Powerflex Drives With Totalforce Control: Programming Manual

Front Cover
This manual links to PowerFlex Drives with TotalFORCE Control Parameters Reference Data,
publication 750-RD101, for parameters and PowerFlex Drives with TotalFORCE Control Conditions
Reference Data, publication 750-RD102, for fault, alarm, and condition codes. Download the
spreadsheets now for offline access.
PowerFlex Drives with

TotalFORCE Control
Firmware Revision 10.xxx…11.xxx
Programming Manual Original Instructions

PowerFlex Drives with TotalFORCE Control Programming Manual
Important User Information

Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
The following icon may appear in the text of this document.
Identifies information that is useful and can help to make a process easier to do or easier to understand.
Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this
publication are not in alignment with the movement toward inclusive language in technology. We are proactively
collaborating with industry peers to find alternatives to such terms and making changes to our products and content.
Please excuse the use of such terms in our content while we implement these changes.
2 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

Table of Contents
Preface
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Access Fault Codes and Parameter List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 5
Chapter 1
Overview Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Startup Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
CIP Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Apply and Remove Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Chapter 2
Parameter Organization Parameter Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Parameter Access Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Parameter References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
How Drive Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Overview and System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Predictive Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chapter 3
PowerFlex 755T Control Block Diagram Conventions and Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Diagrams Line Side Converter Control Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Motor Side Inverter Control Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Chapter 4
Troubleshooting Fault and Alarm Code Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Configurable Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Viewing Faults, Alarms, Events, and Exceptions . . . . . . . . . . . . . . . . . . . 88
HIM Indication (Fault Display Screen) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Setting Factory Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Fan Usage by Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Hardware Service Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Fault and Alarm Display Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Common Symptoms and Corrective Actions . . . . . . . . . . . . . . . . . . . . . . 102
Testpoint Codes and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Reset as Shipped . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Recovery Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Secure Erase. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Rockwell Automation Publication 750-PM101B-EN-P - April 2022 3

Table of Contents
Configurable LCL Filter Capacitor Failure Response . . . . . . . . . . . . . . . 115

Configurable LCL Filter Capacitor Over Resonance Response . . . . . . 115
PowerFlex 755T Lifting/Torque Proving . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Technical Support Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Appendix A
Permanent Magnet Motors Compatible Allen-Bradley Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

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

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

• You must understand the hazards that are associated with
electromechanical equipment installations.
• You must understand and follow all applicable local, national, and/or
international electrical codes.
• You must be able to program and operate adjustable frequency AC drive
devices.
• You must have an understanding of the parameter settings and
functions.
Summary of Changes This publication contains the following new or updated information. This list
includes substantive updates only and is not intended to reflect all changes.
Translated versions are not always available for each revision.
Topic Page
Parameter descriptions and fault, alarm, event, and exception codes are now available in 5
separate publications.
Added information on when the Set Defaults operation for a peripheral device also resets the 100
host product.
PowerFlex 755TS drives added to Fan Usage by Product section 100
Reset as Shipped procedure clarified. 112
Added information on the Recovery Mode function. 113
Added information on the Secure Erase function. 114
Added Appendix A - Permanent Magnet Motors listing. 119
Additional Resources table lists new parameter descriptions and fault, alarm, event, and 127
exception code publications and PowerFlex 755TS product publications.
Access Fault Codes and

Parameter List This manual links to PowerFlex Drives with TotalFORCE Control
Parameters Reference Data, publication 750-RD101, for parameters
and PowerFlex Drives with TotalFORCE Control Conditions Reference
Data, publication 750-RD102, for fault, alarm, event, and exception
codes. Download the spreadsheets for offline access.
Download Firmware, AOP, Download firmware, associated files (such as AOP, EDS, and DTM), and access
EDS, and Other Files product release notes from the Product Compatibility and Download Center at
rok.auto/pcdc.

Preface
Notes:

Chapter 1
Overview
Parameter Descriptions TotalFORCE control parameters are listed in the Microsoft® Excel®
spreadsheet publication that is available on at rok.auto/literature.
Use this link to access the PowerFlex Drives with TotalFORCE Control
Parameters Reference Data, publication 750-RD101, for parameters.
Download the spreadsheet for offline access.
To view the parameter descriptions and for full functionality (filter and
search), open the file in the Microsoft Excel application.
Startup Information See the PowerFlex 750-Series AC Drives with TotalFORCE Control Quick Start
for detailed 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®
750-Series product with TotalFORCE control for the first time for simple
applications.
CIP Security CIP Security™ is a standard, open-source communication mechanism that

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

• FactoryTalk® Policy Manager software (includes FactoryTalk System
Services, version 6.20 or later)
• FactoryTalk Linx software, version 6.11 or later (lets workstation software
communicate securely using CIP Security)
• Studio 5000 Logix Designer® application, version 31.00.00 or later This
application is required to interface with CIP Security-enabled Logix
controllers. The minimum application version varies by controller
product family.

Chapter 1 Overview
For more information on CIP Security, for example, a list of CIP Security-
capable products and publications that describe how to use the products,
including limitations and considerations, see the following:
• https://www.rockwellautomation.com/en-us/capabilities/
industrialsecurity/security-products/cip-security.html
• CIP Security with Rockwell Automation Products Application Technique,
publication SECURE-AT001
Apply and Remove Power The following procedures describe how to energize PowerFlex 755T products in
both stand-alone and in system installations.
755TL and TR Drives without 24V Auxiliary Power
This procedure applies to drives without 24V auxiliary power.
Input Bay Power Bay
(B)
(A)
Three-phase Power
Energize
Energize the product in the following sequence:

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

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

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

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

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

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

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

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


Chapter 1 Overview
Systems with 24V Auxiliary Power and without Separate 240V Control
Power
the product was de-energized. If you are conducting an initial powerup,
Bus supplies ordered with the –C1 Control Transformer option do not require

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

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


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

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

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


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

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

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


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

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

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

Chapter 2
Parameter Organization
This chapter describes the parameters in PowerFlex 750-Series Products with

TotalFORCE® Control. The parameters can be programmed (viewed/edited)
using a Human Interface Module (HIM). See the Enhanced PowerFlex 7-Class
Human Interface Module (HIM) User Manual, publication 20HIM-UM001, for
information on using the HIM to view and edit parameters. You can also use
Connected Components Workbench™ (version 10 or later) software. If the
drive is connected to a ControlLogix® or CompactLogix™ controller you can
also use Studio 5000 Logix Designer® (version 20 or later).
Parameter Descriptions TotalFORCE control parameters are PowerFlex Drives with TotalFORCE
Control Parameters Reference Data, publication 750-RD101 that is available
through the Rockwell Automation Literature Library.
Use this link to access the PowerFlex Drives with TotalFORCE

Control Parameters Reference Data, publication 750-RD101, for
parameters. Download the spreadsheet for offline access.
About Parameters To configure a drive module to operate in a specific way, certain drive
parameters may have to be configured appropriately. Four types of parameters
exist:
• Numeric Parameters
These parameters have a single numeric value (such as 1750.0 RPM).
• ENUM Parameters
These parameters allow a selection from two or more items. The LCD
HIM will display a text message for each item.
• Indirect Parameters
These parameters assign or select sources for data. They have a
maximum value of 159999.15. The two most significant digits select the
port of the source. The following four digits select the parameter number
of the source. The two digits below the decimal point select the bit
number of the source.
For example, parameter 0:117 [DI M Start] is an indirect parameter for
selecting the source of the Start digital input function. You may want to
select input 01 on an IO card in port 4. You would enter 04 and 0001
and .01. This assigns bit 01 of parameter 0001 [Dig In Sts] of the card in
port 4 to the Start function.
• Bit Parameters
These parameters have individual bits associated with features or
conditions. If the bit is 0, the feature is off or the condition is false. If the
bit is 1, the feature is on or the condition is true.

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

Name] convention. For example, 0:30 [Access Level] tells you that the Access
Level parameter is number 30 in port 0.
How Drive Parameters are Connected Components Workbench programming software displays
Organized parameters in ‘Linear List’ or ‘File Group Parameter’ format. The ‘File Group
Parameter’ format simplifies programming by dividing Files into groups of
parameters that are used for similar functions.

Overview and System The PowerFlex 755T architecture is an evolution of the high power (frames
Architecture 8...10) PowerFlex 755 architecture. There are changes to improve usability and
performance. There are changes to include new functionality and additional
power modules.
Ports, files, and groups are containers for control and parameters. This
architecture organizes the parameters among these containers to make them
easy to find. It also limits which parameters are presented. It only presents the
parameters that are related to the active configuration.
Figure 1 - System Architecture
Port 0
System (Whole Product) – See page 17
Monitor Embedded ENET
Product Config Protection
Feedback & I/O Diagnostics
Communication
Port 10 Port 11 Port 12

Pri MtrSideCtrl – See page 18 Sec MtrSideCtrl– See page 18 Motor Side Power – See page 18
Monitor System Monitor System MotorSide Common
Dynamic Control Feedback Dynamic Control Feedback Trq Accuracy Mod
Protection Position Protection Position M0…M9 Power Module
Diagnostics Velocity Diagnostics Velocity
Electrical Torque Electrical Torque
Port 13 (755TL and 755TR products only.) Port 14 (755TL and 755TR products only.) Port 9
Line Side Ctrl – See page 18 Line Side Power – See page 18 Application – See page 18
Monitor Protection Line Side Common Process PID DeviceLogix
Dynamic Control Diagnostics L0…L9 Power Module Torque Prove Diagnostics
AC Precharge Oil Well
F0…F9 LCL Filter
Port 1 Port 2 Port 3 Port 4 Port 5 Port 6 Port 7 Port 8

HIM (Pod) HIM (Door) HIM (Ext.) Option Slot Option Slot Option Slot Option Slot Option Slot
See page 19
Port 0 PowerFlex 755T System Port
This port contains parameters for monitoring and configuring the whole
product (drive or bus supply). It contains parameters for configuring digital
input functions and motor encoder feedback channels. It includes parameters
for the Embedded EtherNet/IP interface.
This port also contains parameters that configure port 9 (the application port)
and port 10 (the primary motor control port). These parameters determine

what ports 9 and 10 contain. Ports 9 and 10 do not display parameters or

software that is related to unused configurations. For example, if you do not
select Torque Prove in the Application Selection parameter then port 9 does
not contain parameters for Torque Prove. If you do not select the Flux Vector
motor control mode, then port 10 does not display Flux Vector parameters or
software.
Port 9 Application Parameters
This port contains parameters and software that is related to specific

applications. The contents of this port depend the setting of parameter 0:70
[Application Sel]. It can contain nothing, Process PID, Torque Prove, or Oil
Well Pump. If enabled in parameter 0:72 [Emb Logic Select], port 9 will also
display DeviceLogix parameters.
Port 10 Primary and Port 11 Secondary Motor Side Control Parameters
These ports contain parameters and software that is related to the primary and
secondary control of the motor side inverter. Port 10 is the primary motor side
control port and port 11 is the secondary port. The contents of these ports
depend the setting of parameters 0:65 [Pri MtrCtrl Mode] and 0:67 [Sec
MtrCtrl Mode]. They can contain Volts per Hertz, Sensorless Vector,
Economizer, or Flux Vector control. They contain parameters for configuring
the starting and stopping of the motor side inverter. They contain parameters
for entering the electrical attributes of the motor. They contain parameters for
configuring and monitoring the Position, Velocity, and Torque loops.
Port 12 Motor Side Power Parameters—PowerFlex 755T Products
This port contains parameters that are related to the power hardware in the
motor side inverter. These parameters monitor and configure the power
modules.
Port 13 Line Side Control Parameters—PowerFlex 755T Products

This port contains parameters and software that is related to control of the line
side converter. It contains parameters for configuring and monitoring the
control of the converter. It contains parameters for entering the electrical
attributes of the AC line source.
Port 14 Line Side Power Parameters—PowerFlex 755T Products
This port contains parameters that are related to the power hardware in the
line side converter. These parameters monitor and configure the power
modules, AC precharge, and LCL filters.

Port 1 HIM on Control Pod
The Human Interface Module (HIM) on the control pod connects through
port 1.
Port 2 HIM (Door Mount or Handheld)
A second HIM or 1203-USB programming interface connects through port 2.

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

Port 3 is visible when using a 1203-S03 splitter cable.
Port 4...8 Option Slot
Ports 4...8 are the DPI and DSI option slots. I/O, feedback, communication,
and functional safety option modules can be installed in these option slots.
Predictive Maintenance For firmware revisions 10.xxx or later, the remaining life of components with
predictive maintenance appear on the Predictive Maintenance page in the
Device Details window in Connected Components Workbench software and
the Drive Details window in Studio Logix 5000 Designer application.
Figure 2 - Connected Components Workbench - Predictive Maintenance Page
Predictive Maintenance objects and instances are listed in the

PowerFlex Drives with TotalFORCE Control Parameters Reference
Data, publication 750-RD101.

Notes:

Chapter 3
PowerFlex 755T Control Block Diagrams
Flow diagrams on the following pages illustrate the PowerFlex® 755T drive
control algorithms.
Line Side Converter Block Diagrams (PowerFlex 755TL Drives, 755TR Drives, and 755TM Bus
Supplies)
Diagram Page
PowerFlex 755T Converter – Overview 24
Metering 25
Phase Locked Loop 26
Power Loss 27
Line Side Converter Data 28
Current Reference Generator 29
Reactive Power Control 30
Droop Control 31
Dynamic Bus Control 32
Voltage Reference Generator 33
Voltage Control 34
DC Bus Observer 35
Power Factor Correction 36
Current/Power Limits 37
Current Control 38
LSC Control Configuration 39
Drive Derating 40
Motor Side Inverter Block Diagrams

Diagram Page
Flux Vector Overview 41
Variable Frequency, SV Overview 42
CBI Metering 43
Feedback Configuration & Status 44
Position Homing 45
Position Reference 1 46
Position Reference – Move Profiles 47
Position Reference 2 48
Position Regulator 49
Position Control – Phase Locked Loop 50
Position Control – Position Reference CAM 51
Position Control – Profiler/Indexer 1 52
Position Control – Profiler/Indexer 2 53
Position Control – Roll Position Indicator 54
Position Control – Spindle Orient 55
Velocity Reference Overview 56
Velocity Reference Selection 57

Chapter 3 PowerFlex 755T Control Block Diagrams
Motor Side Inverter Block Diagrams

Diagram Page
Velocity Reference – All 58
Velocity Reference – Flux Vector 59
Velocity Reference Flux Vector – Move Profiles 60
Velocity Reference CAM 61
Velocity Regulator – Flux Vector 62
Torque Overview 63
Torque Reference Selection 64
Load Observer 65
Friction Compensation 66
Torque Reference CAM 67
Torque Reference 68
Torque Filters 69
Torque Control – Current, for Induction Motor 70
Torque Control – Current, for Permanent Magnet Motor 71
Process Control 1 72
Process Control 2 73
MOP Control 77
22-Series Inputs & Outputs – Digital (1) 78
(1) 79
22-Series Inputs & Outputs – Analog
(1) 80
11-Series Inputs & Outputs – Digital
11-Series Inputs & Outputs – Analog (1) 81
(1) 82
11-Series Inputs & Outputs – ATEX
Control Logic 83
Inverter Overload IT 84
Motor Overload 85
(1) This diagram is applicable to PowerFlex 755TS, 755TL, 755TR, and 755TM products.

