Comissionamento 755T
Comissionamento 755T
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.
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.
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).
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
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.
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.
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
Provides detailed information on:
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
Provides detailed information on:
• Kit selection
PowerFlex 755TM IP00 Open Type Kits Technical Data, publication 750-TD101
• Kit ratings and specifications
• Option specifications
Provides detailed information on:
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
Notes:
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.
For full functionality (filter and search), use the Microsoft Excel application.
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 uses the following security properties to help devices protect
themselves from malicious communication:
• Device Identity and Authentication
• Data Integrity and Authentication
• Data Confidentiality
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 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.
AC Line kVA A
13 32 (Transformer kVA)
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.
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.
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.
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.
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
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
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.
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.
0 33 VoltageClass Cfg
0 46 Velocity Units
0 70 Application Sel
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.
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.
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).
Flux Vector is the recommended control mode for both encoder and
encoderless control of permanent magnet motors.
Application Mode
• Oil Well – provides a mechanism for pump jack and progressive cavity
pump applications.
Stopped AUTO
0.000 Hz F
Select Language to Use ▼
English
Francaise
Espanol
Italiano
▼
ENTER
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.
Stopped AUTO
0.00 Hz F
Host Drive
480V 740A
20G...D740
00
ESC REF PAR# TEXT
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.
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.
Navigate to parameter 0:70 [Application Sel] and enter the configuration for
Process PID, Torque Prove, or Oil Well.
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:
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.
If the data is not available on the motor nameplate or data sheet, use the
following equation to estimate motor inertia:
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.
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.
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.
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
Configuration Complete
The drive is able to start/stop from the HIM and has been successfully started
up.
Step 9: Set Up Velocity Select the configuration according to the wiring you observed in Step 2:
Reference Validate the Drive Installation.
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].
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.
The logic command word from the controller starts and stops the drive
without any special parameter settings.
Rockwell Automation Publication 750-PM101A-EN-P - February 2021 23
Chapter 1 Startup
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]
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?
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].
To interpret the Drive Status Indicators, see page 110. See also parameter
0:200 [MS Logic Rslt].
If you feel you need additional technical support, gather the information listed
on page 14 prior to contacting a support representative.
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’.
Hundreds
Position
Tens Position
Ones
Position
Apply and Remove Power The following procedures describe how to energize PowerFlex 755T products in
both stand-alone and in system installations.
(B)
(A)
Three-phase Power
Energize
De-energize
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.
(B)
(C)
24V Auxiliary Power
(A)
Three-phase Power
Energize
De-energize
Leave 24V auxiliary power (C) energized when the drive is not in operation.
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
separate 240V control power.
(A)
Three-phase Power
Energize
De-energize
Systems with 24V Auxiliary Power and without Separate 240V Control
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.
Bus supplies ordered with the –C1 Control Transformer option do not require
separate 240V control power.
(C)
24V Auxiliary Power
(A)
Three-phase Power
Energize
De-energize
3. Leave the Control Power switches (E) for the Common Bus Inverters in
the ‘On’ position when the drive system is not in operation. This is not
needed if 24V auxiliary power (C) remains energized.
4. 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.
5. Leave 24V auxiliary power (C) energized when the drive is not in
operation.
Systems without 24V Auxiliary Power and with Separate 240V Control
Power
Bus supplies ordered without the –C1 Control Transformer option require
separate 240V control power.
(A)
Three-phase Power
Energize
De-energize
Systems with 24V Auxiliary Power and with Separate 240V Control
Power
IMPORTANT This procedure assumes that 24V auxiliary power was not removed when
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
final step in the Energize sequence.
Bus supplies ordered without the –C1 Control Transformer option require
separate 240V control power.
(C)
24V Auxiliary Power
(A)
Three-phase Power
Energize
De-energize
Parameter Organization
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.
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.
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.
Port 0
System (Whole Product) – See page 37
Monitor Embedded ENET
Product Config Protection
Feedback & I/O Diagnostics
Communication
See page 38
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.
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.
This port contains parameters that are related to the power hardware in the
motor side inverter. These parameters monitor and configure the power
modules.
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.
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.
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.
Notes:
Flow diagrams on the following pages illustrate the PowerFlex 755T drive
control algorithms.
