1336E-UM001 - Rockwell Automation
1336 IMPACT™
Adjustable
Frequency AC Drive
0.37 - 597 kW (0.5 - 800 HP)
Version 1.xx - 4.xx
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. “Safety Guidelines for the Application,
Installation and Maintenance of Solid State Controls” (Publication SGI-1.1
available from your local Allen-Bradley Sales Office or online at http://
www.ab.com/manuals/gi) describes some important differences between
solid state equipment and hard-wired electromechanical devices. Because of
this difference, and also because of the wide variety of uses for solid state
equipment, all persons responsible for applying this equipment must satisfy
themselves that each intended application of this equipment is acceptable.
In no event will the Allen-Bradley Company 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, the Allen-Bradley Company
cannot assume responsibility or liability for actual use based on the
examples and diagrams.
No patent liability is assumed by Allen-Bradley Company 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 the Allen-Bradley Company is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations.
!
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 the hazard
• recognize the consequences
Important: Identifies information that is especially important for successful
application and understanding of the product.
Shock Hazard labels may be located on or inside the drive to
alert people that dangerous voltage may be present.
SCANport is a trademark of Rockwell Automation.
PLC is a registered trademark of Rockwell Automation.
COLOR-KEYED is a registered trademark of Thomas & Betts Corporation.
IBM is a registered trademark of International Business Machines Corporation.
Windows 95 is a registered trademark of Microsoft Corporation.
Table of Contents
Who Should Use this Manual? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What Is the 1336 IMPACT Drive?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms and Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Common Techniques Used in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Allen-Bradley Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1-1
1-1
1-3
1-5
1-5
Chapter 1
Overview
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What Features Does the 1336 IMPACT Drive Provide?. . . . . . . . . . . . . . . . . . .
How Do I Read the Catalog Number?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
What is a Frame Designator? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hardware Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Where Do I Go From Here? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1
1-1
1-3
1-4
1-5
1-6
Chapter 2
Mounting and Wiring Your 1336
IMPACT Drive
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Before Mounting Your Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Input Fuses and Circuit Breakers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Mounting Your Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Grounding Your Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14
Wiring the Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Hard Wiring Your I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Connecting Your Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-24
Installing an Interface Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Connecting the Power to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Disconnecting the Drive Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Starting and Stopping the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-27
Electrical Interference — EMI/RFI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
Do I Need an RFI Filter? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-28
Chapter 3
Mounting and Wiring Information
Specific to Frames A1, A2, A3, and A4
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring the Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hard Wiring Your I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Fusing Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1
3-1
3-3
3-4
3-5
Chapter 4
Mounting and Wiring Information
Specific to Frames B, C, D, E, F, G, & H
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Wiring the Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Selecting the Proper Lug Kit for Your System. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Hard Wiring Your I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
Selecting/Verifying Fan Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
Input Fusing Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Chapter 5
Using the L Option
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
What is the L Option? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
What Functions are Available? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Table of Contents
toc–2
Setting Up the L Option Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
Using an Encoder with the L Option Board . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
Requirements for the Contact Closure Interface Board (L4). . . . . . . . . . . . . . . . 5-11
Requirements for the 24V AC/DC Interface Board Requirements (L5) . . . . . . . 5-12
Requirements for the 115V AC Interface Board (L6) . . . . . . . . . . . . . . . . . . . . . 5-13
Requirements for the Contact Closure Interface Board (L7E) . . . . . . . . . . . . . . 5-14
Requirements for the 24V AC/DC Interface Board Requirements (L8E) . . . . . . 5-15
Requirements for the 115V AC Interface Board (L9E) . . . . . . . . . . . . . . . . . . . . 5-16
Chapter 6
Starting Up Your System
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Before Applying Power to Your Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Applying Power to Your Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Recording Your Drive and Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Understanding the Basics of the Human Interface Module (HIM). . . . . . . . . . . . . 6-4
Starting Up Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Running the Quick Motor Tune Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
Configuring the Digital Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
Configuring the Analog Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Understanding Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Where Do I Go From Here? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
Chapter 7
Setting Up the Input/Output
Chapter Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
What Are Drive Units? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Setting Up the Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Setting Up the 4 – 20 mA Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
Using the SCANport Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Configuring the Output Relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-10
Configuring the Pulse Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
Configuring the L Option I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Chapter 8
Using the SCANport Capabilities
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Understanding the Logic Input Sts Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
SCANport Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
Configuring the SCANport Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
Setting the SCANport Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
Using the SCANport I/O Image. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
Setting Up the Analog I/O Parameters for SCANport . . . . . . . . . . . . . . . . . . . . . 8-14
Chapter 9
Applications
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Choosing a Motor Feedback Source
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
Choosing an Optional Braking/Decelerating Method . . . . . . . . . . . . . . . . . . . . 9-3
Using DC Hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Using Up to 400% Motor Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
Understanding the Scale and Offset Parameters for Analog I/O . . . . . . . . . . . . . 9-8
Using 4 – 20 mA Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
Using a Remote Pot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
Using MOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
Using Flying Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
Speed Profiling Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16
Speed Profiling Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
Table of Contents
toc–3
Speed Profile Start Up Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
Initial Setup Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
Profile Command & Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
Using the TB3 Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
Encoder Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-25
Chapter 10
Using the Function Block
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
What is a Function Block? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
Evaluating the Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
Using the Timer Delay Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
Using the State Machine Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
Using the Add/Subtract Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-10
Using the Maximum/Minimum Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-12
Using the Up/Down Counter Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-14
Using the Multiply/Divide Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-18
Using the Scale Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
Using the Hysteresis Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-23
Using the Band Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26
Using the Logical Add/Subtract Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-26
Using the Logical Multiply/Divide Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-27
Chapter 11
Parameters
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
Understanding the Parameter Files and Groups . . . . . . . . . . . . . . . . . . . . . . . . 11-1
Numerical Parameter Listing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
Alphabetical Parameter Listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
Parameter Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
Chapter 12
Troubleshooting
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
Required Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
Fault/Warning Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
Viewing the Fault and Warning Queues on the HIM. . . . . . . . . . . . . . . . . . . . . . 12-6
What Are the Fault Descriptions? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
Understanding Precharge and Ridethrough Faults. . . . . . . . . . . . . . . . . . . . . . 12-16
Understanding the Bus Voltage Tracker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
Understanding the Parameter Limit Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-22
Understanding the Math Limit Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24
Start Up Troubleshooting Procedures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-27
Miscellaneous Troubleshooting Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-28
Encoderless Troubleshooting Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-30
Chapter 13
Understanding the Auto-tuning
Procedure
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
What Is Auto-tuning? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
Running the Power Structure and Transistor Diagnostics Tests . . . . . . . . . . . . 13-2
Running the Phase Rotation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-5
Running the Sequential Torque Tuning Tests . . . . . . . . . . . . . . . . . . . . . . . . . . 13-6
Running the Inertia Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-9
Checking the Auto-tune Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-13
Table of Contents
toc–4
Appendix A
Specifications
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input/Output Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable and Wiring Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-1
A-1
A-4
A-5
A-6
Appendix B
Control Block Diagrams
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Motor Control Board Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2
Speed Reference Selection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
Trim Control Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-10
Speed Feedback Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-13
Speed PI Regulator Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-16
Torque Reference Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-19
Torque Block Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-24
Drive Fault Detection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-27
Inverter Overload Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-32
Speed Loop Auto-tune Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-35
Through-Put Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-38
Appendix C
Using the Human Interface Module
(HIM)
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
What Is the Human Interface Module (HIM)? . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
HIM Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
HIM Compatibility Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-12
Removing the HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-13
Appendix D
Derating Guidelines
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1
Derating Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2
Appendix E
CE Conformity
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Requirements for Conforming Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix F
Spare Parts Information
E-1
E-1
E-2
E-3
E-3
E-4
Preface
Preface
Read this preface to become familiar with the rest of the manual. This
preface covers the following topics:
• who should use this manual
• an overview of the 1336 IMPACT drive
• the purpose of this manual
• terms and abbreviations
• conventions used in this manual
• Allen-Bradley support
Who Should Use this Manual?