Chapter 3 PowerFlex 755T Control Block Diagrams
Diagram Conventions and

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

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

24
Overview VarCtrl PFC Vector Overview PRef Move Prof Ind 2 VelRefCAM Ld Obs Cur IPM MOP Logic
Chapter 3
Metering DroopCtrl CurPwrLmt Freq Overview PRef2 Roll Psn VRef Vect Friction Comp Proc 1 22Series IO Digital Invert
PLL DBC CurrCtrl CBI Metering PReg Spindle Ref Move Trq RefCAM Proc 2 22Series IO Digital Motor I2T
PwrLoss VoltRefGen LscCtrlCfg Fdbk Psn PLL VRef Overview VReg Vect Trq Ref AntiSway 11-Series IO Digital High Speed Wizard
LscData VoltCtrl DriveDerating Homing Psn CAM VRef Sel Trq Overview Trq Filt Oil Well 1 22-Series IO Analog
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Overview
PowerFlex 755T Converter - Overview

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

LCL Cur Reg Damping 76
AC Line kW 13 Kp
AC Line Model Cur Lmt
1msec 1 101
Freq Command u Cur Reg Ki 79
ActvCurRegSel.slx Port 0
Line Side Converter Control Diagrams
3 Regen Pwr
125usec 0 DC Bus Volts 106
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
Drive Derating 1 msec Power Loss
Figure 3 - PowerFlex 755T Converter – Overview
Rockwell Automation Publication 750-PM101B-EN-P - April 2022

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

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

1 11
LPF VcaFdbkFilt 1
LPF
T-R Line Volts Converter Current T Phase Current
Display Filter 307 0
Feedback OR
OR Display Filter 307 3
Chapter 3
4 Display Filter 307 9

AC Line Voltage
Feedback
Phase A
DC Voltage Analog to Digital Conversion, Line Current
Scaling 0
Port 0
5 and Processing 3 DC Bus Volts LCL Capacitor
LPF 1
Current Analog to Digital Phase B
text Conversion, Scaling
and Processing Line Current
OR Phase C
Display Filter 307 11 LCL Capacitor Current Line Current
DC Bus Voltage
Feedback
Feedback
6
25
26
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PLL
A B C D E F G H I
1
Phase Locked Loop (PLL)
Nom Line Freq 30

PLL DC Offst 85 2
Basic PLL Error 88

Line Voltage
Metering [B1] 3ф
0
2 PI Regulator Integrator
dq Line Angle
Basic PLL Kp 86
Figure 5 - Phase Locked Loop
0 1 AC Line Freq
DC Offset 1 Basic PLL Ki 87
Cancellation
PLL Freq Src 85 3

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

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

RideThrough Time 172 To Condition Handler
AC Ride Thru 935 21 (Faults & Alarms)
RMS Line Voltage Power Loss PwrLoss Det Actn 170 Ride Through PowerLoss Det
Metering [D3] Detection Configuration
Timer PowerLoss RTExp
2 PwrLossRTExpActn 171
Figure 6 - Power Loss
Voltage Sag VltgSag Det Actn 173 Ride Through Line Sag Det
Line Voltage
Metering [B1] Detection Configuration Line Sag RT Exp
Timer
VltgSagRTExpActn 174
3
935 22 Input Phase Loss
Phase Loss Ride Through Phase Loss Det

LSCPhLossDetActn 176
Detection Configuration Phase Loss RTExp
Line Current Feedback Timer
Metering [H5]
PhsLossRTExpActn 177
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
27
28
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog LscData
A B C D E F G H I
1 LineSideCnv Data (LscData)

Vrs
Metering [B1]
Ir X 16 Power Factor
Metering [F1] X
13 AC Line kW
2
Vst
Metering [B1]
Is X2
Metering [F1] X
Figure 7 - Line Side Converter Data
√X 14 AC Line kVA
3
It
Metering [F2] X
X2

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

Figure 8 - Current Reference Generator

Chapter 3
29
30
Chapter 3
PLL DroopCtrl CurrCtrl CBI Metering PReg Spindle Ref Move Trq RefCAM Proc 2 22Series IO Digital Motor I2T
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VarCtrl
A B C D E F G H I
1 Reactive Power Control (VarCtrl)

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

Metering [D5] VoltRefGen [C5}
3
Vq
Figure 9 - Reactive Power Control
Metering [D1] 1
3
SourceImpedance
LscData [C5]
BusRefAutoAdjCalculation

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

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

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

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

Rated Volts 25
Figure 10 - Droop Control
Max Calc CurPwrLmt [G3] Active Cur Cmd 67

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

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

Limit
Calc
Vbus Ref Maximum 67
Active Cur Cmd
+100% CurPwrLmt [G3]
5 FullLd 1stOrderCoef MaxFullLdDrpGn 355 MaxFullLdDrpGn
351
DroopGain Gain 0%
Coeff Calc
Scaling
NoLd 3rdOrderCoef Limit
352
DroopGain
1stOrderCoef
1stOrderCoef Active
Droop 354 Droop Gain Actv
CurPwrLmt [G3] 3rdOrderCoef
Gain
6 Calc
Active Cur Cmd 67
31
32
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DBC
A B C D E F G H I
1 Dynamic Bus Control (DBC) DBC Mode Sel

DBC NomMtrPwrLm 330
61
DBC IdleMtrPwrLm 331

DBCMtrngPwrLimActv
332 CurPwrLmt [B2]
DBC NomRgnPwrLm
Parameter
DBC IdleRgnPwrLm 333 Linear DBC Power Limit Calc Selection
2
104
Regen Power Lmt
DBCMtrngPwrLimActv
Motor Power Lmt 105
3
Figure 11 - Dynamic Bus Control
NonLinear-
Port 0,DC Bus Volts OrderRegen
Metering [D5]
3
Parameter DBCRegenPwrLimActv

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

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

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

0
AC Line Voltage 2 x
[2E2] Pk 50
Calc
3
Figure 12 - Voltage Reference Generator
ManDCBusRefSel VoltCtrl [F2]
47 VbusRefLmtd
MAX
Low
DC BusRef Preset

Inverter DC Bus Limit VbusRefLowLim
48
ManDC BusAnlgHi
41 Limit 226 4 Vdc Cmd Lmt
1
Chapter 3
4 42 Parameter
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
33
34
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VoltCtrl
A B C D E F G H I
1 Volt Reg C/U Sel Selector: Voltage Control (VoltCtrl)

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

Metering [D5]
3
2 BusObsConfig(320):
BusObsConfig
320 BusRegIntegTerm
0- Disabled
1- BusObsOnly.
Figure 13 - Voltage Control
2- BusObsVltEst. 0,1 DC Bus Command BusRegPropTerm

50 VbusErr
BusObs Volt Est 2 IqRefVbusReg
DC Bus Obs VoltRefGen [G3] DC Bus Obs

PI Regulator
[H5] A[2]
3
Volt Reg C/U Sel 54

VbusRegKi
c Volt Reg Ki 60

Volt Reg BW 55 0
Volt Reg Damping 56

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

DcBusObs [C1]
Ext Bus Cap 52
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DCBusObs
A B C D E F G H I
1
DC Bus Obs
Total Sys Cap
VoltCtrl [C4]
LscCtrlCfg [C5]
IqRefVbusReg
IqRefDcBusObs
+ X
- Limit
2 Cur Lmt Command
101
BusObsConfig(320):
-1
BusObs Curr Est
Figure 14 - DC Bus Observer
0- Disabled X 325
1- BusObsOnly.
2- BusObsVltEst.
X
3
0
0 1,2 0 1,2
320
BusObsConfig 0

1.0
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
35
36
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PFC
A B C D E F G H I
1
Power Factor Correction (PFC)
2
IqRefComp
AC Line Freq 1
PLL [H3]
Active Current CurPwrLmt [E4]
0 Compensation
LCL Data VqRefComp

Figure 15 - Power Factor Correction
3
VqFeedFwd
LscCtrlCfg [F3] Vq, Vd Feed Forward
and Decoupling
VdRefComp
360 FFVltgLPFTime

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

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

DynamicBusCtrl [H2] DriveDerating [H3]
106 Regen Pwr Avail
AC Line kW 13
LscData [D2]
2
Available
Power 107 Motor Pwr Avail
Calculation
Motor Power Lmt
0,1,2, 3 71 KVAR Available
105
DBCMtrngPwrLimActv
Figure 16 - Current/Power Limits
DynamicBusCtrl [H4] 4
ILmtUsrSts
Vq
226 0 Current Lmt

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

Calculation 100
Current Limit
AC Line Frequency
1 CurrCtrl [11F2]
PLL [H3] PFC [H2] 226 6 Iq Cmd Lmt
Total Inductance
101 Cur Lmt Command
Reactv Cur Cmd
IdVbusCurLim
73
CurrCtrl [11F4]
5 Iq Ref Lmtd
Id Cur Lim Abs Id Current

Limit 226 8 Id Cmd Lmt
VarCtrl [G5] Calculation
PFC [H4] 72 KVAR Command
37
38
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog CurrCtrl
A B C D E F G H I
1
Current Control (CurrCtrl)
Cur Reg C/U Sel Selector:

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

2
CurPwrLmt [G3] PI Regulator
Active Current
Figure 17 - Current Control
7
Cur Reg C/U Sel 74 CurRegKiIq
Metering [I1]
VqSyncRef
PFC [G3]
c Cur Reg Ki 80 CurRegKpIq
Cur Reg BW 75 0
3
P
Cur Reg Damping 76 W
u Cur Reg Ki 79 1
Auto Gain M
Calculation CurRegKpId
LCL Data c Cur Reg Kp 78 CurRegKiId

VdSyncRef

0
u Cur Reg Kp 77 1
4 IdSyncErr CurRegdOut
AC Line Source 31
Reactv Cur Cmd 73
CurPwrLmt [G4]
PI Regulator
AC Line kVA A 32
Reactive Current
AC Line Imped% A 34
Source
8
Impedance
Processing Metering [I2]
AC Line kVA B 33
PFC [G4]
5 AC Line Imped% B 35
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog LscCtrlCfg
A B C D E F G H I
1
LSC Control Cfg (LscCtrlCfg)
PwrFeedFwdConfig(300):
0- Disabled
1-Enabled.
IqRefOpSel
2
BusObsConfig(320): 40 2
Conv Options Cfg

0- Disabled
1- BusObsOnly. CurRefGen [F2]
2- BusObsVltEst.
VoltCtrl [H2]
Figure 18 - LSC Control Configuration
3
Converter Mode Select
FFPwr Curr Calc PFC [A2,E2,A4,E4]
X 326
3
Metering [D5]

300 Port 0,DC Bus Volts
PwrFeedFwdConfig 0
0
FF Power Gain 13:44

1
Chapter 3
4 X
X
Output Power 10:4
Metering [D1]
Vq X
3/2
BusObsConfig
320
0
5 0
DC Bus Obs[H2]
IqRefDcBusObs 1,2
39
40
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog DriveDerating
A B C D E F G H I
1
Drive Derating (DriveDerating)
2
Figure 19 - Drive Derating
Running
225 16
Line Side Sts 1

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

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

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

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

Psn 1757
PTP Ref PTP PRef
PTP Ref PTP Mode 34 VReg Output
1383 Position
Motor Side Inverter Control Diagrams
Sel Selection Selection Selected VRef Final

Planner 1969
PRef EGR Out
+
Vel 1684 + 1933
Vel PI +
1686 Regulator x PI Regulator
PCAM Psn PCAM Limit
1426 Planner Pos
Select 1042
[N]
PLL Ext Vel Position 1899 Vel Fb Active
1591 [D] '
Vel Sel PLL Mode 1752 Psn Gear Ratio
Pos Gear Ratio
Droop RPM
Planner Selection 1961
PLL PRef 1595 Vel Limit Neg at FLA
System BW 906
Sel Position + Ref NF 1 &
Offset + 1731 Position Command
Ref NF 2 VReg Kp 1955 1956
PRef Direct
PRef VReg Ki 1957 1958
Direct Ref
1681 Selection
1683
Select
Figure 20 - Flux Vector Overview
( VReg Output )
Psn Gear Ratio 1752 x ( VRef Profilr ) ( Vel FF Ref )
Velocity Control – Reference Torque Control
( Vel Comp Out )

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

RefB TrimPct Sel VRef Vel FF Gain FrctnComp Torque + + Ref
1923 Load Total Filters
& Vector
Ramped 1760 2050 Out Mode +
1860 PsnVelTrq Actv x Vel Comp Observer Inertia Control
PID Output Sel Selection Limit
Out 2057
Speed 34 1761
RefA Trim Sel Ref 9:14 2020
x Friction Comp 2076 Current
1855 TrimPct
Ref Vector LdObs Mode Processing
Speed Ref NF 1
Trim + + Trq Ref Selected
RefB Trim Sel PID Vel Vel Profiling Jogging Ramp &
Ref + & + X
Exclusive Selection Selection
Chapter 3
Ref Move +
1865 Selection Ref NF 2 1042 Torque
CAM Profiles Trq
Limit
1814 Vel Fb Active Ref
Preset Speed 1 Generation Motor
CAM
Jog Speed 1 1894
Preset Speed 2 1815
1932 E1
Preset Speed 3 1816 Jog Speed 2 1895 PID Speed Trq Ref A Stpt Trq Ref A Sel
Virtual Encoder Trq
Trim VRef Scale
1817 Selection 2001 2000 Commanded
Preset Speed 4 Torque Gear
1818 Trq Ref B Stpt Trq Ref B Sel Ref 2073
Preset Speed 5
9:14 Selection
1819 2008 2007 Load
Preset Speed 6
1820 PID Output Sel
Preset Speed 7 E2
PID Torque
Trim / Excl
Process Control ( PID Output Meter ) Selection
PID Output Meter 9:14

PID Ref Meter
PID 9:13
Reference
PID Output Sel
PID Ref Sel 9:25 9:26
Selection
PID Fdbk Meter PID Regulator ( PID Output Meter )
PID
PID Fdbk Sel 9:35 Feedback 9:36
Selection Limit
PID LPF
PID Prop Gain 9:4 9:10
BW
PID Int Time 9:5
PID Deriv Time 9:6
41
42
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Freq Overview
A B C D E F G H I
1
Variable Frequency (V/Hz), SV Overview (Freq Overview)
Velocity
Jog Speed 1 1894 Convert
Vref 1923 Limited Electrical to
MOP Jog Speed 2 1895 Mechanical Units
VRef All [I4] VRef Ramped

PID Output Sel 9:14 VRef
Commanded
Vref Sel Vref All 1914 Velocity Control – Current/Bus Limiter
1892
VRef Selected
2
954 Ref NF1 Freq Act
From Anti-Sway [D2] 956 Ref NF1 Depth Act
957 Ref NF1 Gain Act
Velocity Referencing (I/O) - Frequency 943 Ref NF1 Width
Variable Torque
Max Speed
Auto Tune Start/ Stop Convert Limits
Boost Proving
Override Override Mechanical to Bus/Current
Override Override
Electrical Units Limiter
Ref NF1 Ref NF2 '
6 and
VelRamp Rate Rate Integrator
3 Limit
2
Control Ref NF2 Freq 948
Ref NF2 Width 949
Mtr Cfg 420 15 Vel Limit Pos 1898
Figure 21 - Variable Frequency, SV Overview
VRef Ramp In V/F Ramp and Rate Select Options Ref NF2 Depth 950
(Jerk Select) 1899
1 Ref NF2 Gain 951 Vel Limit Neg
Overspeed Limit 1904

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

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

2
VRef Commanded 1914 1 Output Frequency
VRef Final 1933 Common Bus Inverter (CBI) 2 Output Voltage
Trq Commanded * 2073 3
Figure 22 - CBI Metering
Output Current
Position Command ** 1731 4 Output Power
Motor Side Power Structure 5 Output Pwr Factr
DC + Bus
U Motor Phase
AC
V Motor Phase
Motor

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

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

1746 Position Fb **
5
* Flux Vector Only

** Flux Vector with Encoder Only
43
44
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Fdbk
A B C D E F G H I
1
LdObs Mode [2020]: Feedback Configuration & Status (Fdbk)
Fdbk Loss
Fb Loss Action 1019 Detect
0- Disabled
1- LdObs Only
1002 c Vel Fb LPF BW
2- LdObs VelEst 355 5 Motor Side Sts 2

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

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

Alt Vel Alternate Alt Vel Feedback Estimate is not available in LdObs Vel Fb In
0 1
Feedback Velocity Fb LPF 1041 Torque or with Open Loop 2028
3 Source Processing Feedback
Parameter 1
Selection 0 Ld Obs [A5],
Alt VelFb Sel 1006 Trq Ref [A4]
= Open Loop
Figure 23 - Feedback Configuration & Status

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

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

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

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

Zero Position ( 1697) is loaded with
Home Psn Actual [1647] - Home Psn Find Home Ramp 1644 Speed
Homing
User [1648].Then Position Actual [1745]
is loaded with Position Fb [1746] - Zero
Position [1697]. Home Torq Thresh 1649 Homing Event
VRef Homing
VRef All [G3]
3. When Position Redefine is enabled, Home Torq Limit 1650
Home Psn Actual [1647] is loaded with
Position Fb [1746] .
2 Home Torq Time 1651
4. Parameter P1649 to P1655 are only
applicable while performing Home to Home Offset 1652
Torque operation.
5. If Home Offset (1652) is non – zero, Home Return Spd 1653 PTP Command
Figure 24 - Position Homing
than the Home Psn Actual [1647] = a c 1391 PRef 1 [E2]

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

Reference > Home Torq Thresh (1649), Position Fb
the drive ramps down to point b after 1746
Home Torq Time (1651) expires. It stays
at point b and drive does not perform Fdbk [H4]
any PTP move.
Home Ctrl Options Homing Status
Chapter 3
4
7. If Home Ctrl Option (1640) bit 1 –
1640 0 Find Home 1641 0 Home Request
Home DI and bit 8 – Home Torque are
set and user sets or toggle bit 0 – Find 1 Home DI 1 Home Enabled
Home from 0 to 1, drive does not
2 Home Marker 2 Homing
generate Home Request. It will generate
Type 2 Alarm – Invld Homing Cnfg . 3 Return Home 3 At Home
4 Psn Redefine
5 Homing Alarm
6 Home DI Inv
5 7 Hold At Home
8 Home Torque
0:170 DI Find Home

