 Rod Speed
Gearbox Limit 9:114 Lim Fdbk [G2] 1042
Limit
Gearbox Rating 9:115 Total Gear Ratio
Oil Well 1 [C2] 9:109
Online Max Trq Ref Limited X 9:144 Rod Torque
Torque Limit Pos 2083 Cur IM [E2] 2087
Online Min
6 Torque Limit Pos 2083
95
96
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Oil Well 2
A B C D E F G H I
OilWell Pump Cfg 9:100 1 Pump Jack Selected

Pump Off (Oil Well 2)
1 TP65 POf Trq Pk
TP60 POf Trq Filt TP66 POf MinTrq
TP69 POfDrpTrqInt
Trq Ref Filt In 2150 LPF 9:124 Pct Cycle Trq
TP70 Pump Off Setup 9:102 9:125 Pct Lift Trq

POf Cyc Psn 9:130 Stroke Per Min
TP58 Pos Filter 0 Torque 9:126 Pct Drop Trq
POf Psn
2 Calculation
Pos Min Trq 9:132 Pump Off Count
Vel Fb Active 1042
2 +
- TP53 POf Psn 1
9:109 Position 9:133 PumpOff SleepCnt
Total Gear Ratio
Figure 56 - Pump Off
Calculation 9:129 TP54

POf Psn 2
Stroke Pos Count TP55 POf Psn 3
Pos Offset 9:102 1 POf Psn [B2]
TP56 POf Psn 4 9:134 Day Stroke Count
Set Top of TP52 TP57
Pump Off Config 9:101 POf Psn 5
Stroke POfTopStkPsn Pump Off 9:104 OW Pump Status
0 TP59 POf PsnState Pump Off control
Automatic Position Setup
9:119 TP71 0 Pump Off Enbl
SetTopofStrk Sts Position
POf Test1 state
SetTopofStrk Cmd 9:118 1
0 Ready 1 Pump Slowed
Disable 0 Cycle 2 0 - InitBaseLine
9:112 Pump Cy Str Sts 2 Pump Stopped
3 1 Active
Enable 1 Ready
1 - Running
0 3 Cycle Used
Pump Cy Str Cmd 9:111 2 - ReturnToRun
1 Active
0 3 - PumpOffBaseOne 4 TopOf Stroke
Disable
2 Complete 4 - PumpOffWaitOne
Enable 1 5 PumpOff Alrm
Error
5 - PumpOffBaseTwo
3
6 - PumpOffWaitTwo 6 Pump Stable

Stroke Pos Count [D2] 7 - PumpOffStop
POfTopStkPsn [D2] TP50 POfVelRefSts
DI PumpOff Disbl 9:138 TP51 POf Vel Ref

TP61
4
VRef All [H2]
DI Pump Baseline 9:139 TP62

POf State POf Avg Trq
Pump Off Time 9:108 TP63 POf Cyc Cnts
Pump Off Level 9:106 Torque Setpoint 9:120

TP64 POf Alm Cnts
X
1/100 TP67 POf Lo Lvl
Pump Off Speed 9:107 X
TP68 POf Hi Lvl
Pump Off Action 9:105
Change Speed 0
5 Always Stop 1
Pump Off Control 9:103 9:102 Pump Off Setup
Stop After 1 2
Disable 0 3 Cycle PO Pos
Stop After 2 3
Baseline Set 1 4 Dis Baseline
Fixed Setpt 2 5 RstPmpOffCnt
6 RstPmpSlpCnt
6 Position rolls over at 10000 counts representing one torque cycle

CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog MOP
A B C D E F G H I
1
DI M MOP Inc 0:151 MOP Control (MOP)
MOP Rate Parameter
Indirect Option Port:
1825
Digital In
MOP Limit High
MOP Inc
1826
2
Calc 0
+
Step MOP Reference
Figure 57 - MOP Control
0
1823
MOP Init Select 0 Limit
- VRef Sel [A3]
1828
Reset / Save
1827
3 Zero Speed (0) Parameter
Option Port: Indirect MOP Limit Low
MOP Init Stpt 1829 Default Digital In
MOP Inc
Preset Speed 1 1814
Preset Speed 2 1815

DI M MOP Dec 0:152
Preset Speed 3 1816
Preset Speed 4 1817

4
Chapter 3
Parameter
Preset Speed 5 1818 Selection
0 0 1
Preset Speed 6 1819
Preset Speed 7 1820 1824 1 351 4

MOP Ref Save M Start Inhibits
MOP Limit High 1826 (At Stop) (Stop)
MOP Limit Low 1827 1

0 0
5
Vel Low Lim Pos 1900
Vel Low Lim Neg 1901 1824 0 351 3

MOP Ref Save M Start Inhibits
(At Pwr Down) (Precharge)
97
98
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 22Series IO Digital
A B C D E F G H I
22-Series Inputs & Outputs – Digital (22-Series IO Digital)

1
Outputs
Inputs
RO0 Off Time
15 Dig Out Sts

Dig In Sts
Dig Out Invert
1 5 4 3 2 1 0 5 0 NC
6 0
Dig In Fltr
Relay Out0 0
3 Timer Common
Source
Parameter 1
In5 Inv
Selection
Filter
NO
Dig In Fltr Mask 10 14
2
Dig In Fltr RO0 Sel RO0 On Time
2 5
3
In4 RO1/TO0 Off Time

Filter
25 Dig Out Sts
Dig In Fltr Mask
Dig Out Invert
Dig In Fltr 5 1
2 4
3 6 1
NC
Relay Out1
In3 0
Filter Transistor Out0 Timer
Source
Dig In Fltr Mask Parameter 1 Common
3 Selection Inv OR
2 3 Dig In Fltr
3 20 24
NO
In2 RO1/TO0 Sel RO1/TO0 On Time
Filter
Figure 58 - 22-Series Inputs & Outputs – Digital
Dig In Fltr Mask

*-1R2T (1-Relay / 2-Transistor) I/O Modules Only
Dig In Fltr

2 2 TO1 Off Time
3
35 Dig Out Sts
In1
Filter Dig Out Invert
5 2
4 Dig In Fltr
2 1 Transistor Out1 0
3 Timer
Source NO
In0 Parameter 1
Filter Selection Inv
Com 2 0 TO1 Sel TO1 On Time
Output Compare
RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only
11 21 RO1/TO0 Level CmpSts TO1 Level Sel 31 TO1 Level CmpSts

5 RO0 Level CmpSts
23 1 0 33 1 0
13 1 0
RO0 Level RO1/TO0 Level TO1 Level
Source Source Source
A A≥B A A≥B
Parameter A A≥B Parameter Parameter
Option Module Parameters – Reference Symbol Legend Selection Selection Selection
A<B A<B
A<B
RO1/TO0 Level 22 B TO1 Level 32 B
RO0 Level 12 B
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 22Series IO Digital
A B C D E F G H I
Inputs 22-Series Inputs & Outputs – Analog (22-Series IO Analog)

1
Anlg In Loss Sts Anlg In0 Value
Anlg In0 LssActn 53
49 1 50
Voltage V/mA
Loss Loss Anlg In0 Hi

Anlg In Type
Detection Pre Scaled Scaled
+ 45 0 Value 51 Value
Option Module Parameters – Reference Symbol Legend
V/mA
- Ignore 0 (kn * s) + wn In-Lo
ADC s + wn Hi-Lo
+ Square
1 Root Lead Lag Scale
Alarm
V/mA
2 -
2 46 0 52
Current Flt Continue
Anlg In Sqrt Anlg In0 Lo
3
FltCoastStop
Anlg In0 Filt Gn 55
4
Flt RampStop 56
Anlg In0 Filt BW
5
Flt CL Stop
Hold 6 Outputs
Input
3 Anlg Out0 Val
7
Set Input Lo 82
8 Anlg Out0 DataHi V/mA

Set Input Hi
Anlg Out0 Data 78 Anlg Out0 Hi Analog Out Type Voltage
77 80
Figure 59 - 22-Series Inputs & Outputs – Analog
70 0 +
V/mA

Anlg Out0 Stpt 76 -
Anlg In Loss Sts Anlg In1 Value In-Lo
Anlg In1 LssActn 63
Abs Hi-Lo
DAC
Other Ref Sources +
49 2 60 Parameter Scale
Voltage V/mA Selection
71 0 V/mA -
Anlg In Type Loss Loss Anlg In1 Hi
4 Anlg Out Abs
Chapter 3
Detection Scaled Anlg Out0 Sel 75 81 Current

Pre Scaled
Anlg Out0 Lo
V/mA 79
- Ignore 0 In-Lo Anlg Out0 DataLo
(kn * s) + wn
ADC s + wn Hi-Lo
+ Square
1 Root Lead Lag Scale Anlg Out1 Val
Alarm
V/mA
- 92
2 46 1 62
Current Flt Continue Anlg Out1 DataHi V/mA
Anlg In Sqrt Anlg In1 Lo
Anlg Out1 Data 88
3 Anlg Out1 Hi Analog Out Type Voltage
FltCoastStop 87
Anlg In1 Filt Gn 65 90 70 1 +
5
4 V/mA
Flt RampStop 66
Anlg In1 Filt BW Anlg Out1 Stpt 86 -
In-Lo
5 Abs Hi-Lo
DAC
Flt CL Stop Other Ref Sources +
Parameter Scale
Selection
Hold 6 71 1 V/mA
Input
-
Anlg Out1 Sel 85 Anlg Out Abs 91 Current
7
Set Input Lo Anlg Out1 Lo
89
6 8 Anlg Out1 DataLo