Use this manual if you are responsible for installing, wiring, starting,
programming, or troubleshooting control systems that use the 1336
IMPACT drive.
This manual is intended for qualified service personnel responsible
for setting up and servicing the 1336 IMPACT AC drive. You must
have previous experience with and a basic understanding of electrical
terminology, programming procedures, required equipment, and
safety precautions before attempting to service the 1336 IMPACT
drive.
What Is the 1336 IMPACT
Drive?
The 1336 IMPACT drive is a high performance,
microprocessor-based Field Oriented Control (FOC) AC drive that
uses Force technologies™. The 1336 IMPACT drive was designed to
be a low cost drive for standalone applications. The drive is user
friendly and has an easy to use start up sequence for simple, out of the
box installation.
Purpose of this Manual
This manual is a learning and reference guide for the 1336 IMPACT
drive. It describes the procedures needed to install, program, start, and
maintain the 1336 IMPACT AC drive. Before you operate, service, or
initialize the 1336 IMPACT drive, you should, at a minimum read the
first 6 chapters of this manual.
P-2
Contents of this Manual
This manual contains the following information:
Chapter
Title
Contents
Preface
Describes the purpose, background, and scope of this manual as well as an
overview of this product.
1
Overview
Provides an overview of the features of the 1336 IMPACT drive. Also provides
an overview of the 1336 IMPACT hardware.
2
Mounting and Wiring Your 1336 IMPACT Drive
Provides procedures for mounting and wiring 1336 IMPACT drives. This
chapter covers the installation information that is common to all drives.
3
Mounting and Wiring Information Specific to
Frames A1, A2, A3, and A4
Provides the mounting and wiring information that is specific to frames A1, A2,
A3, and A4.
4
Mounting and Wiring Information Specific to
Frames B, C, D, E, F, G, and H
Provides the mounting and wiring information that is specific to frames B, C, D,
E, F, G, and H.
5
Using the L Option
Provides information for wiring and using the L Option.
6
Starting Up Your System
Provides procedures for starting up your system.
7
Configuring the I/O Communications
Provides information to help you set up and use the inputs and outputs
available on the 1336 IMPACT drive.
8
Using SCANport
Provides information to help you use SCANport.
9
Applications
Provides information about various applications for which you can use the 1336
IMPACT drive.
10
Using the Function Block
Provides information and examples to help you use the provided function block.
11
Parameters
Provides information about the available parameters.
12
Troubleshooting
Explains how to interpret and correct problems with your drive.
13
Understanding the Auto-tuning Procedure
Provides information to help you solve problems that were reported during the
motor tune routine.
A
Specifications
Provides specifications and reference tables for the 1336 IMPACT drive.
B
Control Block Diagrams
Provides information to help you better understand the capabilities of your
drive.
C
Using the Human Interface Module (HIM)
Provides information to help you use your Human Interface Module (HIM).
D
Derating Guidelines
Provides the derating graphs for the 1336 IMPACT drive.
E
CE Conformity
Provides information regarding CE conformity.
F
Spare Parts Information
Provides information for locating spare parts.
!
ATTENTION: This board contains ESD (electrostatic
discharge) sensitive parts and assemblies. Static control
precautions are required when installing, testing,
servicing, or repairing this assembly. Component
damage may result if you do not follow ESD control
precautions. If you are not familiar with static control
procedures, refer to Guarding Against Electrostatic
Damage, Allen-Bradley Publication 8000-4.5.2, or any
other applicable ESD protection handbook.
ATTENTION: Only personnel familiar with
SCANport devices and associated machinery should
plan or implement the installation, start-up, or
subsequent troubleshooting of this board. Failure to
comply may result in personnel injury and/or equipment
damage.
P-3
Related Documentation
The following documents contain additional information concerning
related Allen-Bradley products. To obtain a copy, contact your local
Allen-Bradley office or distributor. For the National Electrical Code,
you may need to contact the publisher.
‘
For:
Read this document:
Document number:
In-depth information on grounding and wiring Allen-Bradley
programmable controllers
Allen-Bradley Programmable Controller
Grounding and Wiring Guidelines
1770-4.1
A description on how to install a PLC-5 system
PLC-5 Family Programmable Controllers
Hardware Installation Manual
1785-6.6.1
A description of important differences between solid-state
programmable controller products and hard-wired
electromechanical devices
Application Considerations for Solid-State
SGI-1.1
Controls
An article on wire sizes and types for grounding electrical
equipment
National Electrical Code
Published by the National Fire
Protection Association of
Boston, MA.
A complete listing of current Allen-Bradley documentation,
including ordering instructions. Also indicates whether the
documents are available on CD-ROM or in multi-languages.
Allen-Bradley Publication Index
SD499
A glossary of industrial automation terms and abbreviations
Allen-Bradley Industrial Automation
Glossary
AG-7.1
Terms and Abbreviations
The following terms and abbreviations are specific to this product.
For a complete listing of Allen-Bradley terminology, refer to the
Allen-Bradley Industrial Automation Glossary.
This term:
Has the following definition:
bandwidth
Bandwidth is the frequency range from ω = 0 to the point at which the magnitude response of the speed
regulator is 0.707 of (or 3db below) its zero frequency (steady-state) value. The bandwidth indicates the rise
time or speed of response of the speed regulator. ω = 2πf, where f is Hz or cycles per second.
destination parameter (read
and write parameters)
Destination parameters accept data from other parameters. The drive uses this data to perform the desired
functions. An example of a destination parameter is Speed Ref 1 (parameter 29), which can accept a speed
reference from a device such as a PLC. Throughout this manual, the following symbol indicates a destination
parameter:
Destination parameters may also be called sink parameters.
display units
Display units are the units that are displayed on the Human Interface Module (HIM). Display units are units such
as Hz, volts, and rpm, and are converted to and from drive units by the HIM.
drive units
Drive units are the actual values of the parameters as stored within the drive parameter table. The drive units
are converted to display units that are shown on the Human Interface Module (HIM). Drive units may also be
called internal units.
EE or E2
See non-volatile memory.
frame size
A single-letter designator used to identify the various drive sizes. Frame sizes are frequently referred to instead
of the kW or horsepower rating they represent. Refer to Chapter 1, Overview, to determine the frame size for
your drive.
P-4
This term:
Has the following definition:
A link is a software connection between two parameters that lets you transfer data from one parameter to the
other. The parameter that provides the information is called the source parameter. The parameter that receives
the data is called the destination parameter.
The 1336 IMPACT Drive lets you make up to 20 links. You can only program links when the drive is not running.
Links are stored in EE and established at power up and/or system reset.
There are two types of links:
• User link — A user link is a software connection that you establish. You can change these links as needed.
• Default link — A default link is a software connection between two parameters that is made when the drive is
initialized. You can change the default links as needed after initialization. Default links are sometimes called
pre-defined links.
The default links are as follows:
links
Source
To
Destination
SP An In1 Value
134
To
29
Speed Ref 1
An In 1 Value
96
To
31
Speed Ref 2
Motor Speed
81
To
105
An Out 1 Value
Motor Power
90
To
108
An Out 2 Value
Motor Speed
81
To
139
SP An Output
The links are made from the destination side, and the data transfer occurs in the opposite direction.