0:171 DI Return Home
0:172 DI Redefine Psn
0:173 DI OL Home Limit
6
45
46
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PRef1
A B C D E F G H I
Profile Indexer
1
Position Reference 1 (PRef1) Position Mode Selection
Step 1-16 Values 1209 1220 1374 Profile Indexer PTP Planner and Move Profiles (PRef Move) PsnVelTrq Actv
Trq Ref [E5]
34
Step 1-16 Dwell 1210 1221 1375 Ref Move Type
1202 0-4 StrStepSel0-4 Zero Torque 0
Step 1-16 Batch 1211 1222 1376 931
PsnVelTrq Actv
1212 1223 1377 Profile 8 Hold Step
Step 1-16 Next
Command Trq Ref [E5]
1213 1224 1378 10 Restart Step Speed Reg 1
Step 1-16 Action
34 PTP VRef Fwd
2 PTP Reference and Indexer Profiler 1405 Torque Reg 2
PTP
PRef Move [H3]
PTP Control 1381 0 Vel Override PTP Mode 1382 Command
Psn PTP SLAT Min
1391 1404 3
4 Intgrtr Hold ¦
Absolute Absolute 0 LinScurve
PRef Move [B3], PTP Reference
5 Ref Pause Position Prof Ind 1 [H3], SineSquared
Homing SLAT Max 4
6 Ref Sync Homing [H2]
PTP EGR [G2] Poly5
Mult/Div
Figure 25 - Position Reference 1
Move 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 Ref CAM Psn Selected
Control Camming 8
X Other Ref 1574 1684
DI Indx Step 0:176 1381 2 Reverse Move Sources Parameter
DI Indx StepRev 0:177 PCAM Psn Out PRef 2 [A1]
1386 3 Preset Psn Selection Psn PLL 9
PCam [G2]
DI Indx StepPrst 0:178 PTP PCAM Main
4 1446
Index Pt M 0...15 1422 PCAM Mode
Psn Direct 7
Preset Immediate 2
Change PCAM Main
1478 1445 PCAM Main Types
Pt S 0...15 Psn SpndlOrnt 10
Direct Position Reference Selection
PLL Planner 0,1,2,3,4,5
0
PRef Select 1681 PLL Ext Vel Sel 1591 PLL Vel Out
PLL Ext 1612
Psn Direct Stpt 1592 PLL [H3] Spd Ref
1682 Vel Stpt PLL Enc Out 0,1,2,3,4,5,7
Other Ref 1615 0
Parameter
Sources PLL PLL [H4]
5 Virtual EncDelay Selection
Control PLL Vel Out Adv
1017 Psn PTP 6
VRef Vect [H2] PLL Psn 1613
1596
Parameter Stpt
Virtual Enc Psn PLL Enc Out Adv PLL [H3]
1046 Selection Other Ref Profiler 11 Vel FF
VRef Vect [H2] Parameter 1616
Sources Selection PLL [H4]
VRef Vect
PLL PRef Sel 1595 Psn
Other Ref Camming 8 [I4]
Sources
1683
6 Psn PLL 9
PRef Direct
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PRef Move
A B C D E F G H I
1
PTP Position Reference – Move Profiles (PRef Move)
Ref Move Type Point to Point parameter initializations
performed with Position Regulator
931 INACTIVE
Max Speed Fwd 1392 PTP Reference [1404], PTP Feedback

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

1380 0 ZeroFFSpdRef
PTP Decel Time 1399 LinScurve (0)
1 Ref Complete
PTP S Curve 2 PTP Int Hold

1403
3 SpdFFRef En
3 PTP VRef Fwd

PTP 1405
Command
PRef 1 [E2] 1391 6 1404 PRef 1 [G2]
Figure 26 - Position Reference – Move Profiles
Ref Time Base PTP Reference

933
0 = Rate
1406 PTP Vel Max
1 = Time 1407 PTP Accel Max

Ref Accel Time 934
Chapter 3
4 1408 PTP Decel Max

0 = Rate 1409 PTP Move Time PTP Move Status
1410 0 Vel Limited
1 = Time
Ref Decel Time 935 1411 PTP Move Seg 1 AccelLimited
SineSquared (1)
0 = Rate Poly5 (2) 2 DecelLimited

Cubic (3) 0- Accel Decel
1- Dwell Decel 3 Zero Move
RefEnergyBalance 932
2- Decel
Ref Max Accel 936 4 Move Failed
3- Reversing
Ref Max Decel 937
5
Ref Fault Config 941 24 PTP VelMax Time

25 PTP AccMaxTime
26 PTP DecMaxTime
27 PTP Time Left
28 PTP Iterations
47
48
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog PRef2
A B C D E F G H I
1 EGR is skipped when

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

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

Psn Offset 2 1 Rate Lim
1694
2 1730
Figure 27 - Position Reference 2
Other Ref
Sources Parameter Psn Ctrl Options 1695
Selection
Psn Ctrl Options
(OffsetReRef) 1730 3
Psn Offset Vel (OffsetVel En)
3
P o s i ti o n W a tc h 1 P o s i ti o n W a tc h 2
Psn Ctrl Options Psn Ctrl Options

1730 6 PsnWtch1Arm 1730 8 PsnWtch2Arm

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

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

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

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

PRef 2 [H1] PReg Vel Limit Neg 1768
Psn Feedback Scaling PI Regulator
Figure 28 - Position Regulator
Psn Ctrl Options Zero Position

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

' Motor Speed 1752 PReg Status
( )

Position Fb Gear Output Spd u PReg Kp* 1755
PReg Int Out OffsetIntgrtr
1732 0
Fdbk [H4] Psn Load Actual 1748 PReg LdError Psn Ctrl Options
1765 1 Offset ReRef
22
Load Psn Fb Sel ki
Calib kp 1730 0 Reserved 2 Psn Intgrtr
1014 + 6 Const
+ s
- - 1 Intgrtr En
Chapter 3
4 1746 LdPsn Fb Del 3 Psn Reg Lmt

P Gain I Gain
20
6 PReg 2 Offset ReRef
Position Fb 4 Reserved
Status
LdPsn Geared 3 OffsetVel En
Fdbk [H4] 5 Reserved
[N] c PReg Ki* 1756 1732 8 Intgrtr Hold
' 23
[D] 4 Zero Psn 6 Reserved
u PReg Ki* 1757
Other Position Parameter Gear Rat 5 Intgrtr Hold 7 Psn Reg Actv
Feedback Selection
PReg Droop 6 PsnWtch1Arm
Sources 8 Intgrtr Hold
1763 7 PsnWatch1Dir 9 PsnW1Detect
Load Psn Fb Mult 1015 8 PsnWtch2Arm 10 PsnW2Detect
Droop 9 PsnWatch2Dir 11 InPsn Detect
5 Load Psn Fb Div 1016
10 Add Spd Ref
On PReg Output Limit

Intgrtr En
Or Inv
Intgrtr Hold
6
49
50
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Psn PLL
A B C D E F G H I
1
Position Control – Phase Locked Loop
(Psn PLL)
PLL Ctrl Options
1590 0 PLL Enable

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

PCAM Vel Out 1575 4 X to V PLL BW
1 Conv 1600 1612 PLL Vel Out
PTP Enable Delay
5 PRef1 [G5]
Prof Enable
1
1405 1
PTP VRef Fwd 6 1613 PLL Vel Out Adv

Figure 29 - Position Control – Phase Locked Loop
PRef1 [G5]
0
0
Delay 1615 PLL Enc Out
PLL Psn Stpt 1596 PRef1 [G5]
0 + 1
+ Loop + VE 1616 PLL Enc Out Adv
Other Ref -
4 Filter PRef1 [G5]
Sources Parameter 0
Selection
0
1597 PLL Psn Out Fltr

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

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

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

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

0– Pnt Zero
1– Last Stop
PCAM PsnOfst Eps 1429 2– Actl Input PCAM Vel Scale 1438 DI PCAM Start 0:880
Figure 30 - Position Control – Position Reference CAM
3– Remainder Other Ref

PCAM Start Cfg 1425 Sources Parameter PCAM Status 1423
Chapter 3
Selection
4 PCAM Control 1421
Started 0
Profile Definition PCAM Vel SclSel 1437 In Cam 1 Start 0
TCAM 2
Pt M00 1446 Pt S00 1478 Both Main and Aux CAM DirectionOut 1
PCAM Start Slope 1442 Single Step 3 Aux Cam En 2
Pt M01 1447 Pt S01 1479 Pt M01 1512 Pt S01 1543 Continuous 4
PCAM End Slope 1443 VReg IntHold 3
DirectionOut 5 Reserved 4
PCAM Pt M15 1461 Pt S15 1493 PCAM Pt M15 1526 Pt S15 1557 Aux Cam En 6 Reserved 5
Main Aux 7
VReg IntHold Direction In 6
5 Types 1445 0 - - 14 x Types 1511 x 1 - 14 x
MainWrongOrd 8
Linear or Cubic Linear or Cubic Offset En 7 Not
EndPnt 1444 AuxWrongOrd 9 TCAM
End Pnt 1510 RerefPsnOfst 8
Persist Mode 10 Unidirection 9
Direction In 11 CamProfNrml 10
Not
Offset En 12 TCAM
RerefPsnOfst 13
6 Unidirection 14
PCAM 15
51
52
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Prof Ind 1
A B C D E F G H I
Position Control – Profiler/Indexer (1)

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

3 Prof DI Invert 0:850 0 Hold Step Counts Per Unit 1203 1202 0 StrStepSel0 1200 0 Step Bit 0 1201 Units Traveled
1 Abort Step ProfVel Override 1204 1 StrStepSel1 1 Step Bit 1
Starting Current
2 AbortProfile 2 StrStepSel2 Step 2 Step Bit 2 Step
(0-16) (0-16)
3 Vel Override 3 StrStepSel3 3 Step Bit 3
Figure 31 - Position Control – Profiler/Indexer 1
4 StrStepSel0 4 StrStepSel4 4 Step Bit 4

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

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

Action Posit Blend Time Param Digin (+/-) Wait Step to Next End
Blend Blend Blend Digin
3 Move vel N/A N/A N/A Move vel Move vel N/A
Velocity
Accel Move accel N/A N/A N/A Move accel Move accel N/A
Decel Move decel N/A N/A N/A Move decel Move decel N/A
Value Incremental N/A N/A N/A Incremental Incremental N/A
Target pos Target pos Target pos
Dwell N/A N/A N/A N/A Dwell Time Dwell Time Dwell
Figure 32 - Position Control – Profiler/Indexer 2
Time

Batch N/A N/A N/A N/A Batch # Batch # N/A
Next Next Step N/A N/A N/A Next Step Next Step N/A
Next Step Position > N/A N/A N/A DigIn Position > Restart
Condition Value transition Value Indexer
DigIn # N/A N/A N/A N/A Digin # N/A N/A
Chapter 3
4
Type = Speed Profile
Action Posit Blend Time Blend Param Blend Digin (+/-) Wait Step to Next End
Blend Digin
Velocity Move vel Move vel Move vel Move Vel Move vel Move vel N/A
Accel Move accel Move accel Move accel Move Move accel Move accel N/A
accel
Decel Move decel Move decel Move decel Move Move decel Move decel N/A
decel
Value Incremental Total Time Compare Param # N/A Total Time Total Time N/A
Target pos (+/-)
Dwell N/A N/A CompareParam # Dwell Dwell Time Dwell Time Dwell
Time Time
Batch N/A N/A N/A Batch # Batch # Batch # N/A
Next Next Step Next Step Next Step Next Step Next Step Next Step N/A
5 Next Step Position > Time > Param[Blend P1] Digin Digin Time > Restart
Condition Value Value Compare to [Value] transition Value Profile
Param [Blend P2] transition
DigIn # N/A N/A N/A Digin # Digin # N/A N/A
53
54
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Roll Psn
A B C D E F G H I
1 Position Control – Roll Position Indicator

(Roll Psn)
Roll Psn Offset
1085
Roll Psn Config

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

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

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

Figure 33 - Position Control – Roll Position Indicator
1086 1087 1088 1089 1091

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

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

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

[ ] -
SO Config 1060 4 Scale Invert
0 SO Unit Out
X 1070
1013
Preg Fb Sel 1
ReCap ÷
3
X X
*1 *1
Figure 34 - Position Control – Spindle Orient

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

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

Vref Ramped 1923
1073
SO Position Out
5
1069 1071 1072
SO Accel Time SO Decel Time
1067
SO Cnts per Rvls Limit
1074
0 Position Feedback Input
6
SO Vel Lim Rev
55
56
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef Overview
A B C D E F G H I
Velocity Reference Selection
1
Velocity Reference Overview (VRef Overview)
VRef Selected
VRef A
RefA Auto Velocity Reference Control
RefA Trim
+
RefA TrimPct
VelRefCAM/ VRef
VRef B Profiling/ Limited
VRef Commanded Direction Limit VRef
2 Jogging/ Skip
+ Switch Stop / Torque
RefB Auto Lift App/ Mode Bands
RefB Trim Control Proving
Autotune/
+ Homing/ Limit
RefB TrimPct Overrides
From
PI Regulator
Presets 3-7 Auto (Exclusive Mode)
DPI Ports 1-6 Manual
ENet VRef
3
Figure 35 - Velocity Reference Overview
Accel Accel FF
Vector Velocity Control FF to Trq Ref
Virtual
Encoder
Vel
Comp Friction Friction Comp
Vector Ramp and

Move Profiles Comp Torque Ref
Flux Velocity VRef Ramped

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

1 1800
* Note: Analog Hi, Lo
scaling only used when 350 VRef Source
Analog Input is selected ‘d’ Prefix Refers to Diagnostic Item Number (ex. d33) – Reference Symbol Legend Velocity Units 0:46
1870 VelTrimPctRefSrc
Disabled (0)
1871 Vel Trim Source
VRef A Stpt 1801 1890 VRef Sel Sts
RefA TrmPct Sel RefA Trim Sel
1850 1855 0:47 Vel Units Act
Preset Speed 1 1814
Preset Speed 2 1815
Motor Side Sts 1 354 9 14 13 12 11 10
Preset Speed 3 1816 Man Ref Ref Ref Ref Ref
2 Disabled (0) Disabled (0) Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Preset Speed 4 1817 0
0
Preset Speed 5 1818 RefA TrimPct Stpt 1851 Default RefA Trim Stpt 1856 Default
1
( Ref A Auto ) VRef Sel
Preset Speed 6 1819
Port 1 Reference 0:214 Port 1 Reference 0:214 VRef All [A1]
Preset Speed 7 1820 2
( Ref B Auto )
Port 2 Reference 0:215 Port 2 Reference 0:215
MOP Reference 1823 Port 3 Reference 0:216 Port 3 Reference 0:216 3
1816 ( Preset Speed 3 )
MOP [G3]
Parameter Port 4 Reference 0:217 Port 4 Reference 0:217 4
Enc VRef 1834 Selection 1817 ( Preset Speed 4 )
Fdbk [H5] Port 5 Reference 0:218 Port 5 Reference 0:218
3 Parameter Parameter
Port 6 Reference 0:219 Selection Port 6 Reference 0:219 Selection 5
Default 1818 ( Preset Speed 5 )
Port 1 Reference 0:214
Figure 36 - Velocity Reference Selection
Port 2 Reference 0:215 6

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

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

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

VRef B Sel 1807 RefB TrmPct Sel 1860 RefB Trim Sel 1865 Alt Man Ref AnHi
1836 31
x ( Alt Man Sel )
+ 1837 * Parameter
6 x Alt Man Ref AnLo Selection
VRef B Mult 1811
1835 Alt Man Ref Sel
57
58
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef All
A B C D E F G H I
Position Control – Add Speed Reference Option

Trq Ref [E5] Psn Ctrl Options Velocity Reference – All (VRef All)
1 PsnVelTrq Actv (Add VRef)
34 1730 10
Position VRef Selected
VRef Sel (>= 6) 1
1892 Velocity Reference CAM V e l o c i ty P r o f i l i n g J o g g in g Lift App (Micro Positioning) Pump Application Homing
VRef Sel [I2]
0
Non-position 0 Trq Ref [E5] Motor Side Sts 1 Trq Prove Status
(< 6) Homing Status
VCAM Control PsnVelTrq Actv (Jogging) (Micro Psn) Oil Well 1 [H3] Oil Well 2 [H4]
(Cam Enable) 354 17 POfVelRefSts 1641 1
34 9:52 2 PumpJackSpdRefEnbl
PI Speed Exclusive 2201 3
0 0 ≠6 0 0 0
0 0
2
1 Vel Ref Profiler 1,0 PumpJack 1 1 1
9:13 6 Jog 1 1 POf Vel Ref
PID Output Meter CAM [H2] 1894 x SpdRef
Proc 1 [H2] Speed 1 Oil Well 2 [H4]
VCAM Vel Out Profile Status Oil Well 1 [H3]
Jog 0,1
PID Enable 2354 Position 1895
PID Status 9:3 0 1200 10 Speed 2
Mode 9:71
Motor Side Vel 1 1 Position MicroPsn
354 16 Running & Ref 0 Logic [H3] VRef Homing
Sts 1 ScalePct
CAM
Speed Excl Drive Logic Jog1 31
9:14 0 Speed 879 2 19
30 VRef Profilr Rslt Jog2
67
Figure 37 - Velocity Reference – All
PID Output Sel = 1 VRef PID Sel VRef Homing x 1752

3 Homing [H2] Psn Gear Ratio
VRef Prof Ind 1752 Psn Gear Ratio
x
Prof Ind 1 [H2]

Direction Mode Control Autotune Tests Limit Switch Control Velocity Ref Command Limits VRef Commanded
1914
Direction Mode VRef Sel Sts VRef Sel Sts
Direction Skip Bands
(Decel Lmt Sw) (End Lmt Sw)
930 Test Min Velocity Max Velocity
4 Limits Limits VRef SkipOut
1890 13 1890 14 VRef CLmt In 34
Bipolar 33 VRef Vect [A1]
1 0 0 0 1906 Skip
Rev Disable VRef Limited Bands
2 1 1
Max 1 Limit Limit
5 Hz 0 Proc 2 [B2]
0 Unipolar 0
X Skip Speed 1 1908 VRef OverRide
912
1814 Testpoint 39:
Foward Autotune Preset Speed 1
Skip Speed 2 1909 0- No Override
Command Vel Lim Id or 1- Psn Cntrl – Add Spd Ref Option
Logic Inertia Vel Low Lim Pos 1900 Skip Speed 3 1910 2- PI Speed Exclusive
5 VRef Dir Sel 32 Test 3- Speed Profiling
Vel Low Lim Neg 1901 Skip Speed 4- Jogging
Unipol 1 1911
(+1) Band 5- Homing
Fwd
Vel Limit Pos 1898 6- Autotune
Unipol 0 7- Direction Test
(-1) Rev Vel Limit Neg 1899
8- Limit Switch Decel Limit
Internal Load Dependent 9- Limit Switch End Limit
Max Limit 10- Torque Proving
(Lift Application) 11-Oil Well Pump
12-Variable Boost
6 Trq Prove Status
9:52 5 13-Velocity Ref CAM
(LoadTestActv)
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VRef Vect
A B C D E F G H I
Start/Stop
Velocity Reference - Flux Vector (VRef Vect)
1 Motor Side Sts 1 (Running) Velocity Ramp and Move Profiles (VRef Move)
VRef OverRide
354 16 (Testpoint 39) = Vel Ctrl Options
Motor Side Sts 1 OR Velocity Ref (Delayed Ref)
(Stopping)
355 9 CAM (13)?
VRef Ramp In 1950 8
VRef Commanded 354 18 Motor Side Sts 2 1923 VRef Ramped
1
0 (Autotuning) 1 0 Proc 2 [C2] 0
VRef All [I4] 1914
Not Stopping
and Active
Virtual Encoder
0
0
1 VRef Delayed
0 One 1
Stopping LinScurve 1924
or Not Active Scan
2 SineSquared Delay PRef 1 [C5]
Virtual Enc EPR Virtual Enc Psn
Poly5 (Edges Per Rev)
Cubic 1018 1046
931 One
1017
Ref NF2 Freq 948 Ref Move Type Scan
Ref NF2 Width 949 Delay Virtual EncDelay
Virtual Encoder
Int Ramp Ref PRef 1 [C5]
Ref NF2 Depth 950 1
Trq Ref [G1] Ref NF2 Gain 951
Velocity Control
3
VRef Filtered
VRef NF In
Accel Feed Forward 1925
36
Figure 38 - Velocity Reference – Flux Vector
Ref NF2 Ref NF1