Set Input Hi
99
100
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 11-Series IO Digital
A B C D E F G H I
11-Series Inputs & Outputs – Outputs

Digital (11-Series IO Digital)
1
Inputs RO0 Off Time
15 Dig Out Sts
Dig Out Invert

5 0 NC
Dig In Sts 6 0
1 2 1 0
Relay Out0 0
Timer Common
Source
Parameter 1
Selection Inv
Dig In Fltr NO
10 14
3
2 RO0 Sel RO0 On Time
In2
Filter
Dig In Fltr Mask RO1/TO0 Off Time

Dig In Fltr 25 Dig Out Sts
2 2 Dig Out Invert
3 5 1
In1 6 1
Filter NC
Relay Out1
Dig In Fltr Mask 0
Transistor Out0 Timer
Dig In Fltr Source
2 1 Parameter 1 Common
3 Selection Inv OR
3 In0 20 24
Filter NO
RO1/TO0 Sel RO1/TO0 On Time
Dig In Fltr Mask
Com 2 0
Figure 60 - 11-Series Inputs & Outputs – Digital
*-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
4 Source NO
Parameter 1
Selection Inv
30 34
TO1 Sel TO1 On Time
Output Compare
RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only
11 21 RO1/TO0 Level CmpSts TO1 Level Sel 31 TO1 Level CmpSts

5 RO0 Level CmpSts
23 1 0 33 1 0
13 1 0
RO0 Level RO1/TO0 Level TO1 Level
Source Source Source
A A≥B A A≥B
Parameter A A≥B Parameter Parameter
Option Module Parameters – Reference Symbol Legend Selection Selection Selection
A<B A<B
A<B
RO1/TO0 Level 22 B TO1 Level 32 B
RO0 Level 12 B
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 22-Series IO Analog
A B C D E F G H I
11-Series Inputs & Outputs – Analog (11-Series IO Analog)

1
Option Module Parameters – Reference Symbol Legend

Input
2
Anlg In Loss Sts Anlg In0 Value
Anlg In0 LssActn 53
49 1 50
V/mA
Voltage Loss Loss Anlg In0 Hi
Anlg In Type
Detection Pre Scaled Scaled
V/mA
- Ignore 0 (kn * s) + wn In-Lo
ADC s + wn Output
Hi-Lo
+ Square
1 Root Lead Lag Scale Anlg Out0 Val
Alarm
V/mA
3 - 82
2 46 0 52
Current Flt Continue Anlg Out0 DataHi V/mA
Anlg In Sqrt Anlg In0 Lo Anlg Out0 Data 78 Anlg Out0 Hi Analog Out Type Voltage
3
FltCoastStop 77
Anlg In0 Filt Gn 55 80 70 0 +
Figure 61 - 11-Series Inputs & Outputs – Analog
4 V/mA
Flt RampStop 56
Anlg In0 Filt BW Anlg Out0 Stpt 76 -
In-Lo

5
Abs Hi-Lo
DAC
Flt CL Stop Other Ref Sources +
Parameter Scale
Selection
Hold 6 71 0 V/mA -
Input Anlg Out Abs
Anlg Out0 Sel 75 81 Current
4 7
Chapter 3
Set Input Lo Anlg Out0 Lo

79
8 Anlg Out0 DataLo
Set Input Hi
101
102
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 22-Series IO Analog
A B C D E F G H I
11-Series Inputs & Outputs – ATEX (11-Series IO ATEX)

1
Motor PTC/Thermostat Input
Motor PTC
+
PTC/Thermostat Buffer & PTC
Comparator
41 0 Thml Snsor OK
Input Monitor
2 - 1 Short Cirkt
2 Over Temp
3 Voltage Loss
13 Thermostat
14 PTC Selected
Common
ATEX Relay Output
Figure 62 - 11-Series Inputs & Outputs – ATEX
Fault AND
Logic
Transistor

Latch
NO
Reset AND
Logic
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Logic
A B C D E F G H I
1
Control Logic (Logic)
Note:
The following parameters are typically referenced
0 when configuring or monitoring Control Logic;
P10:351 [M Start Inhibits]
Digital Inputs
15
0
DPI Port 1
2 (Drv Mounted HIM)
15
0
0:230 Write Mask Cfg
Figure 63 - Control Logic
DPI Port 2
Logic Parser
15
0
DPI Port 3
3 0:200 MS Logic Rslt
15 VRef Sel [G2],
0 0 VRef All [E3],
Mask Evaluation VRef Vect [E2, E3]
DPI Port 4 Owner Logic Logic Evaluation
Logic
15 31

0
DPI Port 5
4
Chapter 3
15
0
DPI Port 6
15 Bit Bit
0 Masks Owners
Masks Act Status 00 Stop 16 Coast Stop
01 Start 17 Climit Stop
Embedded Ethernet 02 Jog1 18 Run
03 Clear Faults 19 Jog 2
04 Forward 20 Reserved
15 05 Reverse 21 Reserved
5 0:260 Stop Owner 06 Manual 22 Reserved
0:41 Logic Mask 0:231 Write Mask Act 07 Reserved 23 Reserved
0:42 Auto Mask 0:261 Start Owner 08 Accel Time 1 24 Reserved
0:43 Manual Cmd Mask 0:233 Port Mask Act 0:262 Jog Owner 09 Accel Time 2 25 Reserved
0:44 Manual Ref Mask 0:263 Dir Owner 10 Decel Time 1 26 Reserved
0:264 Clear Flt Owner 11 Decel Time 2 27 Reserved
12 SpdRef Sel 0 28 Reserved
0:265 Manual Owner 13 SpdRef Sel 1 29 Reserved
0:266 Ref Select Owner 14 SpdRef Sel 2 30 Reserved
15 Reserved 31 Reserved
103
104
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Invert
A B C D E F G H I
1 Inverter Overload (IT)

Inverter Overload IT (Invert IT)
Power Frame Reading Data 357 Drive OL Count
NTC
359 IGBT Temp Pct
Voltage Class 305 360 IGBT Temp

Heatsink and
Duty Cycle / Rating 306 Junction Degree 362 Heatsnk Temp Pct
Calculator
Drive OL Mode 220 363 Heatsnk Temp
224 Active Cur Lim
2 PWM Frequency 425
Cur IM [H5]
DC Bus Volts 0:3
426 PWM Freq Act
Output Current 3
Alarm Status B
960 0 IGBT OT
Current Limit 1 222
Figure 64 - Inverter Overload IT
1 Heatsink OT
Current Limit 2 223
4 Drive OL
Parameter
Other Ref Sources Selection 5 CurLmt Reduc
3
6 PWMFrq Reduc
Current Lmt Sel 221 Fault Status B

953 2 Drive OL
3 Heatsink OT

4 Transistor OT
5 SinkUnderTmp
6 Excess Load
Bus Reg Lvl Cfg 118
4 Bus Regulator
Bus Memory Bus Reg Mode A 116
0
DC Bus Memory 13 Bus Reg Mode B 117
BusReg Level 1 dc bus

Bus Voltage Reference
Bus Reg Level 119
LineSideRef 2
DC Bus Command 13:50 Bus Reg Ki 121
Bus Reg Kp 120
5
Bus Limit Kp 122 *
Converter Control Bus Limit Kd 123
Bus Limit ACR Ki 125
Bus Limit ACR Kp 124
* Note: Parameters are

not functional when any
6 of the FV motor control
modes are selected
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Motor I2T
A B C D E F G H I
1
Motor Overload (Motor I 2 T)
Mtr Over Load (I 2 T)
Motor
Figure 65 - Motor Overload
Mtr OL Action 200

Current
206 MtrOL Rst Time
Mtr OL at Pwr Up 201
Mtr OL Alm Level 202 207 Mtr OL Counts
Mtr OL Rst Level 205
150% right of curve
Mtr Prtn Class 209 208 Mtr OL Trip Time
3
Mtr HotStrtCoeff 210
102%
Mtr Cooling Time 211 Motor Side Sts 1
58 (Hot) time (sec)
Motor 176 (Cold) 208 30 Motor OL
Current (for default settings)
Condition Sts A

Mtr OL Factor 203 1.0 - 2.0 460 2 Motor OL
X (1.025 Typ)
Motor NP Amps 401
Alarm Status A
50%
4 959 2 Motor OL
Chapter 3
Motor
Speed (Hz) Fault Status A
Mtr OL Hertz 204
952 2 Motor OL
105
106
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog High Speed Wizard
A B C D E F G H I
Start Trend Stop Trend

High Speed Trend Wizard
1
Trend Sample Configuration Not

Configured Trend Status

8 buffers of 4096 samples; minimum interval of 1 ms
or Download
16 buffers of 1024 samples; minimum interval of 1 ms Running
Trend Mode or Ready or Start
4 buffers of 1024 samples; minimum interval of 125 us (select one)
Complete Stop Gather pre-trigger
samples
Pre-Trigger 0 to maximum (4096 or 1024) samples
2 Buffers Full Finishing
Trigger Condition
Sample Interval Mimimum (1 ms or 125 us) Met
Gather post-
Stop trigger samples
Download Trend Configuration
Compare Two Parameters Trend Trigger Setup