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
( ) = Enumeration Parameter
XX[ ] = Page and Coordinate
ex. Tst [A2] = pg Tst, Column A, Row 2
= Constant value
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
Reference
Selection
and Limiter 40 2 Option Select Cur Reg BW 75 Ki
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
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
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
Display Filter 307 0
OR Phase C
Display Filter 307 11 LCL Capacitor Current Line Current
DC Bus Voltage
Feedback
Feedback
6
45
PowerFlex 755T Control Block Diagrams
46
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 PLL
A B C D E F G H I
1
Phase Locked Loop (PLL)
PowerFlex 755T Control Block Diagrams
Basic PLL Kp 86
Figure 6 - Phase Locked Loop
0 1 AC Line Freq
DC Offset 1 Basic PLL Ki 87
Cancellation
89 Unbalance
Rejection 1
2 nd Harm Filt BW
1
Display Filter 307 0
OR
Display Filter 307 1
5
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 PwrLoss
A B C D E F G H I
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
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
PowerFlex 755T Control Block Diagrams
48
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 LscData
A B C D E F G H I
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
1/√3
Vtr
Metering [B1] X
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 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
49
PowerFlex 755T Control Block Diagrams
50
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 DroopCtrl 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 VarCtrl
A B C D E F G H I
BusAutoAdjReg Kp 82 VarDCBAdjDis 40 3
BusAutoAdjReg Ki 83
2 Vq
Metering [D1] BusRefAutoAdjReg 0
Vq
Figure 10 - Reactive Power Control
Metering [D1] 1
3
SourceImpedance
LscData [C5]
BusRefAutoAdjCalculation
CurrPwrLmt [F5}
Reference Reactive Current
5 Calculation
KVAR Ref 69
Rate
Limit
A B C D E F G H I
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
1stOrderCoef Active
Droop 354 Droop Gain Actv
CurPwrLmt [G3] 3rdOrderCoef
Gain
6 Calc
Active Cur Cmd 67
51
PowerFlex 755T Control Block Diagrams
52
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 DBC
A B C D E F G H I
2
104
Regen Power Lmt
DBCMtrngPwrLimActv
3
Figure 12 - Dynamic Bus Control
NonLinear-
Port 0,DC Bus Volts OrderRegen
Metering [D5]
3
Parameter DBCRegenPwrLimActv
Selection
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
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 VoltRefGen
A B C D E F G H I
VbusRefHiLim
High
Max Boost 1
1.02 MAX
Voltage
47 VbusRefLmtd
MAX
Low
DC BusRef Preset
Inverter DC Bus Limit VbusRefLowLim
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
PowerFlex 755T Control Block Diagrams
54
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 VoltCtrl
A B C D E F G H I
1- User Entered
2 BusObsConfig(320):
BusObsConfig
320 BusRegIntegTerm
0- Disabled
1- BusObsOnly.
Figure 14 - Voltage Control
c Volt Reg Ki 60
u Volt Reg Kp 57 1
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 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
BusObsConfig 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
PowerFlex 755T Control Block Diagrams
56
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 PFC
A B C D E F G H I
1
Power Factor Correction (PFC)
PowerFlex 755T Control Block Diagrams
2
IqRefComp
AC Line Freq 1
PLL [H3]
Active Current CurPwrLmt [E4]
0 Compensation
Figure 16 - Power Factor Correction
3
VqFeedFwd
LscCtrlCfg [F3] Vq, Vd Feed Forward
and Decoupling
VdRefComp
360 FFVltgLPFTime
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 CurPwrLmt
A B C D E F G H I
0,1,2, 3
Regen Power Lmt 104
DBCMtrngPwrLimActv
DynamicBusCtrl [H4] 4
ILmtUsrSts
Vq
226 0 Current Lmt
Metering [D1]
CurrCtrl [11F4]
5 Iq Ref Lmtd
57
PowerFlex 755T Control Block Diagrams
58
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 CurrCtrl
A B C D E F G H I
1
Current Control (CurrCtrl)
PowerFlex 755T Control Block Diagrams
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
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
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 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
VoltCtrl [H2]
Figure 19 - LSC Control Configuration
3
Converter Mode Select
FFPwr Curr Calc PFC [A2,E2,A4,E4]
X 326
3
Metering [D5]
X
Output Power 10:4
Metering [D1]
Vq X
3/2
BusObsConfig
320
0
5 0
DC Bus Obs[H2]
IqRefDcBusObs 1,2
59
PowerFlex 755T Control Block Diagrams
60
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 DriveDerating
A B C D E F G H I
1
Drive Derating (DriveDerating)
PowerFlex 755T Control Block Diagrams
2
Figure 20 - Drive Derating
Running
225 16
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 Vector Overview
( VReg Output )
Psn Gear Ratio 1752 x ( VRef Profilr ) ( Vel FF Ref )
Velocity Control – Reference Torque Control
( 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 +
PID Torque
Trim / Excl
Process Control ( PID Output Meter ) Selection
PID LPF
PID Prop Gain 9:4 9:10
BW
61
PowerFlex 755T Control Block Diagrams
62
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 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
PowerFlex 755T Control Block Diagrams
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
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
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 CBI Metering
A B C D E F G H I
U Motor Phase
AC
V Motor Phase
Motor
4 Feedback Signals
Chapter 3
8 Torque Cur Fb
63
PowerFlex 755T Control Block Diagrams
64
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 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
PowerFlex 755T Control Block Diagrams
A B C D E F G H I
1
Home Psn Actual ( 1647) is loaded with 466 8 Homing Actv
Position Homing (Homing)
Position Fb (1746) .