Accel FF Mode
Accel FF Output
1972 Velocity Comp

2070
Disabled Vel Comp Sel
0 Accel 0
0 1927
FF
Int Ramp Ref 1 d Accel FF Output Not Used
1 0
0 Trq Ref [A2] Vel Comp Out
dt
Chapter 3
4 Ext Ramped Ref 905 System C/U Sel Ramped Ref 1 d 1930 From Anti-Sway [D2]
2 d
1978 1973 c Accel FF Gain 140 Cur Lmt Stop dt VRef Psn FF
dt OR Rate Ref 2 35 1760 c Vel FF Gain
3 1974 u Accel FF Gain 1931 Speed 954 Ref NF1 Freq Act
1931 130 LineLoss Act 0
Comp x 1761 u Vel FF Gain
FF Vel Rate Ref 956 Ref NF1 Depth Act
FF Vel Rate Ref 1975 Accel FF NegGain
c Vel Comp Gain 1928 1 Vel FF
957 Ref NF1 Gain Act 0
u Vel Comp Gain 1929 943 Ref NF1 Width PRef 1 [I5]
354 17 1752
VRef Scaled
37 Motor Side Sts 1 Psn Gear Ratio
X Velocity Ref Final Limits (Jogging)
1932
5 VRef Scale 140 Cur Lmt Stop
Position Reg Output At Limit Status OR

PI Velocity Trim
VRef FLmt In (MaxSpeed Lmt) 130 LineLoss Act
Max Speed Limit
2 0 38
Proc 1 [H2] 9:13 0 365 2
PReg Vel Out 1767 0
PID Output Meter ≠2 VReg Vect [A3]
0 1 PReg [H3] PReg Vel Out 1
0 1
0
Limit 0 1933
9:14 354 17 354 17 Vel Limit Pos 1898 VRef Final
PID Output Sel Motor Side Sts 1
6 (Speed Trim) (Jogging) Motor Side Sts 1 Vel Limit Neg 1899
(Jogging)
59
60
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Ref Move
A B C D E F G H I
1
Velocity Reference, Flux Vector – Move Profiles (VRef Move)
Ref Move Type
Motor Side Sts 1 354 17 Jogging
931
0
1,0 VelRamp Rate
VRef Accel Time1 1915
2
VRef Accel Time2
0,1
1916 Vel Ctrl Options 1950
MS Logic Rslt (Ramp Hold) 0
0:200 8 9
(Accel Time 1, 2)
1 (Ramp Disable) 1
Jog Acc Dec Time 1896 (StpNoSCrvAcc) 2
2
0 (NoSCrvSpdChg) 9
Logic [H3] 1917 1,0
VRef Decel Time1
VRef Decel Time2 1918 0,1
LinScurve (0)
MS Logic Rslt
0:200 10 11
(Decel Time 1, 2)
Logic [H3]
VRef Accel Jerk 1919
VRef Decel Jerk 1920
3 VRef Ramped
VRef Ramp In 1923
1
Proc 2 [C2]
VRef Vect [E1] VRef Vect [G1]
Ref Time Base

933
0 = Rate
1934 VRef Accel Max
1 = Time 1935 VRef AccJerk Max

Figure 39 - Velocity Reference Flux Vector – Move Profiles
Ref Accel Time 934

4 1936 VRef DecJerk Max
0 = Rate 1937 VRef Move Time VRef Move Status
1938 0 AccelLimited
1 = Time
Ref Decel Time 935 1939 VRef Move Seg 1 AccelJerkLim
SineSquared (1)
0 = Rate Poly5 (2) 2 DecelJerkLim

Cubic (3) 0- Accel Decel
1- Dwell Decel 3 Zero Move
RefEnergyBalance 932
2- Decel
Ref Max Accel 936 4 Move Failed
3- Reversing
Ref Max Decel 937
5
Ref Max AccJerk 938
Ref Max DecJerk 939

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

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

0 - PCAM
Other Ref X (master)
Unwind
Figure 40 - Velocity Reference CAM
Sources Parameter
3 Selection
time 1 - TCAM
VCAM Psn Select 2206 Virtual Encoder
VCAM Psn Ofst 2208 '

VCAM PsnOfst EPS 2209 0:883
VCAM Status 2203 DI VCAM Start
VCAM Vel Stpt 2211 Started 0
2 - VCAM In Cam 1
Chapter 3
4 Other Ref VCAM Control 2201

Sources TCAM 2
Parameter
Selection Single Step 3 Start 0
0– Pnt Zero
1– Last Stop Continuous 4 DirectionOut 1
VCAM Vel Select 2210 VCAM Master Scl 2214
2– Actl Input DirectionOut Aux Cam En 2
5
3– Remainder
VCAM Start Cfg 2205 Aux Cam En 6 Cam Enable 3
Profile Definition Reserved 7 Reserved 4

MainWrongOrd 8 Reserved 5
Pt M00 2226 Pt S00 2258 Both Main and Aux CAM AuxWrongOrd 9 Direction In 6
5 VCAM Start Slope 2222
Persist Mode 10 Offset En 7 Not
Pt M01 2227 Pt S01 2259 Pt M01 2292 Pt S01 2323 TCAM
VCAM End Slope 2223 Direction In 11 RerefPsnOfst 8
Not
Offset En 12 TCAM Unidirection 9
VCAM Pt M15 2241 Pt S15 2273 VCAM Pt M15 2306 Pt S15 2337
Main RerefPsnOfst 13 CamProfNrml 10
Aux
Types 2225 0 - - 14 x Types 2291 x 1 - 14 x Unidirection 14
Linear or Cubic Linear or Cubic 15
PCAM
EndPnt 2224 End Pnt 2290
6 VCAM 16
61
62
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog VReg Vect
A B C D E F G H I
1
Velocity Regulator - Flux Vector (VReg Vect)
906 System BW
System C/U Sel (905):

* Set (905) System C/U Sel = 1010 AltFb Gn Scale
905 0- Calculated* User to manually adjust Kp
and Ki gains. Otherwise the 907 System Damping
1- User Entered
following params determine
2- Load Calculated then revert Calc gains. 901 Load Ratio
to User Entered
902 Load Coupling
2
nff
1953 FeedFwd
VReg Anti Backup

At Limit Status VReg Enable
Velocity Error (Spd Reg Lmt) 45
aVRegKp 365 4
1951 VReg Lmt In 0
41
43 0
3 VReg Output
VRef Vect [H6]
- 1
1933 + + + kp + 1969
- + +
Figure 41 - Velocity Regulator – Flux Vector
VRef Final Trq Ref [B2]

c VReg Kp 1955 P Gain Limit
+10%
ks
u VReg Kp 1956
s -10% 1965

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

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

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

Trq
VReg PI Out
Ref
Accel FF VReg CAM
Output +
Trim -
Select
2
Torque Step
VelFb
Load
Observer Position /
Trq Ref
Velocity / Te
+ Filtered Torque
Torque + + Trq Iq Current
Figure 42 - Torque Overview
Mode + Filters Torque Current Rate Ref

Limit Calc Limit Limit
Select
Friction
Trq Ref 1 Torque Comp
3
Reference
Trq Ref 2 Scale
and
Trq Trim
Trim

Pos Torque Limit
Regen Power Limit
Chapter 3
4
Drive Voltage and Current
Current Ratings Pwr
Bus Torque Limit
+ Te
DC Bus Voltage Voltage + Limit Processing
Regulator Select and
Calc Selection
Brake/Bus Config
Neg Torque Limit
Power, Torque, and Current Limit Reference Generation

5
63
64
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Trq Ref Sel
A B C D E F G H I
* Note: Analog Hi, Lo Torque Reference Selection (Trq Ref Sel)

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

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

Trq Ref A Sel 2000 Trq Ref B AnlgLo 2010
*
3
Figure 43 - Torque Reference Selection
0.0 ( Disabled )
Trq Ref A Stpt
2001 ( Setpoint ) Default
From DIO Option Card ( Analog In 1 )

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

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

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

TrqRefPosLimActv
-
Trq Ref [B2]
51 Limit
2
Active Pos 1
LdObs Mode (2020): Torque Limit Trq Scale
Cur IM, SPM [E3] TrqRefNegLimActv
0- Disabled 52
Cur IPM [E3] Active Neg
1- LdObs Only 1 Trq Ref [D3]
Torque Limit
Figure 44 - Load Observer
2- LdObs VelEst Trq Scale

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

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

K j * aVRegK p
1961 ----------------- -
Np RPM +
Droop RPM at FLA
Chapter 3
1.0
LdObs Vel Error
2031
Fdbk [E3]
1,2,3,4 LdObs Vel Est
LdObs VelFb In
2028 + X 2034
Fdbk [G3] -
5
c LdObs Kp 2021 2023 c LdObs Ki
u LdObs Kp 2022 2024 u LdObs Ki
X X
6
65
66
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Friction Comp
A B C D E F G H I
1
Friction Compensation (Friction Comp)
Friction Compensation Adjustments
Torque
2 2056
+
+ FrctnComp Rated
2054
+ FrctnComp Stick
2055
+ FrctnComp Slip
Figure 45 - Friction Compensation
3
2052
2051 FrctnComp Hyst 403
403
- -Motor NP RPM - FrctnComp Trig + Motor NP RPM +
Speed

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

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

0 - PCAM
Other Ref X (master)
Figure 46 - Torque Reference CAM
Unwind
Sources Parameter
3 Selection
time 1 - TCAM
TqCAM Psn Select 2376 Virtual Encoder
TqCAM Psn Ofst 2378 '

TqCAM PsnOfstEPS 2379 0:886
TqCAM Status 2373 DI TqCAM Start
TqCAM Vel Stpt 2381 Started 0

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

MainWrongOrd 8 Reserved 5
Pt M00 2396 Pt S00 2428 Both Main and Aux CAM AuxWrongOrd 9 Direction In 6
5 TqCAM StartSlope 2392
Persist Mode 10 Offset En 7 Not
Pt M01 2397 Pt S01 2429 Pt M01 2462 Pt S01 2493 TCAM
TqCAM End Slope 2393 Direction In 11 RerefPsnOfst 8
Not
Offset En 12 TCAM Unidirection 9
TqCAM Pt M15 2411 Pt S15 2443 TqCAM Pt M15 2476 Pt S15 2507
Main RerefPsnOfst 13 CamProfNrml 10
Aux
Types 2395 0 - - 14 x Types 2461 x 1 - 14 x Unidirection 14
Linear or Cubic Linear or Cubic 15
PCAM
EndPnt 2394 End Pnt 2460
6 VCAM 16
67
68
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 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 900 2050 2057
Motor Inertia Trq
2- LdObs VelEst Disabled

3- Vel Est Only Load Ratio 901 0 Friction
0
4- Accel Fdbk Calc Comp
***INTERNAL CONDITION ONLY***
1
Logic Ctrl State VRef Filtered 1925
Ld Obs [A2] Ld Obs [H2] 2051 FrctnComp Trig
(Forced Spd) VRef Vect [D3]
LdObs LdObs Ext Ramped Ref
OR 2 2052 FrctnComp Hyst
Acc Ref In Acc Ref Out Trq Ref Out 1978
Min/Max Cntrl
2027 2037 Zero Torque (Forced Spd) 2053 FrctnComp Time
2 2072 0 Vel Fb Active
VReg Output 0 2054 FrctnComp Stick
1042 3
1969 Speed Reg 1 0
VReg Vect [H3] + + X 2055 FrctnComp Slip
+ -
2056 FrctnComp Rated
Accel FF Output Torque Reg 2 1
VRef Vect [C4] 2070 SLAT TrqRefAtZero
Min 3
Figure 47 - Torque Reference
Min Trq Ref Selected 150

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

u LdObs Ki 2024 6
Psn PTP Trq Ref CAM [H2]
LdObs Vel Est
2,3 7
LdObs VelFb In 2028 2034 Vel Feedback
Psn Direct Trq
Fdbk [G3] Fdbk [E3]
2031 Ref
8
4 Psn Camming CAM
LdObs Vel Error
9
Psn PLL
Trq Commanded 10
Psn SpdlOrnt
Trq Ref Sel [H5] 2073
Profiler 11
Prof Ind 1 [H2],

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

1
Trq Ref Filtered

2080
Torque Torque Torque Torque Torque Torque
2150 Lead Low Notch Notch Notch Notch
Trq Ref Filt In
Trq Ref [H3] Lag Pass Filter Filter Filter Filter
Filters Filter 1 2 3 4 Cur IM [B2]
2
Cur IM SPM [B2],
Cur IPM [B2]
Trq LLF BW
2152
Figure 48 - Torque Filters
Trq LLF Gain

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

Trq NF Freq LLim 2112
Trq NF Freq HLim 2113
Trq NF WidthMin 2114
TP 265 GnOptTimeLeft
Trq NF WidthMax 2115
Chapter 3
4
Trq LPF BW LLim 2116
AdptTune NF Num 2118
Adaptive Tuning
AdptTuneMinScale 2119
Note: User Trq NF and Selected LPF gains pass through as Active gains when Adaptive Tuning is disabled.
GnStab TorqueLim 2134
GnOpt TorqueLim 2135
2136 2120 AdptTune Status
GnOpt Scale Inc
System C/U Sel 905
GnOpt Error Type 2137 *2121 AdptTune GnScale
c Trq LPF BW 2154 Trq NF1 Freq 2159 Trq NF2 Freq 2169 Trq NF3 Freq 2179 Trq NF4 Freq 2189
GnOptPosErrThrsh 2139 2123 Trq NF Freq Est
5 u Trq LPF BW 2155 Trq NF1 Width 2161 Trq NF2 Width 2171 Trq NF3 Width 2181 Trq NF4 Width 2191
GnOptVelErrThrsh 2140
Trq NF1 Depth 2163 Trq NF2 Depth 2173 Trq NF3 Depth 2183 Trq NF4 Depth 2193 2124 Trq NF Mag Est
GnOptSclHiLim 2141
Trq NF1 Gain 2165 Trq NF2 Gain 2175 Trq NF3 Gain 2185 Trq NF4 Gain 2195 2125 Trq NF Wdth Est
GnOpt Time 2142
2129 AdptTuneStabFreq
2130 AdptTuneStabMag
2138 GnOpt Error Max

6
69
70
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Cur IM SPM
A B C D E F G H I
1
Torque Control - Current, for Induction Motor (Cur IM)
Flux Vector
At Limit Status 365 21 Trq Pos Lmt 25 Cur Lmt FV

22 Trq Neg Lmt 26 Therm RegLmt At Limit Status

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

{Mtrng PwrLmt}
Torque Limit Pos 2083

Flux
Figure 49 - Torque Control – Current, for Induction Motor
4
Voltage Ref/ Pk Torque Iq Current Limit
{Mtr Vltg Lkg} Limit
Generation Min
I T ,Id Active Iq Current Limit
Iq Flux Vector
Flux Cur Fb Calc Iq,Id (3,6)
9 IT
Calc
Current Lmt Sel 221

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

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

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

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

{Mtrng PwrLmt}
Torque Limit Pos 2083

Chapter 3
4
Voltage Ref/ Pk Torque Iq Current Limit
{Mtr Vltg Lkg} Limit
Generation
Figure 50 - Torque Control – Current, for Permanent Magnet Motor
Current Lmt Sel 221

ActvCurLim
Power 255
Current Limit 1 222 Thermal Mgr Current Limit
Unit Scale
224 Active Cur Lim
Thermal RMS
Current Limit 2 223 Invert IT [D2]
Parameter Protection
Selection
{Therm RegLmt}
{Cur Lmt FV}
6
71
72
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Proc 1
A B C D E F G H I
From Anti-Sway [D2] Process Control 1 (Proc 1)