OR
Figure 66 - High Speed Trend Wizard
Compare Parameter to a Trigger Value Test bit in a Parameter Compare Two bits in Two Parameters Buffers Full
3 Trigger Condition Met
Test Options: bit is
Param A Compare Trigger Param A Trigger Param A bit True or False Trigger
OR Test Options: bit OR
Options: Condition Condition Condition
is True or False Compare Options:
Param B >, <, =, ≠, ≥, or ≤ Met Bit ‘nn’ Met Param B bit Met
AND, OR, XOR
OR
Trigger Value

4 Specify Trend Buffer Data Sources Trend Buffers 8 buffers of 4096 samples; minimum interval of 1 ms
or
Parameter or Bit Trend Buffer 1 Trend Buffer 2 Trend Buffer 16 16 buffers of 1024 samples; minimum interval of 1 ms
Trend Data (circular, 1024 or (circular, 1024 or (circular, 1024 or
Source 4096 samples) 4096 samples) samples) 4 buffers of 1024 samples; minimum interval of 125 us
...
5
Trend Upload/Download
OR Upload Trend Save Trend
Computer Download Computer Results.
Load Trend Configuration Save/Load OR Configuration
Trend OR Configuration Save buffers to .xml file
Configuration from .xml file to .csv file
to Drive
6
Trend Buffer Contents
Chapter 4
Troubleshooting
This chapter provides information to guide through troubleshooting

PowerFlex TotalFORCE® Control common symptoms and corrective actions.
Topic Page
Fault and Alarm Code Descriptions 107
Faults 108
Alarms 108
Events 108
Configurable Conditions 108
Viewing Faults and Alarms 108
HIM Indication (Fault Display Screen) 109
Manually Clearing Faults 109
Status Indicators 110
Setting Factory Defaults 118
Fan Usage by Product 120
Hardware Service Manual 121
Fault and Alarm Display Codes 121
Common Symptoms and Corrective Actions 121
Testpoint Codes and Functions 123
Reset as Shipped 130
Configurable LCL Filter Capacitor Failure Response 131
Configurable LCL Filter Capacitor Over Resonance Response 131
PowerFlex 755T Lifting/Torque Proving 132
Technical Support Options 133
Fault and Alarm Code PowerFlex 750T fault and alarm codes are listed in the Microsoft® Excel®
Descriptions spreadsheet that is attached to this PDF file.
CLICK HERE to open the Attachments pane (to the left) and access
the fault and alarm spreadsheet. This link does not work if you view
this PDF file in a browser. Make sure you save the PDF file and open
it from your device. Then use the link to open the Attachments pane.
You can also find the fault and alarm spreadsheet in Knowledgebase
Article PowerFlex 755T Drives Parameter Descriptions and Fault and
Alarm Codes (FRN 10). You do not need a support contract to access
the article.
To view the fault and alarm codes:

1. Right-click the desired Excel file and choose Save.
2. Open the Excel file.
For full functionality (filter and search), use the Microsoft Excel application.

Chapter 4 Troubleshooting
Faults A fault is a condition that stops the drive. There are four types of faults.
Type Description
If this type of fault occurs while the line side converter or motor side inverter is modulating, it
Major Fault stops modulating. If it occurs while the line side converter or motor side inverter is not
modulating, it prevents starting. It prevents starting until the fault is cleared.
If this type of fault occurs while the line side converter or motor side inverter is modulating, it
Minor Fault allows modulation to continue. If it occurs while the line side converter or motor side inverter is
not modulating, it prevents starting. It prevents starting until the fault is cleared.
Resettable This type of fault can be cleared. Resettable faults are identified by ‘Resettable Fault’.
This type of fault normally requires drive or motor repair. You must correct the cause of the fault
Non-resettable before the fault can be cleared. The fault will be reset on powerup after repair. Non-resettable
faults are identified by ‘Non-Reset Fault’.
Alarms An alarm is a condition that, if left unaddressed, can stop the drive if the drive
running or does not allow you to start the drive. There are two types of alarms.
Type Description
Alarm 1 Alarms of type 1 indicate that a condition exists. Type 1 alarms are user configurable.
Alarms of type 2 indicate that a configuration error exists and the drive cannot be started. Type 2
Alarm 2 alarms are not configurable.
Events Events occur under normal operation of the product. When an event occurs,
the drive records an entry consisting of a numeric event code and a time stamp
in an event queue. Events can help to troubleshoot problems.
Configurable Conditions You can enable user-configurable conditions as either an alarm or fault.
Type Description
Event action is enabled/disabled by a parameter.
Options can include:
‘Ignore’ (0) – No action is taken.
‘Alarm’ (1) – Type 1 alarm indicated.
Configurable ‘Flt Minor’ (2) – Minor fault indicated. If running, drive continues to 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.
Viewing Faults and Alarms The fault and alarm queues, which are accessible through software or the HIM,
provide you with a history of faults, alarms, and events. You can also access
diagnostic file parameters for additional information.
• Port 0: Diagnostics File, Status Group
• Port 0: Diagnostics File, Fault/Alarm Info Group

HIM Indication (Fault Display The popup fault display screen automatically appears when the drive detects a
Screen) fault condition for the host drive or any connected peripheral. By default, the
status bar flashes to alert the operator. To change the display flash mode, see
the PowerFlex 20-HIM-A6 and 20-HIM-C6S HIM User Manual, publication
20HIM-UM001, for instructions.
The fault display screen displays the following information.

• Fault Code number (See Fault and Alarm Display Codes on page 121.)
• Fault description
• Elapsed time (in hh:mm:ss format) from fault detection
Figure 67 - Pop-Up/Flashing Fault Display Screen
Stopped AUTO
0.00 Hz F
– – FAULTED – –
Fault Code 81
Port 1 DPI Loss
Elapsed Time 01:26:37
ESC CLR
Soft Key Functions

Label Name Description
ESC Escape Reverts back to the previous screen without clearing the fault.
CLR Clear Removes the pop-up Fault Display screen from the display and clears the fault.
Single Function Key

Key Name Description
Stop Removes the pop-up Fault Display screen from the display and clears the fault.
Manually Clearing Faults

Step Key(s)
1. Press the ‘Clear’ soft key to acknowledge the fault. The fault information is removed so that you can
use the HIM. CLR
2. Address the condition that caused the fault.
The cause must be corrected before the fault can be cleared.
3. After corrective action has been taken, clear the fault by one of these methods:
Press Stop (if running the drive will stop)
Cycle drive power
Select the ‘Clear’ soft key on the HIM Diagnostic folder Faults menu.

Status Indicators Status indicators report the condition of the product.
HIM Cradle Status Indicators

The status indicators on the HIM cradle do not indicate the status of an installed
communication adapter option. If an optional communication adapter is
installed, refer to the adapter user manual for the location a description of any
status indicators.
Table 1 - PowerFlex 755T Status Indicator Descriptions
Name Color State Description

The product is ready, but not running, with no converter or inverter faults or alarms
Flashing present.
Green
The product is running (that is, the converter and inverter are active) with no faults or
Steady alarms present.
A start inhibit condition is present in the converter or inverter. The product cannot be
Flashing started until the start inhibit condition is cleared.
Yellow A type 1 (user configurable) alarm condition is present in the converter or inverter while
Steady the drive is not running. The product can be started without clearing the alarm condition.
See parameters 10:465 [Alarm Status A] and 10:466 [Alarm Status B].
A major fault (for example, an EEPROM CRC fault) is present causing converter and
STS Flashing inverter modulation to stop. The product cannot be restarted until the fault condition is
(Status) Red cleared. See parameter 0:610 [Last Fault Code].
A non-resettable fault (for example, a user FPGA configuration not loaded) is present in
Steady the converter or inverter.
Red / Flashing A minor fault is present that does not stop converter or inverter modulation. However, the
Yellow Alternately product cannot be restarted until the fault condition is cleared.
The product is running with a type 1 alarm present that does not stop modulation in the
Yellow / Flashing converter or inverter. The product can be restarted without clearing the alarm condition.
Green Alternately See parameters 10:465 [Alarm Status A] and 10:466 [Alarm Status B].
Green / Flashing The product is updating the nonvolatile memory for firmware on the main control board,
Red Alternately an option card, or a peripheral device.
Unlit Off Main control board is not powered.
Embedded EtherNet/IP™ is not properly connected to the network or needs an IP
Unlit Off address.
An EtherNet/IP connection has timed out. Explicit messaging control timed out. Network
Flashing address rotary switches have changed or IP address is invalid (defaulting to DHCP) or
Red DHCP lease expired.
Adapter failed the duplicate IP address detection test.
ENET Steady Rotary switches are set to 888 or the DHCP lease has expired.
Red / Flashing Adapter is performing a self-test.
Green Alternately
Adapter is properly connected but is not communicating with any devices on the
Flashing
Green network.
Steady Adapter is properly connected and communicating on the network.
Unlit Off Adapter is not powered or is not transmitting on the network.
Flashing Adapter is properly connected (100 Mbps) and transmitting data packets on the network.
LNK1 (Link 1) Green
LNK2 (Link 2) Steady Adapter is properly connected (100 Mbps) but is not transmitting on the network.
Flashing Adapter is properly connected (10 Mbps) and transmitting data packets on the network.
Yellow
Steady Adapter is properly connected (10 Mbps) but is not transmitting on the network.