For additional information about links, refer to Chapter 6, Starting Up Your System.
maintained start
With a maintained start, the drive runs as long as you are commanding a start. The drive stops when you
remove the start input (for example, if you remove your finger from the start button). This type of start is also
referred to as an unlatched start.
mask parameters
Through the SCANport interface, up to six different SCANport adapters and the L Option board can control the
1336 IMPACT drive. With this flexibility, conflicts are inherent. The 1336 IMPACT drive lets you make functional
masks. At each port, you can selectively lock out functions such as start, jog, and drive direction as well as
many fault interlocks by using mask parameters to select the allowable functions for each port.
momentary start
With a momentary start, the drive continues running until a stop is commanded, even after you remove the start
input. This type of start is also referred to as a latched start.
non-volatile memory
Non-volatile memory is data memory in the drive that retains the values of all data even when power is
disconnected from the drive. An EE (Electrically Erasable) chip is used for the non-volatile memory to store the
drive parameters, links, and user text.
owner parameters
The 1336 IMPACT drive lets one or more control devices or adapters own start, jog, direction, and other control
functions. To avoid conflict, some owners are exclusive. For example, only one device can issue a forward
direction speed command. Others have multiple control. For example, all devices can jog the drive. Devices
can, for example, jog the drive in the forward direction only if the jog mask parameter allows for it.
parameter
A parameter is a memory location used to store drive data. Each parameter is assigned a number and a name.
per-unit numbering
Per-unit numbering is a numbering system that defines a specific numeric value as representing 100% of a
particular quantity being measured. The number 4096 is used in many places in the drive to represent one per
unit.
precharge
Precharge limits the current into the drive when the incoming power is first applied.
radians per second
Radians per second are the units used to measure bandwidth. ω = 2πf, where f is Hz or cycles per second.
ridethrough
Ridethrough automatically turns off the drive and starts a precharge when a power interrupt occurs. If the
power returns within two seconds, the drive automatically starts.
SCANport device
A SCANport device is a generic term that is used to refer to any device that you can connect to the SCANport
communications network.
Source parameters provide realtime information that is available for other devices to use. These devices can
source parameter (read-only
include PLC controllers, operator interface devices, and programming terminals. throughout this manual, the
parameters)
following symbol indicates a source parameter:
P-5
Common Techniques Used in
this Manual
The following conventions are used throughout this manual:
• Bulleted lists provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical
information.
• Italic type is used for parameter and chapter names.
This type of paragraph contains tips or notes that have been added
to call attention to useful information.
file: Control
group: Speed Reference
Allen-Bradley Support
This information is provided as a navigational tool. Use this
information to locate parameters in the file/group structure. For
example, to access a parameter in this section, you would first locate
the Control file and then the Speed Reference group.
Allen-Bradley offers support services worldwide, with over 75
Sales/Support Offices, 512 authorized Distributors and 260
authorized Systems Integrators located throughout the United States
alone, plus Allen-Bradley representatives in every major country in
the world.
Local Product Support
Contact your local Allen-Bradley representative for:
• sales and order support
• product technical training
• warranty support
• support service agreements
Technical Product Assistance
If you need to contact Allen-Bradley for technical assistance, please
review the information in the Troubleshooting chapter first. If you are
still having problems, then call your local Allen-Bradley
representative.
P-6
Notes:
Chapter
1
Overview
Chapter Objectives
Chapter 1 provides an overview of your 1336 IMPACT drive.
This topic:
What Features Does the
1336 IMPACT Drive Provide?
Starts on page:
An overview of the provided features
1-1
A description of the frame designators
1-4
A hardware overview
1-5
The 1336 IMPACT AC drive is a microprocessor-controlled digital
AC drive with the following features:
• standard: 0.37 to 485 kW (0.5 to 650 hp) at 0 – 250 Hz constant
torque
configured: 522 to 597 kW (700 to 800 hp) at 0 – 250 Hz constant
torque
• high-performance digital speed loop
• microprocessor-controlled, field-oriented current loop
• simplified programming through the use of a parameter table that
features data entries in engineering units with English
descriptions
• user-friendly interface with easy commissioning and set up
• non-volatile parameter storage
• extensive diagnostics, including both logic board and power
structure tests
• 32 entry fault queue and 32 entry warning queue with markers for
clear fault and power up and with time stamps
• enclosed construction
• multiple communication interfaces for SCANport access
• complete encoder interface through the L Option board
(quadrature A, A NOT, B, B NOT with encoder supply + 12V)
• two 12-bit resolution analog inputs for ±10V
• two 12-bit resolution analog outputs for ±10V
• one 12-bit resolution 4 – 20mA input
• one 12-bit resolution 4 – 20mA output
• 5 or 12V DC pulse input
• bumpless speed/torque control
• programmable output contacts (relay)
• function blocks
• flux braking, DC braking, and bus regulation
• DC hold
• 200/400% motor curve
1-2
Overview
•
•
•
•
•
•
•
•
•
S-Curve
autostart (auto restart, power up start)
start and stop dwells
analog input filters
process trim
fast flux up
2/3 wire control
feedback filters (light, heavy, lead/lag, and notch)
Flying Start
Options
The 1336 IMPACT drive provides the following options:
• DriveTools, which is PC Windows based programming
software compatible with the 1336 IMPACT drive and also other
Allen-Bradley 1336 and 1395 products
• dynamic braking
• AC motor contactor
• L Option board with or without an encoder interface
• Human Interface Module (HIM)
• Graphics Programming Terminal (GPT)
• gateway modules (Bulletin 1203 communications modules)
Protective Features
The 1336 IMPACT drive uses the following protective measures:
• programmable motor overload protection (I2T) investigated by
UL to comply with NEC Article 430
• inverter overload protection (IT)
• overspeed detection, even when operating as a torque follower
• programmable stall detection
• peak output current monitoring to protect against excessive
current at the output due to a phase-to-ground or phase-to-phase
short
• ground fault monitoring
• DC bus voltage monitoring to protect against undervoltage or
overvoltage conditions
• power structure heatsink temperature monitoring
• motor overspeed
• internal voltage reflection reduction mechanism
Overview
How Do I Read the Catalog
Number?
1-3
Knowing your catalog number for the 1336 IMPACT drive, can help
you sort out what options you have, as well as helping you
communicate this information to the Allen-Bradley support
personnel. The catalog numbers all have the following form:
1336E
AQ
F05
AA
EN
mods
First Position
Bulletin Number
Second Position
Voltage
Third Position
Nominal HP Rating
Fourth Position
Enclosure Type
Fifth Position
Language
Sixth Position
Options
Letter
Voltages
Code
kW (HP)
Code
Type
Code
Language
AQ
200–240VAC or 310VDC
NEMA 1 (IP20)
EN
English/English
380–480VAC or 513±620VDC
AE
English/French
500–600VAC or 775VDC
NEMA 1 (IP20)/
EMC
0.37–45 kW
FR
CW
0.37 (0.5)
0.56 (0.75)
0.75 (1)
1.2 (1.5)
1.5 (2)
2.2 (3)
3.7 (5)
5.5 (7.5)
7.5 (10)
AA
BR
F05
F07
F10
F15
F20
F30
F50
F75
F100
ES
English/Spanish
(0.5–60 HP) only
DE
English/German
007
010
015
020
025
030
040
050
060
075
100
125
150
200
250
300
350
400
450
500
600
650
700C
800C
5.5 (7.5)
7.5 (10)
11 (15)
15 (20)
18.5 (25)
22 (30)
30 (40)
37 (50)
45 (60)
56 (75)
75 (100)
93 (125)
112 (150)
149 (200)
187 (250)
1
224 (300)
1
261 (350)
1
298 (400)
1
336 (450) 1
373 (500)
1
448 (600) 1
485 (650)
1
522 (700) 1
597 (800)
2
AF
NEMA 4 (IP65)
AJ
NEMA 12 (IP54)
AN
Open (IP00)
2
IT
English/Italian
PT
English/
Portuguese
or
A
200–240VAC
B
380–480VAC
BP
380–480VAC
(F Frame)
BX
Special Rating
C
500–600VAC
Q
310VDC
R
513–620VDC
RX
Special Rating
W
775VDC
Code
Description
Human Interface Module, IP 20 (NEMA Type 1)
HAB
HAP
HA1
HA2
Blank — No functionality
Programmer Only
Programmer/Controller w/Analog Pot
Programmer/Controller w/Digital Pot
Human Interface Module, IP 65/54 (NEMA Type4/12)
HJP
HJ2
Programmer Only
Programmer/Controller w/Digital Pot
Communication Options
GM1
GM2
GM5
Single Point Remote I/O
RS–232/422/485, DF1, & DH485
DeviceNet TM
Control Interface Options
L4
L7E
L5
L8E
L6
L9E
TTL Contact
TTL Contact & Encoder Feedback
24VAC/DC
24VAC/DC & Encoder Feedback
115VAC
115VAC & Encoder Feedback
1 G frame drives in enclosed construction and all H frame drives are supplied only through the Configured Drives Program.