DI PID Invert
1
954 Ref NF1 Freq Act 9:23
PID Ref Sel PID Deriv
9:6
948 Ref NF2 Freq Time
9:25 956 Ref NF1 Depth Act -1
Ref NF2 Width Option E
949
Port:
PID Ref PID Ref 957 Ref NF1 Gain Act 950 Ref NF2 Depth Digital In
AnlgHi AnlgLo - PID Status
943 Ref NF1 Width 951 Ref NF2 Gain Parameter + kd-S (PID In Limit)
9:29 9:30 PID Selection
Deadband PID Prop Gain PID Output 9:3 3
PID Error D Gain Mult
9:9 Invert Error Meter 9:4
Option Parameter 9:15
Port: Selection 9:1 1 PID Cfg 9:12
0 0
Analog In (Ramp Ref)
Analog Types PID Output Limited
0 Ref Ref 1 +
x NF1 NF2 +- -1 kp + x Proc 2 [A2]
2 MOP [G3] Scale 1 +
Error Deadband
MOP Reference 1 200% Limit
Limit P Gain
1823 9:27 0 Proc 1 [C5] PID Upper Limit
Float Types Ramp 9:2 3
Hold Request 9:7
PID Ref
PID Setpoint PID Control
Mult
(PID InvError) 9:8
9:28 Default 9:26 9:3 0
9:10 PID Status PID Lower Limit
Figure 51 - Process Control 1
PID Ref PID Status Filter 9:3 1

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

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

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

1800 Default
VRef Ramped
Speed
1923 A
2 Excl 1 To VRef |A| > |B|
[6B2] VRef Vect [G1], B
>0
VRef Freq [D2] -1
Neg Limit
PID Cfg + 1 0
1906 Vref Limited 1
(Percent Ref) +
VRef All [G4]
6 9:1 1 1 PID Output Meter
Speed
Trim 2 0 9:13
1 1 0
X
Figure 52 - Process Control 2
Pos Limit 354 18

Motor Side Sts 1 VRef Vect [B5]
Stopping VRef Freq [A5]
0 0 0
2 9:1
3 355 10 Motor Side Sts 2
PID Cfg
(Zero Clamp) Proc 1 [C4]
PID FBLoss TqSel

9:43

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

676 Default
PID Output Sel
9:14
Torq Ref A
+
Torq Ref B 3
>0
-1
Torque Neg Limit
Excl 3 + 4 1
1 +
PID Output Meter
Torque
5 Trim 4 1 0 9:13
Pos Limit Trq Ref Sel [G4]
0 0
2 9:1
355 10
PID Cfg
(Zero Clamp) Motor Side Sts 2
(PID FB Loss)
6 Proc 1 [C4]
73
74
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog AntiSway
A B C D E F G H I
1
Reference Notch Filter 1 Tuning for Crane
Application (Anti-Sway)
Crane Length 1
966
1 g ≠0
NF1 freq = 954 Ref NF1 Freq Act
2 Crane Length1
0
g = earth acceleration gravity (i.e. 9.81 m/s^2) Ref NF1 Freq 942
Freq Overview [G2]
≠0 VRef Vect [F4]
0 956 Ref NF1 Depth Act
PRef 2 [E2]
0 Proc1 [C1]
3 Ref NF1 Depth 944
1 ≠0
957 Ref NF1 Gain Act
0
Ref NF1 Gain 945

Figure 53 - Reference Notch Filter 1 for Crane Application
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Oil Well 1
A B C D E F G H I
1
Pump Jack and Progressive Cavity Pump (Oil Well 1)
Torq Thresh Low 9:154 TorqAlmTimeoutLo 9:161
TrqRefThreshLo
OilWell Pump Cfg 9:100 X
TorqThreshLo Oil Well Low
Motor Sheave 9:110 Oil well 1 [D3] Torq Timeout 9:104 8 OW TrqLvl Lo
Trq Ref Limited Condition
Gearbox Ratio 9:116 Cur IM [E2] 2087 |u|
Gear 9:109 Total Gear Ratio
Ratio Motor Side Sts 1
2 Gearbox Sheave 9:117 354 8
(AtSpeed)
PCP Pump Sheave 9:160 TrqRefThreshHi

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

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

9:153 6 Torq Timeout VRef All [G2]
TorqAlarmTOActHi
1898 Vel Limit Pos
Condition
Figure 54 - Pump Jack and Progressive Cavity Pump
X TorqAlarm Action
Max Rod Speed 9:156 9:148 1 PumpJackSpdRefEnbl
Limit Preset Spd1
Total Gear Ratio VRef All [G2]
Online Max Oil Well [C2] 9:109
Chapter 3
4 Vel Limit Pos 1898

Online Min Motor Side Sts 1
Vel Limit Pos 1898 354 8
(AtSpeed)
-1 1899 Vel Limit Neg
Limit
OilWell Pump Cfg 9:100 Online Max VRef Commanded
Vel LimitNeg 1899
Total Gear Ratio Online Min VRefAll [I4] 1914
Vel Limit Neg 1899 X 9:145 Rod Speed Cmd
Oil Well [C2] 9:109 Total Gear Ratio
5 Max Torque Limits 1
Max Rod Torque Oil Well 1 [C2] 9:109
9:157 u
Troq 2083 Torq Lim Pos Vel Fb Active X 9:143 Rod Speed
Gearbox Limit 9:114 Lim Fdbk [G2] 1042
Limit
Gearbox Rating 9:115 Total Gear Ratio
Oil Well 1 [C2] 9:109
Online Max Trq Ref Limited X 9:144 Rod Torque
Torque Limit Pos 2083 Cur IM [E2] 2087
Online Min
6 Torque Limit Pos 2083
75
76
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Oil Well 2
A B C D E F G H I
OilWell Pump Cfg 9:100 1 Pump Jack Selected

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

POf Cyc Psn 9:130 Stroke Per Min
TP58 Pos Filter 0 Torque 9:126 Pct Drop Trq
POf Psn
2 Calculation
Pos Min Trq 9:132 Pump Off Count
Vel Fb Active 1042
2 +
- TP53 POf Psn 1
9:109 Position 9:133 PumpOff SleepCnt
Total Gear Ratio 9:129 TP54
Figure 55 - Pump Off
Calculation POf Psn 2

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

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

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

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

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

CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog MOP
A B C D E F G H I
1
DI M MOP Inc 0:151 MOP Control (MOP)
MOP Rate Parameter
Indirect Option Port:
1825
Digital In
MOP Limit High
MOP Inc
1826
2
Calc 0
+
Step MOP Reference
Figure 56 - MOP Control
0
1823
MOP Init Select 0 Limit
- VRef Sel [A3]
1828
Reset / Save
1827
3 Zero Speed (0) Parameter
Option Port: Indirect MOP Limit Low
MOP Init Stpt 1829 Default Digital In
MOP Inc
Preset Speed 1 1814

Preset Speed 2 1815
DI M MOP Dec 0:152
Preset Speed 3 1816
Preset Speed 4 1817

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

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

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

MOP Ref Save M Start Inhibits
(At Pwr Down) (Precharge)
77
78
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 22Series IO Digital
A B C D E F G H I
22-Series Inputs & Outputs – Digital (22-Series IO Digital)

1
Outputs
Inputs
RO0 Off Time
Dig Out Sts
Dig In Sts 15
Dig Out Invert
1 5 4 3 2 1 0 5 0 NC
6 0
Dig In Fltr
Relay Out0 0
3 Timer Common
Source
Parameter 1
In5 Inv
Selection
Filter
NO
Dig In Fltr Mask 10 14
2
Dig In Fltr RO0 Sel RO0 On Time
2 5
3
In4 RO1/TO0 Off Time

Filter
25 Dig Out Sts
Dig In Fltr Mask
Dig Out Invert
Dig In Fltr 5 1
2 4
3 6 1
NC
Relay Out1
In3 0
Filter Transistor Out0 Timer
Source
Dig In Fltr Mask Parameter 1 Common
3 Selection Inv OR
2 3 Dig In Fltr
3 20 24
NO
In2 RO1/TO0 Sel RO1/TO0 On Time
Filter
Dig In Fltr Mask

Figure 57 - 22-Series Inputs & Outputs – Digital
*-1R2T (1-Relay / 2-Transistor) I/O Modules Only

Dig In Fltr

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

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

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

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

Set Input Hi
Anlg Out0 Data 78 Anlg Out0 Hi Analog Out Type Voltage
77 80 70 0 +
Figure 58 - 22-Series Inputs & Outputs – Analog
V/mA

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

Detection Scaled Anlg Out0 Sel 75 81 Current
Pre Scaled
Anlg Out0 Lo
V/mA 79
- Ignore 0 In-Lo Anlg Out0 DataLo
(kn * s) + wn
ADC s + wn Hi-Lo
+ Square
1 Root Lead Lag Scale Anlg Out1 Val
Alarm
V/mA
- 92
2 46 1 62
Current Flt Continue Anlg Out1 DataHi V/mA
Anlg In Sqrt Anlg In1 Lo
Anlg Out1 Data 88
3 Anlg Out1 Hi Analog Out Type Voltage
FltCoastStop 87
Anlg In1 Filt Gn 65 90 70 1 +
5
4 V/mA
Flt RampStop 66
Anlg In1 Filt BW Anlg Out1 Stpt 86 -
In-Lo
5 Abs Hi-Lo
DAC
Flt CL Stop Other Ref Sources +
Parameter Scale
Selection
Hold 6 71 1 V/mA
Input
-
Anlg Out1 Sel 85 Anlg Out Abs 91 Current
7
Set Input Lo Anlg Out1 Lo
89
6 8 Anlg Out1 DataLo

Set Input Hi
79
80
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 11-Series IO Digital
A B C D E F G H I
11-Series Inputs & Outputs – Outputs

Digital (11-Series IO Digital)
1
Inputs RO0 Off Time
15 Dig Out Sts
Dig Out Invert
5 0
NC
Dig In Sts 6 0
1 2 1 0
Relay Out0 0
Timer Common
Source
Parameter 1
Selection Inv
Dig In Fltr NO
10 14
3
2 RO0 Sel RO0 On Time
In2
Filter
Dig In Fltr Mask RO1/TO0 Off Time

Dig In Fltr 25 Dig Out Sts
2 2 Dig Out Invert
3 5 1
In1 6 1
Filter NC
Relay Out1
Dig In Fltr Mask 0
Transistor Out0 Timer
Dig In Fltr Source
2 1 Parameter 1 Common
3 Selection Inv OR
3 In0 20 24
Filter NO
RO1/TO0 Sel RO1/TO0 On Time
Dig In Fltr Mask
Com 2 0
*-1R2T (1-Relay / 2-Transistor) I/O Modules Only
Figure 59 - 11-Series Inputs & Outputs – Digital
TO1 Off Time

35 Dig Out Sts
Dig Out Invert
5 2
6 2
Transistor Out1 0
Timer
4 Source NO
Parameter 1
Selection Inv
30 34
TO1 Sel TO1 On Time
Output Compare
RO0 Level Sel RO1/TO0 Level Sel *-1R2T (1-Relay / 2-Transistor) I/O Modules Only
11 21 RO1/TO0 Level CmpSts TO1 Level Sel 31 TO1 Level CmpSts

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

1
Option Module Parameters – Reference Symbol Legend

Input
2
Anlg In Loss Sts Anlg In0 Value
Anlg In0 LssActn 53
49 1 50
V/mA
Voltage Loss Loss Anlg In0 Hi
Anlg In Type
Detection Pre Scaled Scaled
V/mA
- Ignore 0 (kn * s) + wn In-Lo
ADC s + wn Output
Hi-Lo
+ Square
1 Root Lead Lag Scale Anlg Out0 Val
Alarm
V/mA
3 - 82
2 46 0 52
Current Flt Continue Anlg Out0 DataHi V/mA
Anlg In Sqrt Anlg In0 Lo Anlg Out0 Data 78 Anlg Out0 Hi Analog Out Type Voltage
3
FltCoastStop 77
Anlg In0 Filt Gn 55 80 70 0 +
4 V/mA
Figure 60 - 11-Series Inputs & Outputs – Analog
Flt RampStop 56
Anlg In0 Filt BW Anlg Out0 Stpt 76 -

In-Lo
5
Abs Hi-Lo
DAC
Flt CL Stop Other Ref Sources +
Parameter Scale
Selection
Hold 6 71 0 V/mA -
Input Anlg Out Abs
Anlg Out0 Sel 75 81 Current
Chapter 3
4 7
Set Input Lo Anlg Out0 Lo
79
8 Anlg Out0 DataLo
Set Input Hi
81
82
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog 22-Series IO Analog
A B C D E F G H I
11-Series Inputs & Outputs – ATEX (11-Series IO ATEX)

1
Motor PTC/Thermostat Input
Motor PTC
+
PTC/Thermostat Buffer & PTC
Comparator
41 0 Thml Snsor OK
Input Monitor
2 - 1 Short Cirkt
2 Over Temp
3 Voltage Loss
13 Thermostat
14 PTC Selected
Common
ATEX Relay Output
Figure 61 - 11-Series Inputs & Outputs – ATEX
Fault AND
Logic
Transistor

Latch
NO
Reset AND
Logic
6
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Logic
A B C D E F G H I
1
Control Logic (Logic)
Note:
The following parameters are typically referenced
0 when configuring or monitoring Control Logic;
P10:351 [M Start Inhibits]
Digital Inputs
15
0
DPI Port 1
2 (Drv Mounted HIM)
15
0
0:230 Write Mask Cfg
Figure 62 - Control Logic
DPI Port 2
Logic Parser
15
0
DPI Port 3
3 0:200 MS Logic Rslt
15 VRef Sel [G2],
0 0 VRef All [E3],
Mask Evaluation VRef Vect [E2, E3]
DPI Port 4 Owner Logic Logic Evaluation
Logic

15 31
0
DPI Port 5
Chapter 3
4 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
83
84
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Invert
A B C D E F G H I
1 Inverter Overload (IT)

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

Heatsink and
Duty Cycle / Rating 306 Junction Degree 362 Heatsnk Temp Pct
Calculator
Drive OL Mode 220 363 Heatsnk Temp
224 Active Cur Lim
2 PWM Frequency 425
Cur IM [H5]
DC Bus Volts 0:3
426 PWM Freq Act
Output Current 3
Alarm Status B
960 0 IGBT OT
Current Limit 1 222
1 Heatsink OT
Figure 63 - Inverter Overload IT
Current Limit 2 223

4 Drive OL
Parameter
Other Ref Sources Selection 5 CurLmt Reduc
3
6 PWMFrq Reduc
Current Lmt Sel 221 Fault Status B

953 2 Drive OL
3 Heatsink OT

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

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

not functional when any
6 of the FV motor control
modes are selected
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog Motor I2T
A B C D E F G H I
1
Motor Overload (Motor I 2 T)
Mtr Over Load (I 2 T)
Motor
Mtr OL Action 200
Figure 64 - Motor Overload
Current
206 MtrOL Rst Time
Mtr OL at Pwr Up 201
Mtr OL Alm Level 202 207 Mtr OL Counts
Mtr OL Rst Level 205
150% right of curve
Mtr Prtn Class 209 208 Mtr OL Trip Time
3
Mtr HotStrtCoeff 210
102%
Mtr Cooling Time 211 Motor Side Sts 1
58 (Hot) time (sec)
Motor 176 (Cold) 208 30 Motor OL
Current (for default settings)

Condition Sts A
Mtr OL Factor 203 1.0 - 2.0 460 2 Motor OL
X (1.025 Typ)
Motor NP Amps 401
Alarm Status A
50%
Chapter 3
4 959 2 Motor OL
Motor
Speed (Hz) Fault Status A
Mtr OL Hertz 204
952 2 Motor OL
85
86
Chapter 3
CurRefGen DCBusObs PRef1 Prof Ind 1 VRef All Trq Ref Sel Cur IM SPM Oil Well 2 22-Series IO Analog High Speed Wizard
A B C D E F G H I
Start Trend Stop Trend

High Speed Trend Wizard
1
Trend Sample Configuration Not

Configured Trend Status

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

OR
Test bit in a Parameter Compare Two bits in Two Parameters Buffers Full
Figure 65 - High Speed Trend Wizard
Compare Parameter to a Trigger Value Trigger Condition Met

3
Test Options: bit is
Param A Compare Trigger Param A Trigger Param A bit True or False Trigger
OR Test Options: bit OR
Options: Condition Condition Condition
is True or False Compare Options:
Param B >, <, =, ≠, ≥, or ≤ Met Bit ‘nn’ Met Param B bit Met
AND, OR, XOR
OR

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

PowerFlex® TotalFORCE® Control common symptoms and corrective actions.
Topic Page
Fault and Alarm Code Descriptions 87
Faults 88
Alarms 88
Events 88
Configurable Conditions 88
Viewing Faults, Alarms, Events, and Exceptions 88
HIM Indication (Fault Display Screen) 89
Manually Clearing Faults 89
Status Indicators 90
Setting Factory Defaults 98
Fan Usage by Product 100
Hardware Service Manual 102
Fault and Alarm Display Codes 102
Common Symptoms and Corrective Actions 102
Testpoint Codes and Functions 105
Reset as Shipped 112
Configurable LCL Filter Capacitor Failure Response 115
Configurable LCL Filter Capacitor Over Resonance Response 115
PowerFlex 755T Lifting/Torque Proving 116
Technical Support Options 117
Fault and Alarm Code TotalFORCE control fault, alarm, event, and exception codes are listed in the
Descriptions Microsoft® Excel® spreadsheet publication that is available on at rok.auto/
literature.
Use this link to access the PowerFlex Drives with TotalFORCE

Control Conditions Reference Data, publication 750-RD102, for fault,
alarm, event, and exception codes. Download the spreadsheet for
offline access.
To view the fault, alarm, event, and exception code descriptions and for full
functionality (filter and search), open the file in the Microsoft Excel
application.