Power Layer Interface (PLI) Circuit Board Status Indicators
PowerFlex 755T power modules use status indicators and a 7-segment display
to report conditions. The power layer interface circuit board is located behind
the connections cover of the power module chassis.

Flashing at 2 Hz Active mode in process.
Green
Connections Cover
Flashing at 0.5 Hz Update in process.
Green /
Frame 8 and Larger Flashing Alternately Login mode in process.
Yellow
Power Module
Green / Flashing Alternately Erase in process.
Frame 7 Power Module Red
Flashing at 2 Hz Loopback fiber test mode is in process.
DS3 Yellow
Flashing at 0.5 Hz Boot mode is in process.
Blink 2 Count Clock fault
Blink 3 Count Firmware fault
Blink 4 Count FLEXBUS fault
Red
Blink 5 Count PRGM fault
Blink 6 Count FPGA PRGM fault
Blink 7 Count SFLASH PRGM fault
Green Flashing Fiber connection is online.
DS5/DS6
Red Flashing Fiber connection is offline.
Lit Segment Description
Fiber loss
The PLI is not online.
The PLI is online but not initialized or logged in.
The PLI is initialized and logged in.

The right display indicates the module number (Lx/Mx). This display indicates that the module is in a
ready state.
The PLI is initialized, logged in, and PWM active.
The right display indicates the module number (Lx/Mx).
DS6
DS5 The PLI is initialized, logged in, and faulted.
The right display indicates the module number (Lx/Mx).
7-Segment Display
The PLI initialization is complete.
Right
Display Fiber is online.
Left
Display
The PLI is faulted.
DS3
PWM is enabled.
Frame 8 and larger board orientation shown. Frame 7 is the opposite orientation.

AC Precharge Circuit Board Status Indicators
The PowerFlex 755T AC precharge module uses status indicators and a 7-

segment display to report conditions. See Figure 68 on page 113 for the location
of the AC precharge board.

DS1 (AC Precharge)
Green Steady 240V AC Okay
Yellow Steady 240V AC Low Alarm
DS2 (240V AC)
Red Flashing 240V AC Loss Fault
Unlit Off 240V AC Loss Alarm
Green Steady Fiber connection is online.
DS3 (Communications) Yellow Flashing Communications Loss
Unlit Off Inactive
Steady Precharge Done (Main circuit breaker is closed.)
Green
Flashing Main circuit breaker is closing.
Input Bay
Steady Main circuit breaker is opening.
DS4 (AC Precharge) Yellow
Flashing Not Ready
Red Flashing Main circuit breaker opened.
Unlit Off Ready
Green Steady No faults or alarms are present.
Green / Flashing Update in progress.
DS5 (Firmware Status) Red Alternately
DS1 Yellow Steady Alarm is present.
Red Flashing Fault is present.
7-Segment Display Normal Operation
• At powerup, the display indicates the major firmware revision
number, the minor revision number, and the build number for 1
second each.
• After powerup is complete, the display indicates the number
that is assigned to the module by the main control board.
Steady (Shown: P0 = Precharge 0)
Alarms
• When an alarm condition exists, the display indicates the alarm
7-Segment Display Red code.
• If there are multiple alarm codes, the display cycles through the
codes and displays each code for 2 seconds.
DS2 Faults
DS3
• When a fault condition exists, the display indicates the fault
code for Port 14.
DS4 Flashing • If there are multiple fault codes, the display cycles through the
DS5
• If the device is faulted, the display only indicates fault codes.
Alarm codes are omitted.

Figure 68 - AC Precharge Location
Frame 7 Drive Frame 8 Input Bay
Frame 9 Input Bay Frame 10…15 Input Bay

Table 2 - AC Precharge 7-Segment Display Fault and Alarm Codes

Display Code Display State Condition Code Condition Name
Flashing 14001 Image Watchdog Fault
0
Steady 14070 Board Over Temperature Alarm
Flashing 14002 Constants Message Invalid
1
Steady 14071 Board Over Temperature Fault
Flashing 14003 Constants Checksum
2
Steady 14072 Board Under Temperature Alarm
3 Steady 14073 Board Under Temperature Fault
4 Flashing 14004 Nonvolatile Data Checksum Fault
5 Flashing 14005 Power Supply Undervoltage
Flashing 14006 Precharge Fault
6
Steady 14108 240V AC Low
Flashing 14007 MCB Failed to Close or Wiring Bay Overtemp
7
Steady 14109 240V AC Loss
Flashing 14008 MCB Failed to Open
8
Steady 14110 Fused Disconnect Open (MCB open)
Flashing 14009 MCB Aux Mismatch or Wiring Bay Overtemp
9
Steady 14130 TVSS Open
10 Flashing 14120 PCC Failed to Close
11 Flashing 14121 PCC Failed to Open
Flashing 14122 PCC Aux Mismatch
12
Steady 14126 AC Line Over Voltage
13 Flashing 14123 MCB Trip Reset
14 Flashing 14124 MCB Overcurrent
15 Flashing 14010 240V AC Loss Fault
16 Flashing 14011 240V AC Over Voltage
17 Flashing 14012 Fused Disconnect Open (MCB closed)
32 Steady 14127 MCB Life Threshold Exceeded
33 Steady 14128 PCC Life Threshold Exceeded

DC Precharge Circuit Board Status Indicators
The PowerFlex 755T DC precharge module uses status indicators and a 7-

segment display to report conditions. The DC precharge circuit board is
located behind a transparent panel on the left side of the DC precharge module
chassis. The DC precharge circuit board status indicators are not visible while
installed in a DC precharge module.

DC Precharge Module DS7 (DC Precharge)
Green Steady 240V AC Okay
Yellow Steady 240V AC Low Alarm
DS2 (240V AC)
Red Flashing 240V AC Loss Fault
Unlit Off 240V AC Loss Alarm
Green Steady Fiber connection is online.
DS3 (Communications) Yellow Flashing Communications Loss
Unlit Off Inactive
Steady Precharge Done (Molded case switch is closed.)
Green
Flashing Molded case switch is closing.
Steady Molded case switch is opening.
DS4 (DC Precharge) Yellow
Flashing Not Ready
Red Flashing Molded case switch opened.
DS7 Unlit Off Ready
Green Steady No faults or alarms are present.
Green / Flashing Update in progress.
DS5 (Firmware Status) Red Alternately
Yellow Steady Alarm is present.
Red Flashing Fault is present.
Normal Operation
• At powerup, the display indicates the major firmware revision
number, the minor revision number, and the build number for 1
second each.
• After powerup is complete, the display indicates the number
that is assigned to the module by the main control board.
Steady (Shown: P1 = Precharge 1)
Alarms
• When an alarm condition exists, the display indicates the alarm
7-Segment Display Red code.
• If there are multiple alarm codes, the display cycles through the
DS2 codes and displays each code for 2 seconds.
Faults
DS3
• When a fault condition exists, the display indicates the fault
DS4 code.
DS5
Flashing • If there are multiple fault codes, the display cycles through the
7-Segment Display
• If the device is faulted, the display only indicates fault codes.
Alarm codes are omitted.

Table 3 - DC Precharge 7-Segment Display Fault and Alarm Codes

Display Code Display State Condition Code Condition Name
Flashing 12001 Image Watchdog Fault
0
Steady 12070 Board Over Temperature Alarm
Flashing 12002 Constants Message Invalid
1
Steady 12071 Board Over Temperature Fault
Flashing 12003 Constants Checksum
2
Steady 12072 Board Under Temperature Alarm
3 Steady 12073 Board Under Temperature Fault
4 Flashing 12004 Nonvolatile Data Checksum Fault
5 Flashing 12005 Power Supply Undervoltage
Flashing 12006 Precharge Fault
6
Steady 12108 240V AC Low
Flashing 12007 MCS Failed to Close or Wiring Bay Overtemp
7
Steady 12109 240V AC Loss
8 Flashing 12008 MCS Shunt Trip
9 Flashing 12009 MCS Aux Mismatch or Wiring Bay Overtemp
Flashing 12010 240V AC Loss Fault
10
Steady 12110 Fused Disconnect Open (MCS Open)
11 Flashing 12011 240V AC Over Voltage
12 Flashing 12012 Fused Disconnect Open (MCS closed)
15 Flashing 12050 Bus Fuse Harness
16 Flashing 12051 Bus Positive Fuse Blown
17 Flashing 12052 Bus Negative Fuse Blown
32 Steady 12053 Molded Case Switch Life Threshold Exceeded

Fiber-optic Interface Circuit Board Status Indicator
The PowerFlex 755T fiber-optic interface uses a status indicator to report

conditions. The fiber-optic interface circuit board is mounted on the rear panel
of the control pod assembly and is used with frame 7…15 drives and bus
supplies.