2 D – G frame drives in IP 65 (NEMA Type 4) and IP 54 (NEMA Type 12) configurations are supplied through the Configured Drives Program.
Note: BPR indicates F frame roll-in units
1-4
Overview
What is a Frame Designator?
Allen-Bradley uses frame designators to identify the various sizes of
drives. Throughout this manual, the frame sizes are frequently
referred to instead of the kW or horsepower rating.
The following frame sizes are currently available for the
1336 IMPACT drive:
If your drive falls into this three-phase drive rating1:
200 – 240V
380 – 480V
500 – 600V
Then your frame
reference is:
0.37 – 0.75 kW
0.5 – 1 hp
0.37 – 1.2 kW
0.5 – 1.5 hp
—
A1
1.2 – 1.5 kW
1.5 – 2 hp
1.5 – 2.2 kW
2 – 3 hp
—
A2
2.2 – 3.7 kW
3 – 5 hp
3.7 kW
5 hp
—
A3
—
5.5 – 7.5 kW
7.5 – 10 hp
0.75 – 3.7 kW
1 – 10 hp
A4
5.5 – 11 kW
7.5 – 15 hp
5.5 – 22 kW
15 – 30 hp
5.5 – 15 kW
15 – 20 hp
B
15 – 22 kW
20 – 30 hp
30 – 45 kW
40 – 60 hp
18.5 – 45 kW
25 – 60 hp
C
30 – 45 kW
40 – 60 hp
45 – 112 kW
60 – 150 hp
56 – 93 kW
75 – 125 hp
D
56 – 75 kW
75 – 125 hp
112 – 187 kW
150 – 250 hp
112 – 224 kW
150 – 300 hp
E
—
224 – 336 kW
300 – 450 hp
—
F
—
224 – 448 kW
300 – 600 hp
224 – 448 kW
300 – 600 hp
G
—
522 – 597 kW
700 – 800 hp
522 – 597 kW
700 – 800 hp
H
1 kW and hp are constant torque.
Once you have determined your frame reference, write it here:____
You can disregard information that is specific to other frame
references.
Overview
Hardware Overview
1-5
Figures 1.1 and 1.2 show where the terminal blocks and L Option
connectors are located.
Figure 1.1
Control Board for Frames A1, A2, A3, and A4
Spares
EE
Jumper
Language
Module
TB4
L Option Board
Connector
TB7
Pulse
Input
Jumper
(J8)
L Option Board
Connector
TB10
1
SCANport
2 Connections
1-6
Overview
Figure 1.2
Control Board for All Other Frames
Spares
Gateway Connector
EE Jumper
Language
Module
L Option
Connectors
SCANport 1
Pulse Input
Jumper (J4)
SCANport 2
TB10
Where Do I Go From Here?
TB11
The installation and mounting instructions for your 1336 IMPACT
drive are provided in Chapter 2, Mounting and Wiring Your 1336
IMPACT Drive. Some information is frame specific. For framespecific information, refer to the appropriate chapter:
If your drive frame reference is:
Then go to:
A1, A2, A3, or A4
Chapter 3
B, C, D, E, F, G, or H
Chapter 4
Chapter
2
Mounting and Wiring Your 1336
IMPACT Drive
Chapter Objectives
Chapter 2 provides information so that you can install your 1336
IMPACT drive.
This topic:
Before mounting your drive
Starts on page:
2-2
Input Fuses and Circuit Breakers
2-5
Mounting your drive
2-10
Grounding your drive
2-14
Wiring the power
2-17
Hard wiring your I/O
2-21
Connecting your gateway
2-24
Installing an interface board
2-25
Connecting the power to the drive
2-25
Disconnecting the drive output
2-27
Starting and stopping the motor
2-27
Electrical interference — EMI/RFI
2-28
Important: Some of the mounting and wiring information is specific
to the individual frame sizes. This information is identified in this
chapter, but is located in the following chapters:
Information for this frame size:
Is provided in:
A1, A2, A3, or A4
Chapter 3
B, C, D, E, F, G, or H
Chapter 4
If you do not know what your frame size is, please refer to Chapter 1,
Overview.
!
ATTENTION: The following information is merely a
guide for proper installation. The National Electric Code
(NEC) and any other governing national, regional, or
local code will overrule this information. Allen-Bradley
cannot assume responsibility for the compliance or
noncompliance to any code, national, local, or
otherwise, for the proper installation of this drive or
associated equipment. A hazard of personal injury
and/or equipment damage exists if codes are ignored
during installation.
2-2
Mounting and Wiring Your 1336 IMPACT Drive
Before Mounting Your Drive
Before mounting your drive, consider the following:
• what tools and equipment you need to mount your drive
• the distance between the motor and the drive
• the distance between the drive and other surfaces
Important: Before you mount your drive, you need to thoroughly
read and understand the information presented in this chapter. You
should take every precaution to complete the wiring as instructed.
Required Tools and Equipment
At a minimum, you will need the following tools and equipment to
mount your drive:
• a small regular screw driver
• a medium phillips screw driver
• a box end wrench or socket set
• wire strippers
Distance Between the Motor and the Drive
If the distance between the motor and the drive requires long motor
cables, you may need to add an output reactor or cable terminators to
limit voltage reflections at the motor. The following tables show the
maximum length cable allowed for various installation techniques.
Values shown in Table 2.A are for 480V nominal input voltage and
drive carrier frequency of 2 kHz. Consult factory regarding operation
at carrier frequencies above 2 kHz. Multiply values by 0.85 for high
line conditions. For input voltages of 380, 400 or 415V AC, multiply
the table values by 1.25, 1.20 or 1.15, respectively.
Values shown in Table 2.B are for nominal input voltage and drive
carrier frequency of 2 kHz. Consult factory regarding operation at
carrier frequencies above 2 kHz. Multiply values by 0.85 for high line
conditions.
If these tables indicate that your motor cables are not over the
maximum cable length for your motor, you probably do not need a
terminator or output reactor.
Mounting and Wiring Your 1336 IMPACT Drive
2-3
Table 2.A
Maximum Motor Cable Length Restrictions — 380V – 480V Drives7
All Cable Lengths Given in meters (feet).
.
No External Devices
Drive
Frame
Drive kW
(hp)
0.37 (0.5)
Motor kW
(hp)
0.37 (0.5)
0.75 (1)
A1
0.75 (1)
0.37 (0.5)
1.2 (1.5)
1.2 (1.5)
0.75 (1)
0.37 (0.5)
1.5 (2)
1.2 (1.5)
1.5 (2)
A2
0.75 (1)
0.37 (0.5)
2.2 (3)
1.5 (2)
2.2 (3)
0.75 (1)
0.37 (0.5)
3.7 (5)
2.2 (3)
A3
3.7 (5)
1.5 (2)
0.75 (1)
0.37 (0.5)
A4
B
C
D
E
F
G
H
5.5 – 7.5
(7.5 – 10)
5.5 – 22
(7.5 – 30)
30 – 45
(X40 – X60)
45 – 112
(60 – X150)
112 – 187
(150 – 250)
224 – 336
(300 – 450)
224 – 448
(300 – 600)
522 – 597
(700 – 800)
5.5 – 7.5
(7.5 – 10)
5.5 – 22
(7.5 – 30)
30 – 45
(40 – 60)
45 – 112
(60 – 150)
112 – 224
(150 – 300)
224 – 336
(300 – 450)
224 – 448
(300 – 600)
522 – 597
(700 – 800)
w/1204-TFB2 Term.