Chapter 4 Troubleshooting
Faults A fault is a condition that stops the drive. There are four types of faults.
Type Description
If this type of fault occurs while the line side converter or motor side inverter is modulating, it
Major Fault stops modulating. If it occurs while the line side converter or motor side inverter is not
modulating, it prevents starting. It prevents starting until the fault is cleared.
If this type of fault occurs while the line side converter or motor side inverter is modulating, it
Minor Fault allows modulation to continue. If it occurs while the line side converter or motor side inverter
is not modulating, it prevents starting. It prevents starting until the fault is cleared.
Resettable This type of fault can be cleared. Resettable faults are identified by ‘Resettable Fault’.
This type of fault normally requires drive or motor repair. You must correct the cause of the
Non-resettable fault 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.
Alarm 2 Type 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 use a configuration parameter to set user-configurable conditions to
either fault, alarm, or ignore.
Type Description
Options can include:
‘Ignore’ (0) – No action is taken. (1)
‘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.
(1) When ‘Ignore’ (0) is the default setting, the occurrence is recorded in the exceptions queue. When you set a configuration
parameter to ‘Ignore’ (0), the occurrence is recorded in the event queue.
Viewing Faults, Alarms, When a condition occurs, the drive records the occurrence in the fault, alarm,
Events, and Exceptions event, or exception queue. These queues are accessible through software or the
HIM and provide you with a history of each type of occurrence. You can also
access diagnostic file parameters for additional information.
• Port 0: Diagnostics File, Status Group
• Port 0: Diagnostics File, Fault/Alarm Info Group

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

• Fault Code number (See Fault and Alarm Display Codes on page 102.)
• Fault description
• Elapsed time (in hh:mm:ss format) from fault detection
Figure 66 - Pop-Up/Flashing Fault Display Screen
Stopped AUTO
0.00 Hz F
– – FAULTED – –
Fault Code 81
Port 1 DPI Loss
Elapsed Time 01:26:37
ESC CLR
Soft Key Functions

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

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

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

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

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

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

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

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

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

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

segment display to report conditions. See Figure 67 on page 93 for the location
of the AC precharge board.

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

Figure 67 - AC Precharge Location
Frame 7 Drive Frame 8 Input Bay
Frame 9 Input Bay Frame 10…15 Input Bay

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Port 0: Product Config File, Control Config Group

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

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

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

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

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

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

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

Peripheral Set Defaults Operation Resets Host Product
The parameters for some PowerFlex 750-Series option modules reside on the
main control board of the host product. Because of this scheme, performing a
Set Defaults operation for one of these peripheral devices resets the host
product. The peripherals that behave in this way are listed in this table.
Peripheral Cat. No.

20-750-1132C-2R
11-Series I/O option modules 20-750-1133C-1R2T
20-750-1132D-2R
20-750-2232C-2R
22-Series I/O option modules 20-750-2233C-1R2T
20-750-2232D-2R
Single incremental encoder option module 20-750-ENC-1
Dual incremental encoder option module 20-750-DENC-1
Fan Usage by Product These tables list the fans that are present in each product frame size and
enclosure rating.
PowerFlex 755TS Drives

Frame 1
Fan Type
IP20, NEMA/UL Open Type IP20, NEMA/UL Type1
Control Pod Fan None None
Stirring Fan None None
Heatsink Fan Present Present
Frame 2
Fan Type
IP20, NEMA/UL Open Type IP20, NEMA/UL Type 1 IP66, NEMA/UL Type 4X/12 IP54, NEMA/UL Type 12
Control Pod Fan Present Present Present None
Stirring Fan None None None None
Heatsink Fan Present Present Present Present
Frame 3
Fan Type
IP20, NEMA/UL Open Type IP20, NEMA/UL Type1 IP66, NEMA/UL Type 4X/12 IP54, NEMA/UL Type 12
Control Pod Fan Present Present Present Present
Stirring Fan None None None None
Frame 4
Fan Type
Stirring Fan Present Present Present Present

Frame 5
Fan Type
Frame 6
Fan Type
Control Pod Fan None None None None
Frame 7
Fan Type
Control Pod Fan None None None None
PowerFlex 755TL, 755TR, and 755TM Products

Frame 7 Drives
Fan Type Frame 5 Drives Frame 6 Drives
IP21, NEMA/UL Type 1 IP54, NEMA/UL Type 12
Control Pod Fan None None Single Single
Stirring Fan Present Present None None
Input Bay Fan None None None None
Power Bay Roof Fan None None Present Present
Wire Bay Fan None None None None
Control Bay Fan None None None None
Frame 8 Drives Frame 9 Drives Frame 10…15 Drives

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

Frame 8 Common Bus Inverters Frame 9 Common Bus Inverters Frame 10…15 Common Bus Inverters
Fan Type
Input Bay Fan None None None None None None
Power Bay Roof Fan None Present None Present None Present
Wire Bay Fan Present (with option) Present (with option) Present (with option) Present (with option) Present (with option) Present (with option)
Control Bay Fan Present (with option) Present (with option) Present (with option) Present (with option) Present (with option) Present (with option)
Hardware Service Manual The PowerFlex 750-Series AC Drive Hardware Service Manual, publication
750-TG100, provides schematics and detailed instructions on part replacement
for PowerFlex 755T products.
The PowerFlex 755TS Products with TotalFORCE Control Hardware Service

Manual, publication 750-TG101, provides schematics and detailed instructions
on part replacement for PowerFlex 755TS products.
Fault and Alarm Display Event numbers for PowerFlex 750-Series faults and alarms are displayed in one
Codes of three formats.
• Port 00 (Host Drive) displays the event number only. For example, code
21 ‘Clr Fault Queue’ is displayed as:
Fault Code 21.
• Ports 01 through 09 use the format PEEE, indicating port number (P) and
event number (EEE). For example, code 1 ‘Analog In Loss’ on an I/O
module installed in Port 4 is displayed as:
Fault Code 4001.
• Ports 10 through 14 use the format PPEEE, indicating port number (PP)
and event number (EEE). For example, code 37 ‘S OverTemp Alm’ on Port
14 is displayed as:
Fault Code 14037.
Common Symptoms and

Corrective Actions Drive does not start from Start or Run inputs that are wired to the terminal block.
Cause(s) Indication Corrective Action
Clear fault.
• Press Stop
Drive is faulted Flashing red status light • Cycle power
• ‘Clear Faults’ on the HIM Diagnostic
menu
Incorrect input wiring. See Installation
Instructions, publication 750-IN100, for wiring
examples.
• 2-wire control requires Run, Run Forward,
Run Reverse, or Jog input None Wire inputs correctly.
• 3-wire control requires Start and Stop
inputs
• Verify 24 Volt Common is connected to
Digital Input Common

Drive does not start from Start or Run inputs that are wired to the terminal block.
None Configure input function.
Incorrect digital input programming. Flashing yellow status
• Mutually exclusive choices have been made light and ‘DigIn Cnfg B’
(for example, Jog and Jog Forward) or
• 2-wire and 3-wire programming may be ‘DigIn Cnfg C’ indication on Resolve input function conflicts.
conflicting LCD HIM.
• Start configured without a Stop configured 10:355 [Motor Side Sts 2]
shows type 2 alarm(s).
Terminal block does not have control. None Check 0:41 [Logic Mask].
Drive does not Start from HIM.

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

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

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

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

Drive will not reverse motor direction.

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

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

Verify that a PLC is not communication
Another device is communicating with the with the drive. Disconnect
None
processor. communication cable or inhibit
communication in PLC software.

Testpoint Codes and Select testpoint with a [Testpoint Sel n] parameter. View testpoint values with
Functions [Testpoint REAL n] and [Testpoint DINT n] parameters.
Port 9 Testpoint Codes

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

Velocity Reference at the input to the ramp and S
1 VRef Ramp In REAL PU
Curve function.
This signal is the active rate of change of the
2 VelRamp Rate velocity reference. It is produced by the velocity REAL PU/S
reference ramp and S curve function.
Velocity Droop offset signal output from droop
3 Vel Droop REAL PU
function.
The change in 10:1684 [PRef Selected] every
millisecond. It is applied to the input of the
10 PRef Sel Del DINT Cnts
Electronic Gear Ratio (EGR) function. Position units
are encoder edge counts.
The output of the Position Reference Electronic Gear
Ratio function. It is similar to the EGR input in that it
11 PRef Sel EGR is a position change over 1 millisecond. This signal is DINT C/ms
re-accumulated to create 10:1686 [Pref EGR Out].
Position units are encoder edge counts.
The summation of 10:1691 [Psn Offset 1] and
10:1694 [Psn Offset 2]. It is the user input to the
12 PRef Ofst In DINT Cnts
Position Reference Offset function. Position units
The output of the Position Reference Offset
function. It represents the total offset that is to be
13 PRef OfstPsn DINT Cnts
applied to the Position Reference. Position units are
encoder edge counts.
The change in Position Reference Offset that is to be
applied to every millisecond. It is summed with the
14 PRef OfstOut DINT Cnts
output of the position reference EGR. Position units
The output of the Position Reference Notch Filters. It
represents a Position Command change over 1
15 PRef NF Out millisecond. This signal is re-accumulated to create DINT Cnts
10:1731 [Position Command]. Position units are
The change in the Load Position Feedback every
millisecond. It is the input to the Load Position
20 LdPsn Fb Del DINT C/ms
Feedback Gear Ratio. Position units are encoder
edge counts.
The change in 10:1746 [Position Fb] every
millisecond. It is subtracted from the output of the
Position Reference Notch Filters. The result of this
21 Psn Fb Del DINT C/ms
subtraction when re-accumulated becomes
10:1750 [Position Error]. Position units are encoder
edge counts.
The difference between the output of the Position
Reference Notch Filters and the Load Position
22 PReg LdError DINT Cnts
Feedback Gear Ratio function. Position units are
The output of the Load Position Feedback Gear Ratio
function. When re-accumulated this becomes
23 LdPsn Geared DINT Cnts
10:1748 [Psn Load Actual]. Position units are

Port 10 Testpoint Codes (Continued)

If this signal is non-zero, then the PID Output Meter
has exclusive control of the Velocity Reference. If
30 VRef PID Sel this signal is zero, then the Velocity Reference is DINT t/f
controlled by 10:1892 [VRef Selected].
Velocity reference signal used for the Homing
31 VRef Homing REAL PU
function.
If this signal is non-zero, then the active direction
for Unipolar Direction Mode will be forward. If this
32 VRef DIR Sel DINT t/f
signal is zero, then the active direction for Unipolar
Direction Mode will be reverse.
Velocity Reference signal at the input to the Min and
33 Vref CLmt In REAL PU
Max Velocity Command Limiters.
Velocity Reference signal at the output of the Skip
34 VRef SkipOut REAL PU
Band function.
Velocity feed forward reference signal used when
35 VRef Psn FF position control is active. Sums with velocity ramp REAL PU
output.
Velocity Reference at the input to the reference
36 VRef NF In notch filters. The output of these filters is REAL PU
10:1925 [Vref Filtered].
Velocity Reference at the output of the multiply
37 VRef Scaled REAL PU
block that applies 10:1932 [VRef Scale].
Velocity Reference signal at the input to the Final
38 VRef FLmt In velocity limiter. The output of this limiter is REAL PU
10:1933 [VRef Final].
Output of the Servo Lock function in the Velocity
40 VReg SrvLock REAL PU
Regulator. Sums with 10:1951 [Velocity Error].
Internal proportional gain used in the velocity
regulator. Incorporates gain scaling from Adaptive
41 aVRegKp REAL R/S
Tuning and Alternate Feedback. Also includes
conversion from Hz to rad/sec.
Internal integral gain used in the velocity regulator.
Incorporates gain scaling from Adaptive Tuning and
42 aVRegKi REAL R/S
Alternate Feedback. Also includes Kp gain and
conversion from Hz to rad/sec.
Input signal to the Acceleration Limiter in the
43 VReg Lmt In REAL PU/S
Velocity Regulator. Units are PU Velocity per second.
Scale factor used to convert acceleration signals to
torque signals. Proportional to system inertia.
44 Kj REAL Sec
Acceleration units are PU Vel/sec. Torque units are
PU motor torque.
Scale factor used to convert acceleration signals to
torque signals. Proportional to system inertia.
50 Trq Scale REAL
Acceleration units are rev/sec2. Torque units are
percent of rated motor torque.
Positive limit that is being applied to the Trq Ref
51 TrqRefPosLimActv Filtered parameter. Result is displayed in Trq Ref REAL Nm
Limited parameter.
Negative limit that is being applied to the Trq Ref
52 TrqRefNegLimActv Filtered parameter. Result is displayed in Trq Ref REAL Nm
Limited parameter.
100 EncdrlsCompTestState Encoderless test state. DINT n/a
Torque producing Current Reference. Output of the
101 IqsRefLmtd REAL PkA
Current Rate Limiter.
Ratio of second harmonocs amplitdue to sixth
105 PhsLossAmptdRO DINT n/a
harmonics.
106 PhsLossDtctCnts Input phase loss detection counts. REAL Cnts
Electrical speed generated in FV open loop control
110 OloopOmegaOutput REAL R/S
mode.
Rotor speed generated in FV open loop control
111 OmegaRotor REAL R/S
mode.
A-phase simultaneously sampled current feedback
115 IaFbk REAL PkA
scaled to units of the system.


116 IbFbk B-phase simultaneously sampled current feedback REAL PkA
C-phase simultaneously sampled current feedback
117 IcFbk REAL PkA
This signal indicates the status of the delay when
120 FreqSync Enhanced Flying Start function is activated. This is for the DINT t/f
Delay CEMF mode of the Flying Start function.
This signal indicates the status of flying start
FreqSync Enhanced
121 operating state. This is for the CEMF mode of the DINT t/f
State Flying Start function.
This signal indicates the status of flying start
122 FreqSync Sweep State operating state. This is for the Sweep mode of the DINT t/f
Flying Start function.
125 PrchrgState State of the Precharge state machine. DINT t/f
If this signal is non-zero, then a Line Loss condition
130 LineLoss Act is active. If this signal is zero, then a Line Loss DINT t/f
condition is not active.
The present state being executed by the power state
135 Power State Handler DINT t/f
handler.
Commanded state from the PowerStateMach to the
136 PwrStateCmd DINT t/f
PowerStateHandler.
If this signal is non-zero, then a Current Limit
140 Current Limit Stop Stopping Sequence is active. If this signal is zero, DINT t/f
Active then a Current Limit Stopping Sequence is not
active.
141 Sequencer State The present state of the Sequencer. DINT t/f
145 ActvPwmFreq Active PWM frequency REAL Hz
Active max junction temperature used in thermal
146 MaxJuncTemp REAL °C
manager.
If this signal is non-zero, then the
10:2150 [Trq Ref Filt In] will be forced to a value of
zero. If this signal is zero, then the Torque
150 TrqRefAtZero Reference is supplied by 10:2076 [Trq Ref Selected] DINT t/f
after offset by the Friction Compensation and
Torque Step signals. This signal could become non-
zero as part of a stop sequence or during Autotune.
This is the level of DC Bus voltage where the PWM
155 RideThruRcvrLvl can become active again when power loss has REAL VDC
occurred and power is recovered.
This is the level of bus voltage where the PwrLoss
156 RideThruStrtLvl REAL VDC
mode is triggered.
This is the level set to trigger a bus under voltage
157 VbusUnderVltgLvl REAL VDC
event.
This signal is the Theta_e, the electrical stator angle,
160 Theta_e REAL Rad
in radians.
This signal is the Theta_r, the electrical rotor angle,
161 Theta_r REAL Rad
in radians.
170 IdSyncFdbk Flux current feedback. REAL PkA
171 IqSyncFdbk Torque current feedback. REAL PkA
172 VdSyncFdbk This signal is the d-axis voltage feedback. REAL PkV
173 VqSyncFdbk This signal is the q-axis voltage feedback. REAL PkV
D-axis voltage command in synchronous reference
180 VdsCmd REAL PkV
frame.
Q-axis voltage command in synchronous reference
181 VqsCmd REAL PkV
frame.
If this signal is non-zero, then the field weakening
190 FieldWeakSts DINT t/f
control is active.
This signal is the flux regulator output feed forward
191 FluxRegFdFwd REAL PkA
term.
If this signal is non-zero, then the flux regulator is
192 FlxRegOmgLim not active. If this signal is zero, then the flux DINT t/f
regulator is active.