5. If Home Offset (1652) is non – zero, Home Return Spd 1653 PTP Command
Figure 25 - Position Homing
4 Psn Redefine
5 Homing Alarm
6 Home DI Inv
5 7 Hold At Home
8 Home Torque
65
PowerFlex 755T Control Block Diagrams
66
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 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]
PowerFlex 755T Control Block Diagrams
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
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
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)
67
PowerFlex 755T Control Block Diagrams
68
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 PRef2
A B C D E F G H I
15
[N] PRef NF Del
PRef 1 [I4] 1684 + Ref NF 1 Ref NF 2 '
[D] + PReg [C3]
Gear Rat
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
PsnWatch1 DtctIn 1738 PReg Status PsnWatch2 DtctIn 1742 PReg Status
In Position Detect
5
PReg Status
In Position Detect
In PosPsn Window 1734
In PosPsn Dwell 1735
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 PReg
A B C D E F G H I
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
69
PowerFlex 755T Control Block Diagrams
70
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 Psn PLL
A B C D E F G H I
1
Position Control – Phase Locked Loop
(Psn PLL)
PowerFlex 755T Control Block Diagrams
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
A B C D E F G H I
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
71
PowerFlex 755T Control Block Diagrams
72
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 Prof Ind 1
A B C D E F G H I
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]
20 Step12
21 Step13
22 Step14
6
23 Step15
24 Step16
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 Prof Ind 2
A B C D E F G H I
1
Position Control – Profiler/Indexer (2)
(Prof Ind 2)
Dwell N/A N/A N/A N/A Dwell Time Dwell Time Dwell
Time
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
PowerFlex 755T Control Block Diagrams
74
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 Roll Psn
A B C D E F G H I
(Roll Psn)
Roll Psn Offset
1085
X X
*1 *1
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
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 Spindle
A B C D E F G H I
0 SO Unit Out
X 1070
1013
Preg Fb Sel 1
ReCap ÷
3
X X
Figure 35 - Position Control – Spindle Orient
*1 *1
1074
0 Position Feedback Input
6
SO Vel Lim Rev
75
PowerFlex 755T Control Block Diagrams
76
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 VRef Overview
A B C D E F G H I
1
Velocity Reference Overview (VRef Overview)
VRef Selected
PowerFlex 755T Control Block Diagrams
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
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
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 VRef Sel
A B C D E F G H I
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 )
77
PowerFlex 755T Control Block Diagrams
78
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 VRef All
A B C D E F G H I
Direction Mode Control Autotune Tests Limit Switch Control Velocity Ref Command Limits
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)
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
79
PowerFlex 755T Control Block Diagrams
80
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 Ref Move
A B C D E F G H I
1
Velocity Reference, Flux Vector – Move Profiles (VRef Move)
Ref Move Type
PowerFlex 755T Control Block Diagrams
3 VRef Ramped
VRef Ramp In 1923
1
Proc 2 [C2]
VRef Vect [E1] VRef Vect [G1]
Ref Time Base
933
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 VelRefCAM
A B C D E F G H I
time 1 - TCAM
VCAM Psn Select 2206 Virtual Encoder
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
81
PowerFlex 755T Control Block Diagrams
82
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 VReg Vect
A B C D E F G H I
1
Velocity Regulator - Flux Vector (VReg Vect)
PowerFlex 755T Control Block Diagrams
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
+
VRef Final Trq Ref [B2]
c VReg Kp 1955 P Gain Limit
+10%
ks
u VReg Kp 1956
s -10% 1965
VelFb Active aVRegKi
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 Trq Overview
A B C D E F G H I
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
83
PowerFlex 755T Control Block Diagrams
84
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 Trq Ref Sel
A B C D E F G H I
2
0.0 ( Disabled ) Default
0.0 ( Disabled )
Trq Ref A Stpt
2001 ( Setpoint ) Default
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
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 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
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
PowerFlex 755T Control Block Diagrams
86
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 Friction Comp
A B C D E F G H I
1
Friction Compensation (Friction Comp)
PowerFlex 755T Control Block Diagrams
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
4
- FrctnComp Slip
2055
- FrctnComp Stick
2054
- FrctnComp Rated
2056
-
5
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 Trq RefCAM
A B C D E F G H I
time 1 - TCAM
TqCAM Psn Select 2376 Virtual Encoder
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
87
PowerFlex 755T Control Block Diagrams
88