Flashing at 2 Hz Active mode in process.
Green
Flashing at 0.5 Hz Update in process.
Green / Flashing Alternately Login mode in process.
Yellow
Green / Flashing Alternately Erase in process.
Red
Flashing at 2 Hz Loopback fiber test mode is in process.
DS1 Yellow
Flashing at 0.5 Hz Boot mode is in process.
Blink 2 Count Clock fault
Blink 3 Count Firmware fault
Blink 4 Count FLEXBUS fault
Red
Blink 5 Count PRGM fault
Blink 6 Count FPGA PRGM fault
Blink 7 Count SFLASH PRGM fault
Control Pod Assembly
DS1

Fiber-optic Transceiver Circuit Board Status Indicators
PowerFlex 755T fiber-optic transceiver circuit boards use status indicators to

report conditions. The fiber-optic transceiver circuit boards plug into edge
connectors on the fiber interface circuit board in the control pod assembly of
frame 7…15 drives and bus supplies.

DS1, DS2
Control Pod Assembly
DS2
DS1
Setting Factory Defaults The PowerFlex 20-HIM-A6/-C6S HIM User Manual, publication
20HIM-UM001, provides detailed instructions on using Human Interface
Module capabilities, including, setting the PowerFlex 750-Series drive to
factory settings.
The following tables list the parameters that are not reset when Set Defaults
‘Most’ is executed. The internal date and time properties are not reset by this
operation.
Port 0: Product Config File, Preferences Group

Number Display Name Full Name
30 Access Level User Access Level
31 Language Display Language
46 Velocity Units Velocity Units

Port 0: Product Config File, Control Config Group

33 VoltageClass Cfg Voltage Class Configure
35 Duty Rating Cfg Duty Rating Configure
Port 0: Product Config File, Port Mode Group

65 Pri MtrCtrl Mode Primary Motor Control Mode
70 Application Sel Application Select
Port 0: Product Config File, Option Cfg Group

80 DCP Option DC Precharge Option
82 TAM Option Torque Accuracy Module Option
Port 0: Feedback & I/O File, Command Group

134 DI EmergencyOVRD Digital Input Emergency Override
Port 0: Embedded ENET File, Address Config Group

300 Net Addr Sel Network Address Selection
302 IP Addr Cfg 1 IP Address Configuration 1
306 Subnet Cfg 1 Subnet Configuration 1
310 Gateway Cfg 1 Gateway Configuration 1
314 Net Rate Cfg 1 Net Rate Configuration 1
316 Net Rate Cfg 3 Net Rate Configuration 3
Port 0: Protection File, Overrides Group

454 Emerg OVRD Mode Emergency Override Mode
455 Emerg Prot OVRD ProtectionsOverridenbyEmergencyOverride
Parameter 0:457 [Purge Frequency]

ATTENTION: Unintended parameter value can result due to This Port Only
reset. Parameter 0:457 [Purge Frequency] is reset to the default value when a
Set Defaults for This Port Only is applied to port 10 or port 11.

Fan Usage by Product These tables list the fans that are present in each product frame size and
enclosure rating.
Frame 7 Drives
Fan Type Frame 5 Drives Frame 6 Drives
IP21, UL Type 1 IP54, UL Type 12
Control Pod Fan None None Single Single
Stirring Fan Present Present None None
Heatsink Fan Present Present Present Present
Input Bay Fan None None None None
Power Bay Roof Fan None None Present Present
Wire Bay Fan None None None None
Control Bay Fan None None None None
Frame 8 Drives Frame 9 Drives Frame 10…15 Drives

Fan Type
IP21, UL Type 1 IP54, UL Type 12 IP21, UL Type 1 IP54, UL Type 12 IP21, UL Type 1 IP54, UL Type 12
Control Pod Fan Dual Dual Dual Dual Dual Dual
Stirring Fan None None None None None None
Heatsink Fan Present Present Present Present Present Present
Input Bay Fan Present Present Present Present Present Present
None Present None Present None Present
Power Bay Roof Fan
Present (with option) Present (with option) Present (with option) Present (with option) Present (with option) Present (with option)
Wire Bay Fan Present Present Present Present Present Present
Control Bay Fan None None None None None None
Frame 8 Bus Supplies Frame 9 Bus Supplies Frame 10…15 Bus Supplies
Fan Type
Input Bay Fan Present Present Present Present Present Present
None Present None Present None Present
Power Bay Roof Fan
Present (with option) Present (with option) Present (with option) Present (with option) Present (with option) Present (with option)
Wire Bay Fan Present Present Present Present Present Present
Control Bay Fan None None None None None None
Frame 8 Common Bus Inverters Frame 9 Common Bus Inverters Frame 10…15 Common Bus Inverters
Fan Type
Input Bay Fan None None None None None None
Power Bay Roof Fan None Present None Present None Present
Wire Bay Fan Present (with option) Present (with option) Present (with option) Present (with option) Present (with option) Present (with option)
Control Bay Fan Present (with option) Present (with option) Present (with option) Present (with option) Present (with option) Present (with option)

Hardware Service Manual The PowerFlex 750-Series AC Drive Hardware Service Manual, publication
750-TG100, provides schematics and detailed instructions on part replacement
for PowerFlex 755T products.
Fault and Alarm Display Event numbers for PowerFlex 750-Series faults and alarms are displayed in one
Codes of three formats.
• Port 00 (Host Drive) displays the event number only. For example, code
21 ‘Clr Fault Queue’ is displayed as:
Fault Code 21.
• Ports 01 through 09 use the format PEEE, indicating port number (P) and
event number (EEE). For example, code 1 ‘Analog In Loss’ on an I/O
module installed in Port 4 is displayed as:
Fault Code 4001.
• Ports 10 through 14 use the format PPEEE, indicating port number (PP)
and event number (EEE). For example, code 37 ‘S OverTemp Alm’ on Port
14 is displayed as:
Fault Code 14037.
Common Symptoms and

Corrective Actions Drive does not start from Start or Run inputs that are wired to the terminal block.
Cause(s) Indication Corrective Action
Clear fault.
• Press Stop
Drive is faulted Flashing red status light • Cycle power
• ‘Clear Faults’ on the HIM Diagnostic
menu
Incorrect input wiring. See Installation
Instructions, publication 750-IN100, for wiring
examples.
• 2-wire control requires Run, Run Forward,
Run Reverse, or Jog input None Wire inputs correctly.
• 3-wire control requires Start and Stop inputs
• Verify 24 Volt Common is connected to Digital
Input Common
None Configure input function.
Incorrect digital input programming. Flashing yellow status light
• Mutually exclusive choices have been made and ‘DigIn Cnfg B’
(for example, Jog and Jog Forward) or
• 2-wire and 3-wire programming may be ‘DigIn Cnfg C’ indication on Resolve input function conflicts.
conflicting LCD HIM.
• Start configured without a Stop configured 10:355 [Motor Side Sts 2]
shows type 2 alarm(s).
Terminal block does not have control. None Check 0:41 [Logic Mask].
Drive does not Start from HIM.

Change 0:101 [Digital In Cfg] to correct
Drive is configured for 2-wire level control. None control function.
Another device has Manual control. None —
Change 0:41 [Logic Mask] to enable
Port does not have control. None correct port.

Drive does not respond to changes in speed command.

LCD HIM Status Line • If the source is an analog input, check
No value is coming from the source of the indicates ‘At Speed’ and wiring and use a meter to check for
command. output is 0 Hz. presence of signal
• Check 10:1800 [VRef A Sel] for the
Incorrect reference source has been source of the speed reference
None
programmed. • Reprogram 10:1800 [VRef A Sel] for
correct source
• Check 10:354 [Motor Side Sts 1], bits 12
and 13 for unexpected source
selections
Incorrect Reference source is being selected via None • Check 0:100 [Digital In Sts], to see if
remote device or digital inputs. inputs are selecting an alternate
source
• Check configuration of
173…175 [DI Speed Sel n] functions
Motor and/or drive will not accelerate to commanded speed.

Reprogram 10:1915/
Acceleration time is excessive. None 1916 [VRef Accel Timen].
Check 10:354 [Motor Side Sts 1], bit 27 to
Excess load or short acceleration times force see if the drive is in Current Limit.
the drive into current limit, slowing or stopping None Remove excess load or reprogram
acceleration. 10:1915/1916 [VRef Accel Timen].
Speed command source or value is not as Check for the proper Speed Command
None
expected. using Steps 1 through 7 above.
Check 10:1898 [Vel Limit Pos],
Programming is preventing the drive output 10:1899 [Vel Limit Neg], and
None
from exceeding limiting values. 10:422 [Maximum Freq] to assure that
speed is not limited by programming.
Motor operation is unstable.

1. Correctly enter motor nameplate data.
Motor data was incorrectly entered or Autotune None 2. Perform ‘Static Tune’ or ‘Rotate Tune’
was not performed. Autotune procedure. See parameter
10:910 [Autotune].
Drive will not reverse motor direction.