Motor
A
2
Motor
B
3
1329
4
1329R , HR, L
Any
Cable
Any
Cable
Any
Cable
Any Cable5
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
7.6
(25)
12.2
(40)
12.2
(40)
18.3
(60)
18.3
(60)
18.3
(60)
33.5
(110)
33.5
(110)
33.5
(110)
33.5
(110)
33.5
(110)
33.5
(110)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
12.2
(40)
30.5
(100)
53.3
(175)
53.3
(175)
53.3
(175)
53.3
(175)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375)
114.3
(375
91.4
(300)
91.4
(300)
91.4
(300)
91.4
(300)
91.4
(300)
121.9
(400)
91.4
(300)
182.9
(600)
182.9
(600)
182.9
(600)
91.4
(300)
182.9
(600)
182.9
(600)
182.9
(600)
For
applications/
installations
using new
motors, no
restrictions in
lead length due
to voltage
reflection are
necessary. You
should observe
standard
practices for
voltage drop,
cable
capacitance,
and other
issues.
For retrofit
situations,
check with the
motor
manufacturer
for insulation
rating.
w/1204-TFA1 Terminator
Motor
2, 3
A or B
1329
A2
B3
Cable Type
Any
Cable
Cable Type
Cable Type
Shld.f
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
Shld.f
30.5
(100)
30.5
(100)
30.5
(100)
61.0
(200)
61.0
(200)
61.0
(200)
91.4
(300)
91.4
(300)
91.4
(300)
91.4
(300)
Shld.6 Unshld.
Use the
1204-TFA1
Terminator
91.4
(300)
91.4
(300)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
91.4
(300)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
91.4
(300)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
Unshld.
61.0
(200)
30.5
(100)
61.0
(200)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
30.5
(100)
1329
Reactor at
Drive1
Motor
B or
A2
1329
Unshld.
Any
Cable
Any
Cable
Any
Cable
61.0
(200)
30.5
(100)
61.0
(200)
61.0
(200)
61.0
(200)
61.0
(200)
61.0
(200)
61.0
(200)
61.0
(200)
61.0
(200)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
22.9
(75)
24.4
(80)
24.4
(80)
76.2
(250)
61.0
(200)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
Use the
1204-TFB2
Terminator
1 A 3% reactor reduces motor and cable stress but may cause a degradation of motor waveform quality. Reactors must have a turn-turn insulation rating of 2100
volts or higher.
2 Type A Motor Characteristics: No phase paper or misplaced phase paper, lower quality insulation systems, corona inceptio voltages between 850 and 1000 volts
3 Type B Motor Characteristics: Properly placed phase paper, medium quality insulation systems, corona inception voltages between 1000 and 1200 volts
4 1329R Motors: These AC variable speed motors are power matched for use with Allen-Bradley drives. Each motor is energy efficient and designed to meet or
exceed the requirements of the Federal Energy Act of 1992. All 1329R motors are optimized for variable speed operation and include premium inverter grade
insulation systems which meet or exceed NEMA MG1. Part31.40.4.2.
5 These distance restrictions are due to charging of cable capacitance and ay vary from application to application.
6 Includes wire in conduit.
7 Values shown are for 480V nominal input voltage and drive carrier frequency of 2 kHz. Consult factory regarding opera;tion at carrier frequencies above 2 kHz.
Multiply vales by 0.85 for high line conditions. For input voltages of 380, 400 or 415V AC, multiply the table values by 1.25, 1.20 or 1.15, respectively.
2-4
Mounting and Wiring Your 1336 IMPACT Drive
Table 2.B
Maximum Motor Cable Length Restrictions — 500V – 600V Drives3
All Cable Lengths Given in meters (feet)
.
No External Devices
Drive
Frame
Drive kW (hp)
Motor kW
(hp)
Motor w/Insulation V P-P
Reactor at Drive1
Motor w/Insulation V P-P
1200V
1600V2 1000V
1200V
1600V2 1000V
1200V
1600V2 1000V
1200V
1600V2
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
Any
Cable
0.75 (1)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.37 (0.5)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
1.5 (2)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
1.2 (1.5)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.75 (1)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.37 (0.5)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
2.2 (3)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
1.5 (2)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.75 (1)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.37 (0.5)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
3.7 (5)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
2.2 (3)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
1.5 (2)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.75 (1)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
0.37 (0.5)
NR
NR
15.2
(50)
NR
182.9
(600)
335.3
(1100)
NR
61.0
(200)
182.9
(600)
1.5 (2)
2.2 (3)
3.7 (5)
w/1204-TFA1 Terminator
Motor w/Insulation V P-P
1000V
0.75 (1)
A4
w/1204-TFB2 Terminator
Motor w/Insulation V P-P
Any
Cable
Not
Recommended
B
5.5 – 15
(7.5 – 20)
5.5 – 15
(7.5 – 20)
NR
9.1
(30)
15.2
(50)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
30.5
(100)
91.4
(300)
182.9
(600)
C
18.5 – 45
(25 – 60)
18.5 – 45
(25 – 60)
NR
9.1
(30)
12.2
(40)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
30.5
(100)
91.4
(300)
182.9
(600)
D
56 – 93
(75 – 125)
56 – 93
(75 – 125)
NR
9.1
(30)
33.5
(110)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
61.0
(200)
91.4
(300)
182.9
(600)
E
112 – 224
(150 – X300)
112 – 224
(150 – X300)
NR
9.1
(30)
21.3
(70)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
F
224 – 336
(300 – 450)
224 – 336
(300 – 450)
NR
9.1
(30)
41.1
(135)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
G
224 – 448
(300 – 600)
224 – 448
(300 – 600)
NR
9.1
(30)
41.1
(135)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
H
522 – 597
(700 – 800)
522 – 597
(700 – 800)
NR
9.1
(30)
41.1
(135)
91.4
(300)
182.9
(600)
182.9
(600)
NR
61.0
(200)
182.9
(600)
182.9
(600)
182.9
(600)
182.9
(600)
1 A 3% reactor reduces motor and cable stress but may cause a degradation of motor waveform quality. Reactors must have a turn-turn insulation rating of 2100
volts or higher.
2 1329R only
3 Values shown are for nominal input voltage and drive carrier frequency of 2 kHz. Consult factory regarding operation at carrier frequencies above 2 kHz. Multiply
values by 0.85 for high line conditions.
NR = Not Recommended
Mounting and Wiring Your 1336 IMPACT Drive
Input Fuses and Circuit
Breakers
2-5
The 1336 IMPACT can be installed with either input fuses or an input
circuit breaker. Local/national electrical codes may determine
additional requirements for these installations.
Installations per U.S. NEC/UL/CSA
Fuses - In general, the specified fuses are suitable for branch short
circuit protection and provide excellent short circuit protection for the
drive. The fuses offer a high interrupting capacity and are fast acting.
Refer to the North American selections in Chapter 3 for A1-A4
frames and Chapter 4 for B-H frames.
Circuit Breakers - The Westinghouse HMCP breakers specified in
the following table provide branch short circuit protection. Because
circuit breakers are typically slower than fuses and those listed are
magnetic trip only, they may not be as effective in offering short
circuit protection to the drive in the event of an internal drive short
circuit. They may not be as effective in limiting damage to the drive.
IEC Installations
Fuses - For those installations that are not required to meet the U.S.
NEC/UL/CSA, the specified fuses are suitable for branch short circuit
protection and provide excellent short circuit protection for the drive.
The fuses offer a high interrupting capacity and are fast acting. Refer
to the European selections in Chapter 3 for A1-A4 frames and
Chapter 4 for B-H frames.