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 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
PowerFlex 755T Control Block Diagrams
Trq Commanded 10
Psn SpdlOrnt
Trq Ref Sel [H5] 2073
Profiler 11
A B C D E F G H I
Trq LLF BW
2152
Figure 49 - Torque Filters
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
2130 AdptTuneStabMag
89
PowerFlex 755T Control Block Diagrams
90
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 Cur IM SPM
A B C D E F G H I
1
Torque Control - Current, for Induction Motor (Cur IM)
Flux Vector
PowerFlex 755T Control Block Diagrams
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
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
A B C D E F G H I
4
Chapter 3
91
PowerFlex 755T Control Block Diagrams
92
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 Proc 1
A B C D E F G H I
A B C D E F G H I
Parameter
Selection
Not MOP Reference
PID Output Limited
1823 Float Types
Used 0 MOP [G3]
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]
0 0
2 9:1
355 10
PID Cfg
(Zero Clamp) Motor Side Sts 2
(PID FB Loss)
6 Proc 1 [C4]
93
PowerFlex 755T Control Block Diagrams
94
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 AntiSway
A B C D E F G H I
1
Reference Notch Filter 1 Tuning for Crane
Application (Anti-Sway)
PowerFlex 755T Control Block Diagrams
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
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 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)
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]
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
PowerFlex 755T Control Block Diagrams
96
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 Oil Well 2
A B C D E F G H I
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
Parameter
Preset Speed 5 1818 Selection
0 0 1
97
PowerFlex 755T Control Block Diagrams
98
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 22Series IO Digital
A B C D E F G H I
Output Compare
RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 22Series IO Digital
A B C D E F G H I
5
Flt CL Stop
Hold 6 Outputs
Input
3 Anlg Out0 Val
7
Set Input Lo 82
70 0 +
V/mA
99
PowerFlex 755T Control Block Diagrams
100
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 11-Series IO Digital
A B C D E F G H I
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
Transistor Out1 0
Timer
4 Source NO
Parameter 1
Selection Inv
30 34
Output Compare
RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 22-Series IO Analog
A B C D E F G H I
4 V/mA
Flt RampStop 56
Anlg In0 Filt BW Anlg Out0 Stpt 76 -
In-Lo
101
PowerFlex 755T Control Block Diagrams
102
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 22-Series IO Analog
A B C D E F G H I
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
NO
Reset AND
Logic
6
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
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 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
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
PowerFlex 755T Control Block Diagrams
104
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 Invert
A B C D E F G H I
NTC
359 IGBT Temp Pct
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
3 Heatsink 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
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
A B C D E F G H I
1
Motor Overload (Motor I 2 T)
Motor
Figure 65 - Motor Overload
Motor
Speed (Hz) Fault Status A
Mtr OL Hertz 204
952 2 Motor OL
105
PowerFlex 755T Control Block Diagrams
106
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 High Speed Wizard
A B C D E F G H I
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
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
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.
For full functionality (filter and search), use the Microsoft Excel application.
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
• Port 10: Diagnostics File, Status Group
• Port 10: Diagnostics File, Fault/Alarm Info Group
• Port 13: Diagnostics File, Status Group
• Port 13: 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.
Stopped AUTO
0.00 Hz F
– – FAULTED – –
Fault Code 81
Port 1 DPI Loss
Elapsed Time 01:26:37
ESC CLR
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.
Fiber loss
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.
DS1
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.
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 Bus Supplies Frame 9 Bus Supplies Frame 10…15 Bus Supplies
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 Common Bus Inverters Frame 9 Common Bus Inverters Frame 10…15 Common Bus Inverters
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 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.
Testpoint Codes and Select testpoint with a [Testpoint Sel n] parameter. View testpoint values with
Functions [Testpoint REAL n] and [Testpoint DINT n] parameters.
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
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.
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
IMPORTANT The Tech Support wizard cannot be accessed when not connected.
Notes:
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.
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