Digital input is not selected for reversing Check that the DI Reversing function is
None
control. correctly configured.
Digital input is incorrectly wired. None Check digital input wiring.
Reprogram 10:930 [Direction Mode], for
Direction mode parameter is incorrectly None analog ‘Bipolar’ or digital ‘Unipolar’
programmed. control.
Motor wiring is improperly phased for reverse. None Switch any two motor leads.
1. Use meter to check that an analog
input voltage is present.
A bipolar analog speed command input is 2. Check bipolar analog signal wiring.
None
incorrectly wired or signal is absent. Positive voltage commands forward
direction. Negative voltage commands
reverse direction.

Stopping the drive results in a Decel Inhibit fault.

The bus regulation feature is enabled and is 1. Reprogram parameters 10:116/
halting deceleration due to excessive bus 117 [Bus Reg Mode n] to eliminate any
voltage. Excess bus voltage is normally due to ‘Adjust Freq’ selection.
excessive regenerated energy or unstable AC 2. Disable bus regulation (parameters
line input voltages. Decel Inhibit fault screen. 10:116/117 [Bus Reg Mode n]) and add
LCD Status Line indicates a dynamic brake.
‘Faulted.’ 3. Correct AC input line instability or add
an isolation transformer.
Internal timer has halted drive operation. 4. Access 10:170 [Dec Inhibit Actn] to
select desired fault action.
5. Reset drive.
Problems adding a datalink.

Verify that a PLC is not communication
Another device is communicating with the with the drive. Disconnect
None
processor. communication cable or inhibit
communication in PLC software.
Testpoint Codes and Select testpoint with a [Testpoint Sel n] parameter. View testpoint values with
Functions [Testpoint REAL n] and [Testpoint DINT n] parameters.
Port 9 Testpoint Codes

No. Name Description Data Type Units
1 TrqPrvState The present state of the Torque Proving state machine. DINT t/f
Timer count for the Speed Band function in Torque
2 TrqPrvSpdBandTimer REAL Sec
Proving.
Indicated the Brake Slip start has occurred and is
3 TrqPrvBrkSlipStartActv DINT t/f
presently active.

Velocity Reference at the input to the ramp and S
1 VRef Ramp In REAL PU
Curve function.
This signal is the active rate of change of the velocity
2 VelRamp Rate reference. It is produced by the velocity reference REAL PU/S
ramp and S curve function.
Velocity Droop offset signal output from droop
3 Vel Droop REAL PU
function.
The change in 10:1684 [PRef Selected] every
millisecond. It is applied to the input of the Electronic
10 PRef Sel Del DINT Cnts
Gear Ratio (EGR) function. Position units are encoder
edge counts.
The output of the Position Reference Electronic Gear
Ratio function. It is similar to the EGR input in that it is a
11 PRef Sel EGR position change over 1 millisecond. This signal is re- DINT C/ms
accumulated to create 10:1686 [Pref EGR Out]. Position
units are encoder edge counts.
The summation of 10:1691 [Psn Offset 1] and
10:1694 [Psn Offset 2]. It is the user input to the
12 PRef Ofst In DINT Cnts
Position Reference Offset function. Position units are
encoder edge counts.
The output of the Position Reference Offset function. It
represents the total offset that is to be applied to the
13 PRef OfstPsn DINT Cnts
Position Reference. Position units are encoder edge
counts.

Port 10 Testpoint Codes (Continued)

The change in Position Reference Offset that is to be
applied to every millisecond. It is summed with the
14 PRef OfstOut output of the position reference EGR. Position units are DINT Cnts
The output of the Position Reference Notch Filters. It
represents a Position Command change over 1
15 PRef NF Out millisecond. This signal is re-accumulated to create DINT Cnts
10:1731 [Position Command]. Position units are encoder
edge counts.
The change in the Load Position Feedback every
millisecond. It is the input to the Load Position
20 LdPsn Fb Del DINT C/ms
Feedback Gear Ratio. Position units are encoder edge
counts.
The change in 10:1746 [Position Fb] every millisecond.
It is subtracted from the output of the Position
Reference Notch Filters. The result of this subtraction
21 Psn Fb Del DINT C/ms
when re-accumulated becomes
10:1750 [Position Error]. Position units are encoder
edge counts.
The difference between the output of the Position
Reference Notch Filters and the Load Position
22 PReg LdError DINT Cnts
Feedback Gear Ratio function. Position units are
The output of the Load Position Feedback Gear Ratio
function. When re-accumulated this becomes
23 LdPsn Geared DINT Cnts
10:1748 [Psn Load Actual]. Position units are encoder
edge counts.
If this signal is non-zero, then the PID Output Meter has
exclusive control of the Velocity Reference. If this
30 VRef PID Sel DINT t/f
signal is zero, then the Velocity Reference is controlled
by 10:1892 [VRef Selected].
31 VRef Homing Velocity reference signal used for the Homing function. REAL PU
If this signal is non-zero, then the active direction for
Unipolar Direction Mode will be forward. If this signal is
32 VRef DIR Sel DINT t/f
zero, then the active direction for Unipolar Direction
Mode will be reverse.
Velocity Reference signal at the input to the Min and
33 Vref CLmt In REAL PU
Max Velocity Command Limiters.
Velocity Reference signal at the output of the Skip
34 VRef SkipOut REAL PU
Band function.
Velocity feed forward reference signal used when
35 VRef Psn FF position control is active. Sums with velocity ramp REAL PU
output.
Velocity Reference at the input to the reference notch
36 VRef NF In filters. The output of these filters is REAL PU
10:1925 [Vref Filtered].
Velocity Reference at the output of the multiply block
37 VRef Scaled REAL PU
that applies 10:1932 [VRef Scale].
Velocity Reference signal at the input to the Final
38 VRef FLmt In velocity limiter. The output of this limiter is REAL PU
10:1933 [VRef Final].
Output of the Servo Lock function in the Velocity
40 VReg SrvLock REAL PU
Regulator. Sums with 10:1951 [Velocity Error].
Internal proportional gain used in the velocity
regulator. Incorporates gain scaling from Adaptive
41 aVRegKp REAL R/S
Tuning and Alternate Feedback. Also includes
conversion from Hz to rad/sec.
Internal integral gain used in the velocity regulator.
Incorporates gain scaling from Adaptive Tuning and
42 aVRegKi REAL R/S
Alternate Feedback. Also includes Kp gain and
conversion from Hz to rad/sec.
Input signal to the Acceleration Limiter in the Velocity
43 VReg Lmt In REAL PU/S
Regulator. Units are PU Velocity per second.


Scale factor used to convert acceleration signals to
torque signals. Proportional to system inertia.
44 Kj Acceleration units are PU Vel/sec. Torque units are PU REAL Sec
motor torque.
Scale factor used to convert acceleration signals to
torque signals. Proportional to system inertia.
50 Trq Scale REAL
Acceleration units are rev/sec2. Torque units are
percent of rated motor torque.
Positive limit that is being applied to the Trq Ref
51 TrqRefPosLimActv Filtered parameter. Result is displayed in Trq Ref REAL Nm
Limited parameter.
Negative limit that is being applied to the Trq Ref
52 TrqRefNegLimActv Filtered parameter. Result is displayed in Trq Ref REAL Nm
Limited parameter.
100 EncdrlsCompTestState Encoderless test state. DINT n/a
Torque producing Current Reference. Output of the
101 IqsRefLmtd REAL PkA
Current Rate Limiter.
Ratio of second harmonocs amplitdue to sixth
105 PhsLossAmptdRO DINT n/a
harmonics.
106 PhsLossDtctCnts Input phase loss detection counts. REAL Cnts
Electrical speed generated in FV open loop control
110 OloopOmegaOutput REAL R/S
mode.
111 OmegaRotor Rotor speed generated in FV open loop control mode. REAL R/S
A-phase simultaneously sampled current feedback
115 IaFbk REAL PkA
scaled to units of the system.
B-phase simultaneously sampled current feedback
116 IbFbk REAL PkA
C-phase simultaneously sampled current feedback
117 IcFbk REAL PkA
This signal indicates the status of the delay when
FreqSync Enhanced
120 Flying Start function is activated. This is for the CEMF DINT t/f
Delay mode of the Flying Start function.
This signal indicates the status of flying start operating
FreqSync Enhanced
121 state. This is for the CEMF mode of the Flying Start DINT t/f
State function.
This signal indicates the status of flying start operating
122 FreqSync Sweep State state. This is for the Sweep mode of the Flying Start DINT t/f
function.
125 PrchrgState State of the Precharge state machine. DINT t/f
If this signal is non-zero, then a Line Loss condition is
130 LineLoss Act active. If this signal is zero, then a Line Loss condition DINT t/f
is not active.
The present state being executed by the power state
135 Power State Handler DINT t/f
handler.
Commanded state from the PowerStateMach to the
136 PwrStateCmd DINT t/f
PowerStateHandler.
If this signal is non-zero, then a Current Limit Stopping
140 Current Limit Stop Active Sequence is active. If this signal is zero, then a Current DINT t/f
Limit Stopping Sequence is not active.
141 Sequencer State The present state of the Sequencer. DINT t/f
145 ActvPwmFreq Active PWM frequency REAL Hz
Active max junction temperature used in thermal
146 MaxJuncTemp REAL °C
manager.
If this signal is non-zero, then the
10:2150 [Trq Ref Filt In] will be forced to a value of
zero. If this signal is zero, then the Torque Reference is
150 TrqRefAtZero supplied by 10:2076 [Trq Ref Selected] after offset by DINT t/f
the Friction Compensation and Torque Step signals.
This signal could become non-zero as part of a stop
sequence or during Autotune.