Circuit Breakers - For those installations that are not required to
meet the U.S. NEC/UL/CSA requirements, additional devices are
available as input circuit breakers. The Bulletin 140 and KTA3
devices meet the circuit breaker requirements. They can be used in
“non-U.S.” installations where local/national codes allow, if they are
installed per their installation instructions.
!
ATTENTION: The 1336 PLUS II does not provide
input power short circuit protection. Specifications for
the recommended fuse or circuit breaker to provide drive
input power protection against short circuits are
provided.
Recommended AC Line Circuit Breakers (User Supplied)
IEC Installations per IEC947-2
UL/CSA Installations
Bulletin 140 Circuit Breaker
HMCP Circuit Breaker2
Maximum
Rated Service Short
Rated Vt
Circuit Capability
Catalog Number
kW (HP)
400/415V
Max. Short
MCP Trip
Circuit Amps3
Catalog Number Setting
480V
1336E-AQF05
0.37 (0.5)
140-MN-0400
100,000
HMCPS007C0
H
65,000
1336E-AGF07
0.56 (0.75) 140-MN-0400
100,000
HMCPS015E0C
E
65,000
1336E-AQF10
0.75 (1)
140-MN-0630
100,000
HMCPS015E0C
E
65,000
1336E-AQF15
1.2 (1.5)
140-MN-1000
16,000
HMCPS015E0C
E
65,000
1336E-AQF20
2.2 (3)
140-MN-1000
16,000
HMCPS030H1C
F
65,000
1336E-AQF30
3.7 (5)
140-MN-1000
16,000
HMCPS030H1C
F
65,000
Drive
Catalog Number
2-6
Mounting and Wiring Your 1336 IMPACT Drive
IEC Installations per IEC947-2
UL/CSA Installations
Bulletin 140 Circuit Breaker
HMCP Circuit Breaker2
Maximum
Rated Service Short
Rated Vt
Circuit Capability
Catalog Number
kW (HP)
400/415V
Max. Short
MCP Trip
Circuit Amps3
Catalog Number Setting
480V
1336E-AQF50
3.7 (5)
140-MN-2500
6,000
HMCPS03H1C
H
65,000
1336E-A007
5.5 (7.5)
140-CMN-4000
65,000
HMCPS030H1C
H
65,000
1336E-A010
7.5 (10)
140-CMN-4000
65,000
HMCPS050K2C
F
65,000
1336E-A015
11 (15)
140-CMN-6300
50,000
HMCPS050K2C
H
65,000
1336E-A020
15 (20)
140-CMN-6300
50,000
HMCPS100R3C
G
65,000
1336E-A025
18.5 (25)
140-CMN-9000
25,000
HMCPS100R3C
H
65,000
1336E-A030
22 (30)
140-CMN-9000
25,000
HMCPS100R3C
H
65,000
1336E-A040
30 (40)
KTA3-160S-125
65,000
HMCP150T4C
F
65,000
1336E-A050
37 (50)
KTA3-160S-160
65,000
HMCP150T4C
G
65,000
1336E-A060
45 (60)
KTA3-250S-200
65,000
HMCP250A5
E
65,000
1336E-A075
56 (75)
KTA3-250S-250
65,000
HMCP250A5
E
65,000
1336E-A100
75 (100)
KTA3-400S-320
65,000
HMCP400J5
I
65,000
1336E-A125
93 (125)
KTA3-400S-320
65,000
HMCP400J5
I
65,000
1336E-BRF05
0.37 (0.5)
140-MN-0250
100,000
HMCPS003A0
E
65,000
1336E-BRF07
0.56 (0.75) 140-MN-0250
100,000
HMCPS003A0
G
65,000
1336E-BRF10
0.75 (1)
140-MN-0400
100,000
HMCPS003A0
G
65,000
1336E-BRF15
1.2 (1.5)
140-MN-0400
100,000
HMCPS007C0
B
65,000
1336E-BRF20
1.5 (2)
140-MN-0630
100,000
HMCPS007C0
C
65,000
1336E-BRF30
2.2 (3)
140-MN-1000
16,000
HMCPS015E0C
B
65,000
1336E-BRF50
3.7 (5)
140-MN-1000
16,000
HMCPS015E0C
D
65,000
1336E-BRF75
5.5 (7.5)
140-MN-1600
6,000
HMCPS015E0C
H
65,000
Drive
Catalog Number
1336E-BRF100
7.5 (10)
140-MN-2000
6,000
HMCPS030H1C
H
65,000
1336-B010
11 (15)
140-MN-2000
6,000
HMCPS030H1C
E
65,000
1336-B015
15 (20)
140-MN-2500
6,000
HMCPS030H1C
H
65,000
1336-B020
18.5 (25)
140-CMN-4000
65,000
HMCPS050K2C
H
65,000
1336-B025
22 (30)
140-CMN-4000
65,000
HMCPS050K2C
H
65,000
1336-B030
22 (30)
140-CMN-6300
50,000
HMCPS050K2C
H
65,000
1336-BX040
30 (40)
140-CMN-6300
50,000
HMCPS050K2C
H
65,000
1336-B040
37 (50)
140-CMN-6300
50,000
HMCPS100R3C
G
65,000
1336-B050
45 (60)
140-CMN-9000
25,000
HMCPS100R3C
G
65,000
1336E-BX060
45 (60)
140-CMN-9000
25,000
HMCPS100R3C
G
65,000
1336E-B060
56 (75)
KTA3-160S-125
65,000
HMCPS150T4C
F
65,000
1336E-B075
75 (100)
KTA3-160S-125
65,000
HMCPS150T4C
H
65,000
1336E-B100
93 (125)
KTA3-160S-160
65,000
HMCPS150U4C
E
65,000
1336E-B125
112 (150)
KTA3-250S-200
65,000
HMCP250K5
H
65,000
1336E-BX150
112 (150)
KTA3-250S-200
65,000
HMCP250K5
H
65,000
1336E-B150
149 (200)
KTA3-400S-320
65,000
HMCP250L5
I
65,000
1336E-B200
187 (250)
KTA3-400S-320
65,000
HMCP400N5
H
65,000
1336E-B250
224 (300)
KTA3-400S-400
65,000
HMCP400N5
I
65,000
1336E-BP250
224 (300)
KTA3-400S-400
65,000
HMCP400N5
I
65,000
1336E-B300
261 (350)
NA
-
NA
-
-
1336E-BP300
298 (400)
KTA-400S-400
65,000
HMCP400R5
I
65,000
Mounting and Wiring Your 1336 IMPACT Drive
2-7
IEC Installations per IEC947-2
UL/CSA Installations
Bulletin 140 Circuit Breaker
HMCP Circuit Breaker2
Maximum
Rated Service Short
Rated Vt
Circuit Capability
Catalog Number
kW (HP)
400/415V
Max. Short
MCP Trip
Circuit Amps3
Catalog Number Setting
480V
298 (400)
NA
NA
NA
-
-
1336E-BP350
261 (350)
NA
NA
HMCP600L6W
E
65,000
1336E-B400
336 (450)
NA
NA
NA
-
-
1336E-BP400
298 (400)
NA
NA
HMCP600L6W
E
65,000
1336E-B450
373 (500)
NA
NA
NA
-
-
1336E-BP450
336 (450)
NA
NA
HMCP600L6W
E
65,000
1336E-B500
448 (600)
NA
NA
NA
-
-
1336E-C001
0.75 (1)
140-MN-0400
100,000
HMCPS003A0
E
65,000
1336E-C003
2.2 (3)
140-MN-0630
100,000
HMCPS007C0
E
65,000
1336E-C007
5.5 (7.5)
140-MN-1000
16,000
HMCPS015E0C
E
65,000
1336E-C010
7.5 (10)
140-MN-1600
6,000
HMCPS015E0C
E
65,000
1336E-C015
11 (15)
140-MN-2000
6,000
HMCPS030H1C
F
65,000
1336E-C020
15 (20)
140-MN-2500
6,000
HMCPS030H1C
H
65,000
1336E-C025
18.5 (25)
140-CMN-4000
65,000
HMCPS050K2C
E
65,000
1336E-C030
22 (30)
140-CMN-4000
65,000
HMCPS050K2C
G
65,000
1336E-C040
30 (40)
140-CMN-6300
50,000
HMCPS050K2C
G
65,000
1336E-C050
37 (50)
140-CMN-6300
50,000
HMCPS100R3C
E
65,000
1336E-C060
45 (60)
140-CMN-6300
50,000
HMCPS100R3C
E
65,000
1336E-C075
56 (75)
140-CMN-9000
25,000
HMCPS100R3C
G
65,000
1336E-C100
75 (100)
KTA3-160S-125
65,000
HMCP150T4C
E
65,000
1336E-C125
93 (125)
KTA3-160S-160
65,000
HMCP150T4C
E
65,000
1336E-C150
112 (150)
KTA3-400S-160
65,000
HMCP150T4C
G
65,000
1336E-C200
149 (200)
KTA-400S-320
65,000
HMCP250J5
I
65,000
1336E-C250
187 (250)
KTA3-400S-320
65,000
HMCP400W5
G
65,000
1336E-CX300
224 (300)
KTA3-400S-320
65,000
HMCP400W5
H
65,000
1336E-C300
224 (300)
KTA3-400S-320
65,000
HMCP400W5
H
65,000
1336E-C350
261 (350)
KTA3-400S-320
65,000
NA
NA
NA
1336E-C400
298 (400)
KTA3-400S-320
65,000
NA
NA
NA
1336E-C450
336 (450)
NA
NA
NA
NA
NA
1336E-C500
373 (500)
NA
NA
NA
NA
NA
1336E-C600
448 (600)
NA
NA
NA
NA
NA
Drive
Catalog Number
1336E-B350
NA = Not Available, use fuses
1
Bulletin 140 - At 480 volts, circuit breaker must have a fuse backup. Refer to the
AB Industrial Control Catalog. At 600 volts, additional restrictions apply. No
limitations in source short circuit ratings.