193 IdCompMtrnIq This signal displays the corresponding Iq Ref values REAL PU
for IdComp during motoring operation.
This signal displays the required IdComp values
194 IdCompMtrnPu REAL PU
during motoring.
This signal displays the corresponding Iq Ref values
195 IdCompRegnIq REAL PU
for IdComp during regen operation.
This signal displays the required IdComp values
196 IdCompRegnPu REAL PU
during regen operation.
This signal is the d-axis current reference, which is
197 FlxIdSyncRef REAL PkA
the output of the flux regulator.
If this signal is non-zero, then the flux regulator is at
198 NegIdsLim DINT t/f
negative Id current limit.
If this signal is non-zero, then the flux regulator is at
199 PosIdsLim DINT t/f
positive Id current limit.
200 VqsFdbkFltrd This signal is the filtered q-axis voltage feedback. REAL PkV
This signal is the Slip RPM at full load amps, which is
210 FLARPM REAL RPM
calculated based on the filtered slip gain.
211 OmegSlipFilt This signal is the filtered slip in rad/sec. REAL R/S
This signal is the Rs gain, which is calculated based
212 RsGain REAL PU
on the filtered slip gain.
213 SlipGnFltrd This signal is the filtered slip gain. REAL R/S/A
This signal is the latched slip gain in the slip
214 SlipGnLatchd REAL R/S/A
regulator.
This signal is the limited slip gain, which is the slip
215 SlipGnLmtd REAL R/S/A
regulator output.
If this signal is non-zero, then the slip regulator is
216 SlipLoTrqLim not active because the q-axis current reference is DINT t/f
below the set value.
If this signal is non-zero, then the slip regulator is at
217 SlipGnMaxLim DINT t/f
maximum slip gain limit.
If this signal is non-zero, then the slip regulator is at
218 SlipGnMinLim DINT t/f
minimum slip gain limit.
This signal is the integration term of the slip
219 SlipIntegOut REAL R/S/A
regulator output.
This signal is the proportional term of the slip
220 SlipPropOut REAL R/S/A
regulator output.
221 VdsFdbkFltrd This signal is the filtered d-axis voltage feedback. REAL PkV
230 IdSyncRef Flux current command. REAL PkA
231 IqSyncRef Torque command. REAL PkA
This signal is the feed forward d-axis voltage
232 VdSyncFF_Ref REAL PkV
reference.
This signal is the feed forward q-axis voltage
233 VqSyncFF_Ref REAL PkV
reference.
240 LambdaDsSync This signal is the d-axis stator flux. REAL VSec
241 LambdaDsFilt This signal is the filtered d-axis stator flux. REAL VSec
242 LambdaQsSync This signal is the q-axis stator flux. REAL VSec
243 LambdaQsFilt This signal is the filtered q-axis stator flux. REAL VSec
250 TrqEst This signal is the estimated torque in N•m. REAL Nm
251 TrqEstFltrd This signal is the filtered estimated torque in N•m. REAL Nm
255 ActvCurLim This is the active current limit value. REAL PkA
260 FluxCurMax This is the maximum flux current value. REAL PkA
261 FluxCurMin This is the minimum flux current value. REAL PkA
262 LambdaDsRtd This signal is the rated d-axis stator flux. REAL VSec
This is the motor rated torque value in N•m that is
263 MtrRtdTrq REAL Nm
calculated from motor name plate data.
264 SlipGnRtd This is the rated slip gain value. REAL R/S/A


No. Display Name Description Data Type Units
The grid line voltage L12 instantaneously sampled
1 VL12Inst REAL Volts
voltage feedback scaled to units of the system.
The instantaneous value of the grid line voltage q-
4 VqSyncFdbk axis voltage component in the synchronous REAL Volts
reference frame scaled to units of the system.
The grid line voltage q-axis voltage component in
the synchronous reference frame filtered with a low
5 VqSyncFilt REAL Volts
pass filter that has a cutoff frequency of 1 ms, and
The grid line voltage q-axis voltage component in
6 VqSyncFilt1 REAL Volts
The instantaneous value of the grid line voltage d-
7 VdSyncFdbk axis voltage component in the synchronous REAL Volts
reference frame scaled to units of the system.
The grid line voltage d-axis voltage component in
8 VdSyncFilt REAL Volts
The grid line voltage d-axis voltage component in
9 VdSyncFilt1 REAL Volts
voltage feedback filtered by a low pass filter that
10 VabFdbkFilt REAL Volts
has 0.1 ms cutoff frequency and scaled to units of
the system.
11 VbcFdbkFilt REAL Volts
the system.
12 VcaFdbkFilt REAL Volts
the system.
A-phase simultaneously sampled current feedback
13 IaInst REAL A
B-phase simultaneously sampled current feedback
14 IbInst REAL A
C-phase simultaneously sampled current feedback
15 IcInst REAL A
The instantaneous value of the zero sequence
16 I0Fdbk REAL A
current/summation of the feedback currents.
Selected voltage rate of change of the bus voltage,
this value is set by a user parameter in case of
17 VbusRateLim REAL V/S
manual bus reference and it is set to a very high
value when it is in optimized mode.
18 VbusOptRef Optimized value of the DC Bus Reference. REAL Volts
The calculated minimum possible value of the DC
19 VbusRefLoLim REAL Volts
Bus command.
The calculated maximum possible value of the DC
20 VbusRefHiLim REAL Volts
Bus command.
A status signal indicates if the bus reference is t/f
21 VbusLimSts DINT
limited.


The instantaneous error signal between the DC Bus
command and the measured DC bus. This signal is
22 VbusErr processed through the controller of the bus REAL Volts
regulator to generate the current reference
command.
23 VbusRegKi The integral gain of the bus voltage regulator. REAL AS/V
24 VbusRegKp The proportional gain of the bus voltage regulator. REAL A/V
The instantaneous value of the active current
25 IqRefVbusReg command generated by the DC bus voltage REAL A
regulator.
The instantaneous value of the active current (q-
axis current component in the synchronous
26 IqRefComp REAL A
reference frame) calculated by the LCL steady state
compensation algorithm.
The instantaneous value of the grid line voltage (q-
axis voltage component in the synchronous
27 VqRefComp REAL Volts
The instantaneous value of the grid line voltage (d-
axis voltage component in the synchronous
28 VdRefComp REAL Volts
The instantaneous value of the reactive current (d-
axis current component in the synchronous
29 IdRefComp REAL A
The maximum value of the active current
component for a given DC bus value, line voltage
magnitude, and line reactance, this limit is
30 IqVbusCurLim REAL A
calculated based on the maximum active power
transfer theoretically achievable between the AFE
converter and the grid.
The maximum value of the reactive current
component for a given DC bus value, line voltage
magnitude, and line reactance, this limit is
31 IdVbusCurLim REAL A
calculated based on the maximum reactive power
transfer theoretically achievable between the AFE
converter and the grid.
A status signal that indicates current is limited by
32 ILmtUserSts DINT t/f
the user current limit parameter.
33 IdRefSts A status signal that indicates d-axis current at limit. DINT t/f
The instantaneous error signal between the active
current command and the calculated active current.
34 IqSyncErr This signal is processed through the controller of REAL A
the current regulator to generate the reference
voltage command.
The instantaneous error signal between the reactive
current command and the calculated reactive
35 IdSyncErr current component. This signal is processed REAL A
through the controller of the current regulator to
generate the reference voltage command.
The integral gain of the current regulator of the
36 CurRegKiIq REAL VSec/A
active current component.
The proportional gain of the current regulator of the
37 CurRegKpIq REAL V/A
active current component.
The integral gain of the current regulator of the
38 CurRegKiId REAL VSec/A
reactive current component.
The proportional gain of the current regulator of the
39 CurRegKpId REAL V/A
reactive current component.
The output signal of the current regulator used to
regulate the active current component which
40 CurRegqOut REAL Volts
includes the effect of both the proportional action
and the integral action.


The output signal of the current regulator used to
regulate the reactive current component which
41 CurRegdOut includes the effect of both the proportional action REAL Volts
and the integral action.
The final q-axis component of the voltage reference
that is connected to the modulator. This component
is used along with the d-axis component of the
42 VqSyncRef REAL Volts
voltage reference to generate the magnitude and
the angle of the final voltage reference connected to
the modulator.
The final d-axis component of the voltage reference
that is connected to the modulator. This component
is used along with the q-axis component of the
43 VdSyncRef REAL Volts
voltage reference to generate the magnitude and
the angle of the final voltage reference connected to
the modulator.
The output of the integral term of the of the current
45 CurRegqI regulator used to regulate the active current REAL Volts
component.
The output of the proportional term of the of the
46 CurRegqP current regulator used to regulate the active current REAL Volts
component.
The limited value of the magnitude of the voltage
47 VltRefLim reference used to generate the three phase REAL Volts
modulator signals.

Reset as Shipped The TotalForce control platform can be reset as shipped using the IP address
rotary switches. All parameter data is defaulted. Use the following procedure
to perform a reset as shipped.
Reset as Shipped Procedure

1. Power down the product.
2. Locate the three IP address switches on the main control board.
3. Record the positions of the switches so they can be set back to these
positions at the end of the procedure.
Hundreds Position Tens Position Ones Position
4. Set all three switches to position 8, for an overall value of 888.
Hundreds
Position
Tens
Position
Ones
Position
5. Power up the product.

Wait for the STS indicator to turn flashing red and the ENET indicator to
turn solid red.
7. Set the IP address switches to the positions recorded in step 3.

Recovery Mode The TotalFORCE control platform has a recovery mode. Recovery mode
recreates the product file system and all parameter data is defaulted. Use the
following procedure if the processor fails to start up.
Recovery Mode Procedure

2. Locate the three IP address Switches on the main control board.
Hundreds
Position
Tens
Position
Ones
Position

6. Wait for the STS indicator to turn flashing red and the ENET indicator to
turn steady red.
8. Set the tens position switch to position 9 and the ones position switch to
position 7, for an overall value of 897.
Hundreds
Position
Tens
Position
Ones
Position

10. Wait for the STS indicator to turn flashing red and ENET indicator to
turn steady red.

Secure Erase PowerFlex 750-Series drives with TotalFORCE control firmware revision 11.xxx
and later can be reset with the Secure Erase feature. Secure Erase permanently
removes all control and network configurations from the product. This
technology protects the product from any attempt at data recovery.
Use Secure Erase

• When the product is decommissioned for disposal
• When the product is decommissioned and repurposed
• Before return for repair
Secure Erase Procedure

2. Locate the three IP address Switches on the main control board.
Hundreds
Position
Tens
Position
Ones
Position

6. Wait for the STS indicator to turn flashing red and the ENET indicator to
turn steady red.
8. Set the Ones Position switch to position 9, for an overall value of 889.
As Secure Erase executes, the STS indicator and ENET indicator turn
flashing red.
Wait for the ENET indicator to turn steady red meaning a successful
completion of Secure Erase. The procedure takes approximately 15
minutes to complete.
To return the product to service:

3. Recommission the product.

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

PowerFlex 755T Lifting/ Review the Attention statement that follows if you intend to use the
Torque Proving TorqProve™ feature without an encoder.
ATTENTION: You must read the following information before you can use
TorqProve with no encoder.
Encoderless TorqProve must be limited to lifting applications where
personal safety is not a concern. Encoders offer additional protection and
must be used where personal safety is a concern. Encoderless TorqProve
cannot hold a load at zero speed without a mechanical brake and does not
offer additional protection if the brake slips/fails. Loss of control in
suspended load applications can cause personal injury and/or equipment
damage.
It is your responsibility to configure drive parameters, test any lifting
functionality, and meet safety requirements in accordance with all
applicable codes and standards. If encoderless TorqProve is desired, you
must certify the safety of the application. To acknowledge that you have
read this ‘Attention’ and properly certified the encoderless application, set
bit 3 ‘EnclsTrqProv’ of parameter 10:420 [Mtr Options Cfg] to a value of 1.
This action removes Alarm 9014 ‘TP Encls Config’ and allows bit 1
‘Encoderless’ of parameter 9:50 [Trq Prove Cfg] to be changed to 1 enabling
encoderless TorqProve.
For information on TorqProve applications, see the PowerFlex 750-Series with

TotalFORCE Control reference manual, publication 750-RM100.

Technical Support Options When you contact Technical Support, please be prepared to provide the
following information.
What You Need When You Call Tech Support

• 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 117 or drive parameter list
Also be prepared with:

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

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

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

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

Notes:

Appendix A
Permanent Magnet Motors
Allen-Bradley® servo motors are compatible with PowerFlex 755TS drives.
Compatible Allen-Bradley The following table is a list of specifications for Allen-Bradley servo motors
Servo Motors that compatible with PowerFlex 755TS drives. This information is provided to
help configure PowerFlex 750-Series drives with the appropriate servo motor
data. For information regarding compatibility and configuration of any
Allen-Bradley servo motors (including RDB Series Direct Drive Motors) and
third-party PM motors that are not listed here, contact Allen-Bradley Drives
Technical Support.
Table 4 - Motor Name Plate and Rating Specifications

Motor NP Volts Motor NP Amps Motor NP Motor NP RPM Motor NP Motor Current peak System Cont. Stall Motor Max RPM
Model Number [line to line V rms] [A rms] Hertz [Hz] [oper. rpm] Power [kW] Poles [A rms] Torque [N•m] [rpm]
MPM-A1151M 240 4.2 333.3 5000 0.90 8 21.6 2.18 6000
MPM-A1152F 240 5.9 266.7 4000 1.40 8 31.7 4.74 5000
MPM-A1302F 240 7.4 266.7 4000 1.65 8 35.6 5.99 4500
MPM-A1304F 240 8.1 233.3 3500 2.20 8 34.2 9.30 4000
MPM-A1651F 240 14.5 200.0 3000 2.50 8 52.2 10.70 5000
MPM-A1652F 240 18.1 233.3 3500 4.03 8 73.0 13.50 4000
MPM-A1653F 240 23.2 200.0 3000 5.10 8 84.3 18.60 4000
MPM-A2152F 240 33.7 133.3 2000 5.20 8 89.0 27.00 4000
MPM-A2153F 240 32.8 133.3 2000 5.80 8 85.2 34.00 4600
MPM-A2154C 240 24.8 116.7 1750 6.50 8 89.8 55.00 2000
MPM-A2154E 240 29.6 133.3 2000 7.00 8 90.7 44.00 2650
MPM-B1151F 480 1.5 266.7 4000 0.75 8 7.0 2.18 5000

MPM-B1151T 480 3.1 333.3 5000 0.90 8 14.5 2.18 7000
MPM-B1152C 480 2.3 166.7 2500 1.20 8 8.8 2.18 3000
MPM-B1152F 480 2.9 266.7 4000 1.40 8 15.5 4.74 5200
MPM-B1152T 480 5.2 266.7 4000 1.40 8 26.8 4.74 7000
MPM-B1153E 480 2.7 200.0 3000 1.40 8 15.3 6.55 3500
MPM-B1153F 480 3.2 266.7 4000 1.45 8 22.6 6.55 5500
MPM-B1153T 480 5.5 266.7 4000 1.45 8 39.2 6.55 7000
MPM-B1302F 480 3.4 266.7 4000 1.65 8 15.6 5.99 4500
MPM-B1302M 480 5.0 266.7 4000 1.65 8 22.6 5.99 6000
MPM-B1302T 480 6.6 266.7 4000 1.65 8 30.7 5.99 7000
MPM-B1304C 480 3.4 183.3 2750 2.00 8 15.8 10.20 2750
MPM-B1304E 480 4.1 166.7 2500 2.20 8 24.2 10.20 4000
MPM-B1304M 480 7.3 233.3 3500 2.20 8 42.9 10.20 6000
MPM-B1651C 480 4.7 200.0 3000 2.50 8 20.6 10.70 3500
MPM-B1651F 480 8.2 200.0 3000 2.50 8 36.0 10.70 5000
MPM-B1651M 480 10.9 200.0 3000 2.50 8 40.2 10.70 5000
MPM-B1652C 480 7.0 166.7 2500 3.80 8 23.8 16.00 2500
MPM-B1652E 480 8.0 233.3 3500 4.30 8 42.8 19.40 3500
MPM-B1652F 480 11.0 233.3 3500 4.30 8 59.5 19.40 4500
MPM-B1653C 480 10.5 133.3 2000 4.60 8 41.9 26.80 2500

Appendix A Permanent Magnet Motors
Table 4 - Motor Name Plate and Rating Specifications (Continued)

MPM-B1653E 480 10.2 200.0 3000 5.10 8 51.6 26.80 3500
MPM-B1653F 480 13.2 200.0 3000 5.10 8 66.7 26.80 4000
MPM-B2152C 480 12.3 133.3 2000 5.60 8 39.2 36.70 2500
MPM-B2152F 480 18.7 166.7 2500 5.90 8 69.3 33.00 4500
MPM-B2152M 480 21.0 166.7 2500 5.90 8 54.0 30.00 5000
MPM-B2153B 480 12.7 116.7 1750 6.80 8 42.4 48.00 2000
MPM-B2153E 480 19.3 133.3 2000 7.20 8 69.7 48.00 3000
MPM-B2153F 480 22.1 133.3 2000 7.20 8 69.6 45.00 3800
MPM-B2154B 480 13.9 116.7 1750 6.90 8 69.3 62.80 2000
MPM-B2154E 480 18.3 133.3 2000 7.50 8 69.5 56.00 3000
MPM-B2154F 480 19.8 133.3 2000 7.50 8 59.3 56.00 3300
MPL-A310P 230 3.4 294.0 4410 0.73 8 9.9, 1.58 5000

MPL-A310F 230 2.1 185.3 2780 0.46 8 6.6 1.58 3000
MPL-A320P 230 6.4 271.3 4070 1.30 8 20.9 3.05 5000
MPL-A320H 230 4.6 208.7 3130 1.00 8 13.6 3.05 3500
MPL-A330P 230 8.5 280.7 4210 1.80 8 26.9 4.08 5000
MPL-A420P 230 9.0 268.7 4030 2.00 8 32.5 4.74 5000
MPL-A430P 230 11.9 234.0 3510 2.20 8 47.4 5.99 5000
MPL-A430H 230 8.6 184.7 2770 1.80 8 31.8 6.21 3500
MPL-A4520P 230 12.4 234.0 3510 2.20 8 35.4 5.99 5000
MPL-A4520K 230 10.6 223.3 3350 2.10 8 30.4 5.99 4000
MPL-A4530F 230 9.5 144.7 2170 1.90 8 29.7 8.36 2800
MPL-A4530K 230 14.4 196.0 2940 2.50 8 43.8 8.13 4000
MPL-A4540C 230 6.6 93.3 1400 1.50 8 20.5 10.20 1500
MPL-A4540F 230 13.0 162.0 2430 2.60 8 38.2 10.20 3000
MPL-A520K 230 16.3 208.0 3120 3.50 8 46.0 10.70 4000
MPL-A540K 230 29.3 180.7 2710 5.50 8 84.9 19.40 4000
MPL-A560F 230 29.3 125.3 1880 5.50 8 84.9 27.90 3000
MPL-B310P 460 1.7 310.0 4650 0.77 8 3.0 1.58 5000