This is the level of DC Bus voltage where the PWM can
155 RideThruRcvrLvl become active again when power loss has occurred REAL VDC
and power is recovered.
This is the level of bus voltage where the PwrLoss
156 RideThruStrtLvl REAL VDC
mode is triggered.
This is the level set to trigger a bus under voltage
157 VbusUnderVltgLvl REAL VDC
event.
This signal is the Theta_e, the electrical stator angle, in
160 Theta_e REAL Rad
radians.
This signal is the Theta_r, the electrical rotor angle, in
161 Theta_r REAL Rad
radians.
170 IdSyncFdbk Flux current feedback. REAL PkA
171 IqSyncFdbk Torque current feedback. REAL PkA
172 VdSyncFdbk This signal is the d-axis voltage feedback. REAL PkV
173 VqSyncFdbk This signal is the q-axis voltage feedback. REAL PkV
D-axis voltage command in synchronous reference
180 VdsCmd REAL PkV
frame.
Q-axis voltage command in synchronous reference
181 VqsCmd REAL PkV
frame.
If this signal is non-zero, then the field weakening
190 FieldWeakSts DINT t/f
control is active.
This signal is the flux regulator output feed forward
191 FluxRegFdFwd REAL PkA
term.
If this signal is non-zero, then the flux regulator is not
192 FlxRegOmgLim active. If this signal is zero, then the flux regulator is DINT t/f
active.
This signal displays the corresponding Iq Ref values for
193 IdCompMtrnIq REAL PU
IdComp during motoring operation.
This signal displays the required IdComp values during
194 IdCompMtrnPu REAL PU
motoring.
This signal displays the corresponding Iq Ref values for
195 IdCompRegnIq REAL PU
IdComp during regen operation.
This signal displays the required IdComp values during
196 IdCompRegnPu REAL PU
regen operation.
This signal is the d-axis current reference, which is the
197 FlxIdSyncRef REAL PkA
output of the flux regulator.
If this signal is non-zero, then the flux regulator is at
198 NegIdsLim DINT t/f
negative Id current limit.
If this signal is non-zero, then the flux regulator is at
199 PosIdsLim positive Id current limit. DINT t/f
200 VqsFdbkFltrd This signal is the filtered q-axis voltage feedback. REAL PkV
This signal is the Slip RPM at full load amps, which is
210 FLARPM REAL RPM
calculated based on the filtered slip gain.
211 OmegSlipFilt This signal is the filtered slip in rad/sec. REAL R/S
This signal is the Rs gain, which is calculated based on
212 RsGain REAL PU
the filtered slip gain.
213 SlipGnFltrd This signal is the filtered slip gain. REAL R/S/A
214 SlipGnLatchd This signal is the latched slip gain in the slip regulator. REAL R/S/A
This signal is the limited slip gain, which is the slip
215 SlipGnLmtd REAL R/S/A
regulator output.
If this signal is non-zero, then the slip regulator is not
216 SlipLoTrqLim active because the q-axis current reference is below DINT t/f
the set value.
If this signal is non-zero, then the slip regulator is at
217 SlipGnMaxLim DINT t/f
maximum slip gain limit.
If this signal is non-zero, then the slip regulator is at
218 SlipGnMinLim DINT t/f
minimum slip gain limit.
This signal is the integration term of the slip regulator
219 SlipIntegOut REAL R/S/A
output.


220 SlipPropOut This signal is the proportional term of the slip regulator REAL R/S/A
output.
221 VdsFdbkFltrd This signal is the filtered d-axis voltage feedback. REAL PkV
230 IdSyncRef Flux current command. REAL PkA
231 IqSyncRef Torque command. REAL PkA
This signal is the feed forward d-axis voltage
232 VdSyncFF_Ref REAL PkV
reference.
This signal is the feed forward q-axis voltage
233 VqSyncFF_Ref REAL PkV
reference.
240 LambdaDsSync This signal is the d-axis stator flux. REAL VSec
241 LambdaDsFilt This signal is the filtered d-axis stator flux. REAL VSec
242 LambdaQsSync This signal is the q-axis stator flux. REAL VSec
243 LambdaQsFilt This signal is the filtered q-axis stator flux. REAL VSec
250 TrqEst This signal is the estimated torque in N•m. REAL Nm
251 TrqEstFltrd This signal is the filtered estimated torque in N•m. REAL Nm
255 ActvCurLim This is the active current limit value. REAL PkA
260 FluxCurMax This is the maximum flux current value. REAL PkA
261 FluxCurMin This is the minimum flux current value. REAL PkA
262 LambdaDsRtd This signal is the rated d-axis stator flux. REAL VSec
This is the motor rated torque value in N•m that is
263 MtrRtdTrq REAL Nm
calculated from motor name plate data.
264 SlipGnRtd This is the rated slip gain value. REAL R/S/A

No. Display Name Description Data Type Units
The grid line voltage L12 instantaneously sampled
1 VL12Inst REAL Volts
voltage feedback scaled to units of the system.
The instantaneous value of the grid line voltage q-axis
4 VqSyncFdbk voltage component in the synchronous reference REAL Volts
frame scaled to units of the system.
The grid line voltage q-axis voltage component in the
5 VqSyncFilt synchronous reference frame filtered with a low pass REAL Volts
filter that has a cutoff frequency of 1 ms, and scaled to
units of the system.
The grid line voltage q-axis voltage component in the
synchronous reference frame filtered with a low pass
6 VqSyncFilt1 REAL Volts
filter that has a cutoff frequency of 10 ms, and scaled
to units of the system.
The instantaneous value of the grid line voltage d-axis
7 VdSyncFdbk voltage component in the synchronous reference REAL Volts
frame scaled to units of the system.
The grid line voltage d-axis voltage component in the
8 VdSyncFilt REAL Volts
filter that has a cutoff frequency of 1 ms, and scaled to
units of the system.
The grid line voltage d-axis voltage component in the
9 VdSyncFilt1 REAL Volts
filter that has a cutoff frequency of 10 ms, and scaled
to units of the system.
voltage feedback filtered by a low pass filter that has
10 VabFdbkFilt REAL Volts
0.1 ms cutoff frequency and scaled to units of the
system.


11 VbcFdbkFilt 0.1 ms cutoff frequency and scaled to units of the REAL Volts
system.
12 VcaFdbkFilt REAL Volts
0.1 ms cutoff frequency and scaled to units of the
system.
A-phase simultaneously sampled current feedback
13 IaInst REAL A
B-phase simultaneously sampled current feedback
14 IbInst REAL A
C-phase simultaneously sampled current feedback
15 IcInst REAL A
The instantaneous value of the zero sequence current/
16 I0Fdbk REAL A
summation of the feedback currents.
Selected voltage rate of change of the bus voltage, this
value is set by a user parameter in case of manual bus
17 VbusRateLim REAL V/S
reference and it is set to a very high value when it is in
optimized mode.
18 VbusOptRef Optimized value of the DC Bus Reference. REAL Volts
The calculated minimum possible value of the DC Bus
19 VbusRefLoLim REAL Volts
command.
The calculated maximum possible value of the DC Bus
20 VbusRefHiLim REAL Volts
command.
21 VbusLimSts A status signal indicates if the bus reference is limited. DINT t/f
The instantaneous error signal between the DC Bus
command and the measured DC bus. This signal is
22 VbusErr REAL Volts
processed through the controller of the bus regulator
to generate the current reference command.
23 VbusRegKi The integral gain of the bus voltage regulator. REAL AS/V
24 VbusRegKp The proportional gain of the bus voltage regulator. REAL A/V
The instantaneous value of the active current
25 IqRefVbusReg REAL A
command generated by the DC bus voltage regulator.
The instantaneous value of the active current (q-axis
current component in the synchronous reference
26 IqRefComp REAL A
frame) calculated by the LCL steady state
compensation algorithm.
The instantaneous value of the grid line voltage (q-axis
voltage component in the synchronous reference
27 VqRefComp REAL Volts
The instantaneous value of the grid line voltage (d-axis
voltage component in the synchronous reference
28 VdRefComp REAL Volts
The instantaneous value of the reactive current (d-axis
current component in the synchronous reference
29 IdRefComp REAL A
The maximum value of the active current component
for a given DC bus value, line voltage magnitude, and
30 IqVbusCurLim line reactance, this limit is calculated based on the REAL A
maximum active power transfer theoretically
achievable between the AFE converter and the grid.
The maximum value of the reactive current component
for a given DC bus value, line voltage magnitude, and
31 IdVbusCurLim line reactance, this limit is calculated based on the REAL A
maximum reactive power transfer theoretically
achievable between the AFE converter and the grid.
A status signal that indicates current is limited by the
32 ILmtUserSts DINT t/f
user current limit parameter.
33 IdRefSts A status signal that indicates d-axis current at limit. DINT t/f