2HMCP
Circuit Breaker - HMCP Breaker is a magnetic trip device only. Always set
the trip setting as low as possible in a particular application.
3
Current limiting option can extend this value to 200,000A RMS
Mounting and Wiring Your 1336 IMPACT Drive
Reducing Voltage Reflections
Voltage doubling at motor terminals, known as reflected wave
phenomenon or transmission line effect, can occur when using drives
with long motor cables.
The 1336 IMPACT drive is equipped with an internal voltage
reflection reduction mechanism. This mechanism provides a
minimum dwell time that is controlled so that voltage transients are
allowed to decay, thus reducing motor overvoltage. This limits the
voltage seen at the motor terminals to 2.2 per unit and greatly
increases the run length of the motor cable before a terminator is
required.
You should use inverter duty motors with phase-to-phase insulation
ratings of 1600 volts or higher to minimize effects of reflected wave
on motor insulation life.
Without the dwell time correction, the voltage reflection transients
surpass the insulation rating of the motor with less than 500 feet of
cable. With the introduction of a controlled dwell time, the voltage
transients are safely maintained below the insulation rating of the
motor. In Figure 2.1, the terminal voltage is plotted as a function of
cable distance for a 1336 IMPACT drive at a 4 kHz carrier frequency.
Figure 2.1
Terminal Voltage at a 4 kHz Carrier Frequency
4 kHz Terminal Overvoltage
1800
1700
1600
Voltage (Vpk)
2-8
1500
1400
1300
No Correction
Corrected Code
1200
1600 V
1100
25
100
200
300
400
500
600
700
800
Cable Length (Feet)
Optional Cable Terminator
Applications with non-inverter duty motors or any motor with
exceptionally long leads may require an output inductor or cable
terminator. An inductor or Bulletin 1204 terminator helps limit
reflection to the motor, to levels that are less than the motor insulation
value.
Mounting and Wiring Your 1336 IMPACT Drive
2-9
Optional Output Reactor
You can use the reactors listed in the 1336 IMPACT drive price list
for drive input and output. These reactors are specifically constructed
to accommodate IGBT inverter applications with switching
frequencies up to 20 kHz. They have a UL approved dielectric
strength of 4000 volts, opposed to a normal rating of 2500 volts. The
first two and last two turns of each coil are triple insulated to guard
against insulation breakdown resulting from high dv/dt. When using
motor line reactors, set the drive PWM frequency to its lowest value
to minimize losses in the reactors.
Important: By using an output reactor, the effective motor voltage is
lower because of the voltage drop across the reactors — this may also
reduce motor torque.
Common Mode Cores
Common mode cores help reduce the common mode noise at the
drive output and guard against interference with other electrical
equipment (such as programmable controllers, sensors, and analog
circuits). In addition, reducing the PWM carrier frequency reduces
the effects and lowers the risk of common mode noise interference.
The following table shows the common mode cores available for the
1336 IMPACT drive.
Catalog
Number
Used with:
Description
1321-M001
Communications cables, analog signal
cables, etc.
Open style — signal
level
1321-M009
All 1336 IMPACT drives rated:
480V, 0.37 – 3.7 kW (0.5 – 5 hp)
Open style with
terminal block, 9A
1321-M048
All 1336 IMPACT drives rated:
480V, 5.5 – 22 kW (7.5 – 30 hp)
600V, 5.5 – 30 kW (7.5 – 40 hp)
Open style, 48A
1321-M180
All 1336 IMPACT drives rated:
480V, 30 – 112 kW (40 – X150 hp)
600V, 37 – 93 kW (50 – 125 hp)
Open style, 180A
1321-M670
All 1336 IMPACT drives rated:
480V, 112 – 597 kW (150 – 800 hp)
600V, 149 – 597 kW (200 – 800 hp)
Open Style, 670A
2-10
Mounting and Wiring Your 1336 IMPACT Drive
Allowing for Heat Dissipation
You need to mount the drive so that there is sufficient space at the top,
sides, and front of the cabinet to let the heat dissipate as shown in
Figure 2.2.
Figure 2.2
Heat Dissipation Requirements
Alternate Mounting Methods
SEL
JOG
1
ESC
152.4 mm
(6.0 in.)
152.4 mm
(6.0 in.)
101.6 mm
(4.0 in.)
ESC
SEL
ESC
SEL
JOG
JOG
UP
152.4 mm
(6.0 in.)
152.4 mm
(6.0 in.)
1 If you have a D frame drive, you should have at least 152.4 – 203.2 mm (6 – 8 in.)
between the drive and the bottom surface.
IMPORTANT: A4 Frame drives should not be mounted on a combustible surface.
However, if the drive must be mounted on a combustible surface, 6.35 mm (0.25 in.)
spacers must be provided under the mounting feet of the drive.
F Frame drives require a minimum of 152.4 mm (6.0in.) between the drive back and
mounting wall, if drives are mounted with the sides touching another device or wall. A
minimum of 76.2 mm (3.0 in) is required on the sides if the back of the drive is mounted
against a wall or other device.
The alternate mounting methods shown in Figure 2.2 cannot be used
for Frames F, G, or H.
Mounting Your Drive
To mount your drive, you need to:
!
ATTENTION: You must be careful to prevent debris
(such as metal shavings and conduit knockouts) from
falling into the drive while performing any installation
work on or around the drive. A hazard of personal injury
and/or equipment damage exists if foreign material
lodges inside the drive.
1. Get the dimensions for your drive from the frame-specific
chapters.
2. Drill the holes at the appropriate spot (as determined from the
drive dimensions).