MPL-B320P 460 3.2 313.3 4700 1.50 8 5.0 3.05 5000
MPL-B330P 460 4.3 274.0 4110 1.80 8 7.0 4.18 5000
MPL-B420P 460 4.5 255.3 3830 1.90 8 9.2 4.74 5000
MPL-B430P 460 6.5 214.0 3210 2.20 8 12.0 6.55 5000
MPL-B4520P 460 6.0 236.7 3550 2.10 8 17.0 5.65 5000
MPL-B4530F 460 5.0 162.0 2430 2.10 8 13.4 8.25 3000
MPL-B4530K 460 7.8 200.7 3010 2.60 8 19.1 8.25 4000
MPL-B4540F 460 6.4 162.0 2430 2.60 8 16.3 10.20 3000
MPL-B4560F 460 8.3 144.7 2170 3.20 8 25.5 14.10 3000
MPL-B520K 460 8.1 208.0 3120 3.50 8 23.3 10.70 4000
MPL-B540K 460 14.5 177.3 2660 5.40 8 42.4 19.40 4000
MPL-B560F 460 14.5 130.7 1960 5.50 8 42.4 26.80 3000
MPL-B580F 460 18.4 132.7 1990 7.10 8 66.5 34.00 3000
MPL-B580J 460 22.6 148.0 2220 7.90 8 66.5 34.00 3800
MPL-B640F 460 22.7 106.0 1590 6.11 8 46.0 36.70 3000
MPL-B660F 460 27.2 81.3 1220 6.15 8 67.9 48.00 3000
MPL-B680D 460 24.0 94.0 1410 9.30 8 66.5 62.80 2000
MPL-B680F 460 33.9 79.3 1190 7.50 8 67.9 60.00 3000
MPL-B860D 460 33.6 96.0 1440 12.50 8 67.5 83.10 2000
MPL-B880C 460 33.6 72.7 1090 12.60 8 69.0 110.00 1500
MPL-B880D 460 40.3 86.7 1300 15.00 8 113.2 110.00 2000
MPL-B960B 460 29.7 62.0 930 12.70 8 63.6 130.00 1200
MPL-B960C 460 38.9 76.0 1140 14.80 8 88.4 124.30 1500
MPL-B960D 460 50.2 76.7 1150 15.00 8 102.5 124.30 2000
MPL-B980B 460 31.8 59.3 890 15.02 8 70.7 162.70 1000

Table 4 - Motor Name Plate and Rating Specifications (Continued)

MPL-B980C 460 48.2 67.3 1010 16.80 8 99.0 158.20 1500
MPL-B980D 460 63.6 74.7 1120 18.60 8 141.4 158.20 2000
MPG-A004-031 230 1.8 222.7 3340 0.21 8 4.0 0.60 6000

MPG-A010-031 230 2.1 189.3 2840 0.36 8 6.0 1.21 4875
MPG-A010-091 230 0.9 295.3 4430 0.19 8 2.3 0.41 5900
MPG-A025-031 230 9.9 181.0 1810 0.88 12 19.8 4.65 5200
MPG-A025-091 230 3.0 168.0 1680 0.52 12 8.5 2.95 5625
MPG-A050-031 230 24.7 120.0 1200 1.50 12 53.0 11.90 2510
MPG-A050-091 230 5.0 275.0 2750 0.75 12 15.6 2.60 3775
MPG-A110-031 230 20.2 122.0 1220 2.20 12 53.0 17.20 2875
MPG-A110-091 230 17.0 184.0 1840 1.60 12 33.2 8.30 3500
MPG-B010-031 460 1.6 162.7 2440 0.34 8 4.4 1.33 6450

MPG-B010-091 460 0.7 357.3 5360 0.23 8 1.5 0.41 6450
MPG-B025-031 460 4.0 219.0 2190 0.92 12 11.3 4.02 4838
MPG-B025-091 460 1.9 175.0 1750 0.54 12 5.2 2.95 5900
MPG-B050-031 460 16.3 92.0 920 1.20 12 32.5 12.40 2510
MPG-B050-091 460 3.4 290.0 2900 0.79 12 9.9 2.60 4560
MPG-B110-031 460 12.9 112.0 1120 2.00 12 31.1 17.00 2420
MPG-B110-091 460 10.6 184.0 1840 1.60 12 20.5 8.30 3500
1326AB-B410G 460 2.5 118.0 3540 1.00 4 7.4 2.70 5000

1326AB-B410J 460 3.5 165.0 4950 1.40 4 10.4 2.70 7250
1326AB-B420E 460 2.8 70.0 2100 1.10 4 8.5 5.00 3000
1326AB-B420H 460 5.5 137.3 4120 2.20 4 15.6 5.10 6000
1326AB-B430E 460 3.9 67.7 2030 1.40 4 11.7 6.60 3000
1326AB-B430G 460 5.6 114.3 3430 2.30 4 16.8 6.40 5000
1326AB-B515E 460 6.1 70.3 2110 2.30 4 18.3 10.40 3000
1326AB-B515G 460 9.5 88.7 2660 2.90 4 28.5 10.40 5000
1326AB-B520E 460 6.7 71.0 2130 2.90 4 20.1 13.00 3000
1326AB-B520F 460 8.8 70.3 2110 2.90 4 26.4 13.10 3500
1326AB-B530E 460 9.5 74.3 2230 4.20 4 28.5 18.00 3000
1326AB-B720E 460 17.5 70.0 2100 6.80 4 52.5 30.90 3500
1326AB-B720F 460 27.5 117.0 3510 11.70 4 66.5 31.80 5000
1326AB-B730E 460 22.8 78.3 2350 9.60 4 66.5 39.00 3350
1326AB-B740C 460 20.9 52.3 1570 8.70 4 62.7 53.00 2200
1326AB-B740E 460 32.0 79.7 2390 12.70 4 66.5 50.80 3400
1326AS-B310H 460 0.8 204.5 4090 0.30 6 2.4 0.70 6200

1326AS-B330H 460 2.1 204.5 4090 0.90 6 6.0 2.10 6500
1326AS-B420G 460 2.6 179.0 3580 1.20 6 7.8 3.20 5250
1326AS-B440G 460 5.4 149.0 2980 2.00 6 16.2 6.40 5250
1326AS-B460F 460 6.2 148.5 2970 2.80 6 18.6 9.00 4300
1326AS-B630F 460 7.8 142.7 2140 2.40 8 18.5 10.70 4500
1326AS-B660E 460 11.8 100.7 1510 3.40 8 29.8 21.50 3000
1326AS-B690E 460 19.0 87.3 1310 5.00 8 41.3 36.40 3000
1326AS-B840E 460 21.2 79.3 1190 4.70 8 39.5 37.60 3000
1326AS-B860C 460 17.6 77.3 1160 6.00 8 44.4 49.30 2000
1326AH-B330F 460 2.1 0.0 3000 0.75 - 9.0 - 3000

1326AH-B440F 460 3.3 0.0 2500 1.22 - 13.8 - 2500
1326AH-B540F 460 11.1 0.0 2500 2.60 - 47.2 - 2500
3050R-7 390 66.0 50.0 500 30.00 12 132.0 - 500

11050R-7 390 218.0 50.0 500 110.00 12 436.0 - 500

Notes:

Numerics position homing 45
position reference
11-Series inputs & outputs
move profile 47
analog 81 position reference 1 46
ATEX 82 position reference 2 48
digital 80 position regulator 49
22-Series inputs & outputs power factor correction 36
analog 79 power loss 27
digital 78 PowerFlex 755T converter overview 24
process control 1 72
A process control 2 73
progressive cavity pump 75
alarm codes pump jack 75
types 88 pump off 76
viewing 88 reactive power control 30
alarms reference notch filter
access documentation on 5, 87 crane application 74
display codes explained 102 torque control
current IPM 71
torque filters 69
B torque overview 63
basic parameter view 17, 18 torque reference 68
block diagrams 21 current IM, SPM 70
11-Series inputs & outputs selection 64
analog 81 torque reference CAM 67
ATEX 82 variable frequency, SV overview 42
digital 80 velocity reference
22-Series inputs & outputs all 58
analog 79 CAM 61
digital 78 flux vector 59
CBI metering signals 43 flux vector move profiles 60
control logic 83 overview 56
current control 38 selection 57
current reference generator 29 velocity regulator
current/power limits 37 flux vector 62
DC bus observer 35 voltage control 34
drive derating 40 voltage reference generator 33
droop control 31
dynamic bus control 32
feedback configuration & status 44
C
flux vector overview 41 CBI metering signals 43
friction compensation 66 CIP security 7
high speed trend wizard 86 common symptoms,troubleshooting 102
inverter overload IT 84
control logic 83
line side converter data 28
load observer 65 current control 38
LSC control configuration 39 current reference generator 29
metering 25 current/power limits 37
MOP control 77
motor overload 85
phase locked loop 26
D
position control datalinks
phase locked loop 50 problems adding 104
position reference CAM 51 DC bus observer 35
profiler/indexer 1 52 default parameter settings 98
profiler/indexer 2 53
downloads, firmware and other files 5
roll position indicator 54
spindle orient 55 drive derating 40
Rockwell Automation Publication 750-RM100B-EN-P - August 2021 123

drive faults when stopped 104 P
drive state 90
Parameter Access Level
drive will not Explanation 16
accelerate 103 parameter descriptions
change motor direction 104
access documentation 7, 87
change speed 103 access documentation on 5
start 102
parameters
droop control 31
basic view 17, 18
dynamic bus control 32 how organized 16
setting to factory defaults 98
E phase locked loop 26
events 88 position control
access documentation on 5, 87 phase locked loop 50
position reference CAM 51
viewing 88
F roll position indicator 54
faults spindle orient 55
AC precharge 7-segment display 92 position homing 45
access documentation on 5, 87 position reference
clearing 89 move profile 47
DC precharge 7-segment display 95 position reference 1 46
display codes explained 102 position reference 2 48
display screen 89
position regulator 49
types 88
viewing 88 power factor correction 36
power loss 27
feedback configuration & status 44
PowerFlex 755T converter overview 24
file group parameter organization 16
firmware, download 5 problems with
motor direction 104
flux vector overview 41 speed command 103
friction compensation 66 starting the drive 102
stopping the drive 104
H process control 1 72
high speed trend wizard 86 process control 2
block diagram 73
progressive cavity pump 75
I pump jack 75
inverter overload IT 84 pump off 76
L R
LEDs 90 reactive power control 30
line side converter data 28 reference notch filter 74
load observer 65 reset parameter defaults 98
LSC control configuration 39
S
M speed command
metering 25 problems with 103
MOP control 77 start
motor problems with 102
direction 104 startup information 7
operation is unstable 103 status indicators 90
motor overload 85 AC precharge 92
124 Rockwell Automation Publication 750-RM100B-EN-P - August 2021

DC precharge 95
fiber-optic interface 97
power layer interface 91
status indicators fiber-optic transceiver 98
stop
problems with 104
support, product 117
T
technical support
contacting 117
testpoints 105
torque control
current IM, SPM 70
current IPM 71
torque filters 69
torque overview 63
torque reference 68
selection 64
torque reference CAM 67
troubleshooting 87
common symptoms 102
V
variable frequency, SV overview 42
velocity reference
all 58
CAM 61
flux vector 59
flux vector move profiles 60
overview 56
selection 57
velocity regulator
flux vector 62
voltage control 34
voltage reference generator 33
Rockwell Automation Publication 750-RM100B-EN-P - August 2021 125

126 Rockwell Automation Publication 750-RM100B-EN-P - August 2021
Additional Resources
These documents contain additional information concerning related products from Rockwell Automation.
Resource Description
PowerFlex Drives with TotalFORCE Control Parameters Reference Data, Provides the parameters for PowerFlex products with TotalFORCE control.
publication 750-RD101
PowerFlex Drives with TotalFORCE Control Conditions Reference Data, Provides the fault, alarm, event, and exception codes for PowerFlex products with
publication 750-RD102 TotalFORCE control.
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
• Kit selection
PowerFlex 755TM IP00 Open Type Kits Technical Data, publication 750-TD101
• Kit ratings and specifications
• Option specifications
PowerFlex 755TS Products with TotalFORCE Control Technical Data, • Drive specifications
publication 750-TD104 • 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.
PowerFlex 755TS Products with TotalFORCE Control Installation Instructions, Provides the basic steps to install PowerFlex 755TS drives.
publication 750-IN119
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.
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.
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
PowerFlex 750-Series Products with TotalFORCE Control Hardware Service • Preventive maintenance
Manual, publication 750-TG100 • Component testing
• Hardware replacement procedures

Resource Description
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 These publications provide detailed information on installation, setup, and operation of the
750-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
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.
CIP Security with Rockwell Automation Products Application Technique, Describes how to plan an implement a Rockwell Automation system that support the CIP
SECURE-AT001 Security protocol.
Industrial Components Preventive Maintenance, Enclosures, and Contact Provides a quick reference tool for Allen-Bradley industrial automation controls and
Ratings Specifications, publication IC-TD002 assemblies.
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides
Safety Guidelines for the Application, Installation, and Maintenance of general guidelines for the application, installation, and maintenance of solid-state control in
Solid-state Control, publication SGI-1.1 the form of individual devices or packaged assemblies incorporating solid-state
components.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, rok.auto/certifications Provides declarations of conformity, certificates, and other certification details.
Rockwell Automation Knowledge Base The Rockwell Automation Support Forum
You can view or download publications at rok.auto/literature.


Rockwell Automation Support
Use these resources to access support information.
Technical Support Center Find help with how-to videos, FAQs, chat, user forums, and product notification updates. rok.auto/support
Knowledgebase Access Knowledgebase articles. rok.auto/knowledgebase
Local Technical Support Phone Numbers Locate the telephone number for your country. rok.auto/phonesupport
Literature Library Find installation instructions, manuals, brochures, and technical data publications. rok.auto/literature
Product Compatibility and Download Center Download firmware, associated files (such as AOP, EDS, and DTM), and access product rok.auto/pcdc
(PCDC) release notes.
Documentation Feedback
Your comments help us serve your documentation needs better. If you have any suggestions on how to improve our
content, complete the form at rok.auto/docfeedback.
Waste Electrical and Electronic Equipment (WEEE)
At the end of life, this equipment should be collected separately from any unsorted municipal waste.
Rockwell Automation maintains current product environmental information on its website at rok.auto/pec.
Allen-Bradley, CompactLogix, Connected Components Workbench, ControlLogix, DeviceLogix, expanding human possibility, FactoryTalk, PowerFlex, Rockwell Automation, Studio 5000, Studio
5000 Logix Designer, TorqueProve, and TotalFORCE are trademarks of Rockwell Automation, Inc.
CIP Security and EtherNet/IP are trademarks of ODVA, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Rockwell Otomasyon Ticaret A.Ş. Kar Plaza İş Merkezi E Blok Kat:6 34752, İçerenkÖy, İstanbul, Tel: +90 (216) 5698400 EEE YÖnetmeliğine Uygundur
Publication 750-PM101B-EN-P - April 2022

Supersedes 750-PM101A-EN-P - February 2021 Copyright © 2022 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

Powerflex Drives With Totalforce Control: Programming Manual

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Front Cover

PowerFlex Drives with

Programming Manual Original Instructions

Important User Information

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

The following icon may appear in the text of this document.

2 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 3

Configurable LCL Filter Capacitor Failure Response . . . . . . . . . . . . . . . 115

4 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

This publication contains the basic information to start up and troubleshoot

This publication is intended for qualified personnel.

Access Fault Codes and

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 5

6 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

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

Rockwell Automation uses the following products to implement CIP Security:

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 7

755TL and TR Drives without 24V Auxiliary Power

This procedure applies to drives without 24V auxiliary power.

Input Bay Power Bay

Energize the product in the following sequence:

De-energize the product in the following sequence:

8 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

755TL and TR Drives with 24V Auxiliary Power

This procedure covers drives with 24V auxiliary power.

Input Bay Power Bay

Energize the product in the following sequence:

De-energize the product in the following sequence:

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 9

Systems with 755TM Bus Supplies and Common Bus Inverters

Input Bay Power Bay Power Bay Control Power Bay

Energize the product in the following sequence:

De-energize the product in the following sequence:

10 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

Input Bay Power Bay Power Bay Control Power Bay

Energize the product in the following sequence:

De-energize the product in the following sequence:

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 11

Input Bay Power Bay Power Bay Control Power Bay

Energize the product in the following sequence:

De-energize the product in the following sequence:

12 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

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

IMPORTANT Step 3, de-energize 240V control power is required. If three-phase

Input Bay Power Bay Power Bay Control Power Bay

Energize the product in the following sequence:

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 13

4. Energize 240V control power (D).

De-energize the product in the following sequence:

14 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

This chapter describes the parameters in PowerFlex 750-Series Products with

Use this link to access the PowerFlex Drives with TotalFORCE

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 15

Parameter References Parameter references are shown as Port#:Parameter# [Parameter Display

16 Rockwell Automation Publication 750-PM101B-EN-P - April 2022

Figure 1 - System Architecture

Port 10 Port 11 Port 12

Port 1 Port 2 Port 3 Port 4 Port 5 Port 6 Port 7 Port 8

Port 0 PowerFlex 755T System Port

Rockwell Automation Publication 750-PM101B-EN-P - April 2022 17

what ports 9 and 10 contain. Ports 9 and 10 do not display parameters or

Port 9 Application Parameters