The instantaneous error signal between the active
current command and the calculated active current.
34 IqSyncErr This signal is processed through the controller of the REAL A
current regulator to generate the reference voltage
command.
The instantaneous error signal between the reactive
current command and the calculated reactive current
35 IdSyncErr component. This signal is processed through the REAL A
controller of the current regulator to generate the
reference voltage command.
The integral gain of the current regulator of the active
36 CurRegKiIq REAL VSec/A
current component.
The proportional gain of the current regulator of the
37 CurRegKpIq REAL V/A
active current component.
The integral gain of the current regulator of the
38 CurRegKiId REAL VSec/A
reactive current component.
The proportional gain of the current regulator of the
39 CurRegKpId REAL V/A
reactive current component.
The output signal of the current regulator used to
regulate the active current component which includes
40 CurRegqOut REAL Volts
the effect of both the proportional action and the
integral action.
The output signal of the current regulator used to
regulate the reactive current component which
41 CurRegdOut REAL Volts
includes the effect of both the proportional action and
the integral action.
The final q-axis component of the voltage reference
that is connected to the modulator. This component is
42 VqSyncRef used along with the d-axis component of the voltage REAL Volts
reference to generate the magnitude and the angle of
the final voltage reference connected to the modulator.
The final d-axis component of the voltage reference
that is connected to the modulator. This component is
43 VdSyncRef used along with the q-axis component of the voltage REAL Volts
reference to generate the magnitude and the angle of
the final voltage reference connected to the modulator.
The output of the integral term of the of the current
45 CurRegqI regulator used to regulate the active current REAL Volts
component.
The output of the proportional term of the of the
46 CurRegqP current regulator used to regulate the active current REAL Volts
component.
The limited value of the magnitude of the voltage
47 VltRefLim reference used to generate the three phase modulator REAL Volts
signals.

Reset as Shipped The TotalFORCE control platform has a recovery mode. Use the following
procedure if the processor fails to start up.
1. Power down the product.
2. Locate the IP address switches on the main control board.
3. Record the positions of the switches so they can be set back to these
positions at the end of the procedure.
Hundreds Position Tens Position Ones Position
4. Set all three switches to position 8, for an overall value of 888.

Figure 69 - IP Address Switches Set to 888
Hundreds
Position
Tens Position
Ones
Position
5. Power up the product.

Wait for the STS indicator to turn flashing red and the ENET indicator to
turn solid red.
7. Power up the product a second time.
Wait for the STS indicator to turn flashing red and the ENET indicator to
turn solid red.
9. Set the IP address switches to the positions recorded in step 3.
10. Power up the product.

Configurable LCL Filter Review the Attention statement that follows if you intend to configure the Line
Capacitor Failure Response Side Converter to produce an alarm instead of a fault when the LCL Capacitor
Failure event occurs.
ATTENTION: You must read the following information before you can enable
the Line Side Converter to produce an alarm instead of a fault when the
LCL Filter Capacitor Failure event occurs.
Operating the product (drive or bus supply) during the LCL Capacitor Failure
event may damage the LCL filter. This damage may lead to catastrophic
product failure and collateral damages.
It is your responsibility to configure drive parameters, understand the causes
and consequences of LCL capacitor failure, and meet safety requirements in
accordance with all applicable codes and standards. If enabling the Line Side
Converter to produce an alarm instead of a fault when the LCL Capacitor Failure
event occurs is desired, you must certify the safety of the application. To
acknowledge that you have read this ‘Attention’ and properly certified the
application, set bit 6 ‘CapFailAlrm’ of parameter 13:40 [Conv Options Cfg]. This
action removes Fault 24, ‘CapFailureCfg’. It allows parameter 0:452
[LCLCapFailActn] to be set to 0 ‘Alarm’, enabling an alarm instead of a fault.
Configurable LCL Filter Review the Attention statement that follows if you intend to configure the line
Capacitor Over Resonance side converter to produce an alarm instead of a fault when the LCL Capacitor
Over Resonance event occurs.
Response
ATTENTION: You must read the following information before you can enable
the Line Side Converter to produce an alarm instead of a fault when the
LCL Filter Capacitor Over Resonance event occurs.
Operating the product (drive or bus supply) during the LCL Capacitor Over
Resonance event may damage the LCL filter. This damage may lead to
catastrophic product failure and collateral damages.
It is your responsibility to configure drive parameters, understand the causes
and consequences of LCL capacitor over resonance, and meet safety
requirements in accordance with all applicable codes and standards. If
enabling the Line Side Converter to produce an alarm instead of a fault when
the LCL Capacitor Over Resonance event occurs is desired, you must certify the
safety of the application. To acknowledge that you have read this ‘Attention’ and
properly certified the application, set bit 5 ‘CapORsncAlrm’ of parameter 13:40
[Conv Options Cfg]. This action removes Fault 56, ‘CapOvrRsncCfg’. It allows
parameter 0:453 [CapOvrRsncActn] to be set to 0 ‘Alarm’, enabling an alarm
instead of a fault.

PowerFlex 755T Lifting/ Review the Attention statement that follows if you intend to use the
Torque Proving 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 is not a concern. Encoders offer additional protection and must be used
where personal safety is a concern. Encoderless TorqProve cannot 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 10:420 [Mtr Options Cfg] 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.
For information on TorqProve applications, see the PowerFlex 750-Series with

TotalFORCE Control reference manual, publication 750-RM100.

Technical Support Options What You Need When You Call Tech Support
When you contact Technical Support, please be prepared to provide the
following information:
• Order number
• Product catalog number and drive series number (if applicable)
• Product serial number
• Firmware revision number
• Fault code listed in 0:610 [Last Fault Code]
• Installed options and port assignments
• Technical Support Wizard; see page 133 or drive parameter list
Also be prepared with:

• A description of your application
• A detailed description of the problem
• A brief history of the drive installation
• First-time installation, product has not been running
• Established installation, product has been running
The data contained in the following parameters will help in initial

troubleshooting of a faulted drive. You can use the table below to record the
data provided in each parameter listed.
Parameter No. Parameter Name Parameter Data

0:610 Last Fault Code
10:460 Condition Sts A
10:461 Fault Status A
10:462 Fault Status B
10:465 Alarm Status A
10:466 Alarm Status B
10:467 Type 2 Alarms
13:240 Fault Status A
13:241 Fault Status B
13:258 Alarm Status A
13:259 Alarm Status B
13:260 Type 2 Alarms
Technical Support Wizards
If you are connected to a drive via Connected Components Workbench™

(version 11 or later) software, you can run a Tech Support wizard to gather
information that will help diagnose problems with your drive and/or
peripheral device. The information gathered by the wizard is saved as a text file
and can be emailed to your remote technical support contact.
\
IMPORTANT The Tech Support wizard cannot be accessed when not connected.

Notes:

PowerFlex Drives with TotalFORCE Control Programming Manual

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.
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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.
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Trademarks not belonging to Rockwell Automation are property of their respective companies.
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Publication 750-PM101A-EN-P - February 2021

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Front Cover

PowerFlex Drives with

Programming Manual Original Instructions

Important User Information

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

2 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

Rockwell Automation Publication 750-PM101A-EN-P - February 2021 3

Viewing Faults and Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

4 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

About This Publication

This publication contains the basic information to start up and troubleshoot

This publication is intended for qualified personnel.

Rockwell Automation Publication 750-PM101A-EN-P - February 2021 5

6 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

You can view or download publications at rok.auto/literature.

Rockwell Automation Publication 750-PM101A-EN-P - February 2021 7

8 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

You can also find the parameter spreadsheet in Knowledgebase

To view the parameter descriptions:

Rockwell Automation Publication 750-PM101A-EN-P - February 2021 9

CIP Security CIP Security™ is a standard, open-source communication mechanism that

Rockwell Automation uses the following products to implement CIP Security:

Record Motor Nameplate Data

10 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

Port Parameter Parameter Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

10 400 Motor NP Volts

10 401 Motor NP Amps

10 402 Motor NP Hertz

10 403 Motor NP RPM

10 405 Mtr NP Pwr Units

10 407 Motor Poles

10 900 (1)(2) Motor Inertia

13 30 Nom Line Freq

13 34 (3) AC Line Imped% A

13 52 Ext Bus Cap

13 100 Current Limit

13 104 Regen Power Limit

(1) Only needed for Flux Vector control.

Verify Power Wiring

Drive 1 Drive 2 Drive 3 Drive 4 Drive 5

Verify Power Jumper Configuration

Drive 1 Drive 2 Drive 3 Drive 4 Drive 5

Verify I/O Wiring

12 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

Where are Signal Sources Connected?

Port Location Labels

Rockwell Automation Publication 750-PM101A-EN-P - February 2021 13

See the diagram on page 13 for item number locations.

14 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

Port Parameter Parameter Drive/Motor 1: Drive/Motor 2: Drive/Motor 3: Drive/Motor 4: Drive/Motor 5:

0 35 Duty Rating Cfg

0 65 Pri MtrCtrl Mode

0 67 Sec MtrCtrl Mode

0 72 Emb Logic Select

Duty Rating Class

Rockwell Automation Publication 750-PM101A-EN-P - February 2021 15

Heavy Duty – Provides a lower continuous rating, with overload ratings of

Motor Control Mode

You can add one of the following functionalities to determine which

16 Rockwell Automation Publication 750-PM101A-EN-P - February 2021

Power the Drive