3. Bolt the drive to the mounting surface.
Mounting and Wiring Your 1336 IMPACT Drive
2-11
User-Supplied Enclosures
If you are supplying your own enclosure for the 1336 IMPACT drive,
you can mount your drive within an enclosure or you may mount the
drive to let the heatsink extend outside the enclosure.
F Frame drives with the suffixes -BPR and CPR (Standalone) and
RPR and WPR (Common-bus) have the following enclosure
requirements:
A) Dimensions of enclosure needed to accomodate the drive are
nominally 90 by 35 by 20 in.
B) A1200 cfm enclosure ventilating fan is required to be installed by
the customer or installer.
C) For the -BPR and -CPR only, additional mounting instructions
specifying the relative locations of the drive and choke so that factory
supplied interconecting cables can be utilized are supplied.
If you have a G frame, do not mount the drive with the heatsink
extended outside of the enclosure.
If you have an H frame and you are supplying your own piped-in
cooling for the 1336 IMPACT drive enclosures or are calculating
room cooling requirements, refer to the following table. NEMA
Type 1 enclosures from the factory will have exhaust fans and will
not require additional enclosure cooling, but may require room
ambient cooling so as not to exceed 40°C.
The H frame drive has been tested only as a complete unit including
the enclosure. The enclosure is an integral part of the cooling
package. The enclosure dimensions are provided in Chapter 4. The
required fan volume is 2600 CFM, and air enters at the front bottom
of the enclosure and exits out the top. Any change to this
configuration is at the customers risk. Air must not be restricted at
top or bottom of the enclosure to ensure good air flow over the
capacitor and bus bars, as well as to assist the heat sink fans to
maintain the 800HP rating.
2-12
Mounting and Wiring Your 1336 IMPACT Drive
Use the information in the following table along with the enclosure
manufacturer’s guidelines for sizing.
Catalog Number
Base Derate Amps1
Derate Curve2, 3
Heat Dissipation
Drive Watts2,3
Heatsink Watts2
Total Watts2
200 – 240V drives
AQF05
2.3
Figure D.1
13
15
28
AQF07
3.0
Figure D.1
15
21
36
AQF10
4.5
Figure D.1
17
32
49
AQF15
6.0
Figure D.1
21
42
63
AQF20
8.0
Figure D.1
25
56
81
AQF30
12.0
Figure D.1
33
72
105
AQF50
18.0
Figure D.1
42
116
158
A007
27.2
none
156
486
642
A010
33.7
Figure D.2
200
721
921
A015
48.2
Figure D.3
205
819
1024
A020
64.5
Figure D.4
210
933
1143
A025
78.2
Figure D.5
215
1110
1325
A030
80.0
None
220
1110
1330
A040
120.3
Figure D.6
361
1708
2069
A050
149.2
Figure D.7
426
1944
2370
A060
180.4
Figure D.8
522
2664
3186
A075
240.0
Figure D.9
606
2769
3375
A100
291.4
Figure D.10
755
3700
4455
A125
327.4
Same as B250
902
4100
5002
BRF05
1.2
Figure D.1
12
9
21
BRF07
1.7
Figure D.1
13
15
28
BRF10
2.3
Figure D.1
15
20
35
BRF15
3.0
Figure D.1
16
27
43
BRF20
4.0
Figure D.1
19
36
55
BRF30
6.0
Figure D.1
23
54
77
BRF50
10.4
Figure D.1
29
84
113
BRF75
13.9
Figure D.1
70
230
300
BRF100
24.0
Figure D.1
89
331
420
B015
27.2
Figure D.11
117
486
603
B020
33.7
Figure D.2
140
628
768
B025
41.8
Figure D.12
141
720
861
B030
48.2
Figure D.3
141
820
961
BX040
58.7
Figure D.13
175
933
1108
B040
64.5
Figure D.4
175
933
1108
B050
78.2
Figure D.5
193
1110
1303
BX060
78.2
Figure D.5
193
1110
1303
96.9
4
361
1708
2069
380 – 480V drives
B060
1 Base derate amps are based on nominal voltage (240, 480, or 600V). If the input voltage exceeds the drive rating, the drive output must be
derated. Refer to Figure D.41.
2 Drive ambient temperature rating is 40°C. If ambient exceeds 40°C, derate the drive. Refer to Figures D.1 – D.39.
3 Drive rating is based on altitudes of 1000m (3000ft) or less. If installed at a higher altitude, derate the drive. Refer to Figure D.40.
4 Not available at time of publication.
Mounting and Wiring Your 1336 IMPACT Drive
Catalog Number
Base Derate Amps1
Derate Curve2,3
2-13
Heat Dissipation Drive
Watts2,3
361
426
522
606
606
755
902
1005
1708
1944
2664
2769
2769
3700
4100
4805
2069
2370
3186
3375
3375
4455
5002
5810
4
4
4
1055
5455
6510
4
4
4
1295
6175
7470
4
4
4
1335
6875
8210
4
4
4
1395
1485
1700
7800
8767
97005
9200
10252
Heatsink Watts2
Total Watts2
B075
B100
B125
BX150
B150
B200
B250
B3005
BP300
B3505
BP350
B4005
BP400
B4505
BP450
B5005
B6005
B700C
120.3
149.2
180.4
180.4
240.0
291.4
327.4
406.4
406.4
459.2
459.2
505.1
481.0
570.2
531.7
599.2
673.4
850.0
Figure D.14
Figure D.15
Figure D.16
Figure D.16
Figure D.9
Figure D.10
Figure D.17
none
Figure D.18
none
Figure D.19
none
Figure D.20
none
Figure D.21
Figure D.22
Figure D.23
Figure D.24
B800C
500 – 600V drives
CWF10
983.0
Figure D.24
1900
120005
11400
13900
2.5
4
25
29
54
CWF20
4.2
4
29
57
86
CWF30
6.0
4
32
87
119
CWF50
7.9
4
35
117
152
CWF75
CWF100
C015
C020
C025
C030
C040
C050
C060
C075
C100
C125
C150
C200
C250
C3005
CX300
C3505
CP350
CPR 350
C4005
CP400
C4505
C5005
C6005
C6505
C700C
C800C
9.9
12.0
18.9
23.6
30.0
34.6
45.1
57.2
61.6
85.8
109.1
138.6
159.7
252.6
283.6
298.0
300.0
353.6
350.0
350.0
406.4
400.0
459.2
505.1
599.2
673.4
770.0
800.0
none
none
none
none
none
none
none
none
91
103
117
140
141
141
175
193
193
361
426
522
217
251
360
467
492
526
678
899
981
1553
1978
2162
308
354
477
607
633
667
853
1092
1174
1894
2504
2683
4
Figure D.25
Figure D.26
Figure D.27
Figure D.28
Figure D.29
Figure D.30
none
none
none
Figure D.33
none
Figure D.31
Figure D.34
Figure D.32
Figure D.37
Figure D.38
Figure D.39
Figure D.39
FigureD.39
4
4
4
755
890
926
926
1000
580
580
1430
711
1465
1500
1610
1700
1800
2000
3065
3625
5015
3990
5935
6125
6125
7120
7000
8020
8925
10767
12000
94006
113006
3820
4515
5941
4930
6935
6705
6705
8550
7711
9485
10425
12377
14000
11200
13300
1 Base derate amps are based on nominal voltage (240, 480, or 600V). If the input voltage exceeds the drive rating, the drive output must be
derated. Refer to Figure D.41.
2 Drive ambient temperature rating is 40 degrees C. If ambient exceeds 40 degrees C, derate the drive. Refer to Figures D.1 – D.39.
3 Drive rating is based on altitudes of 1000 m (3000 ft) or less. If installed at a higher altitude, derate the drive. Refer to Figure D.40
4 Not available at time of publication
5 IMPORTANT: Two 725 CFM fans are required if an open type drive is mounted in a user supplied enclosure.
6 This is the inverter loss only, common bus configuration 1 kHz PWM.
2-14
Mounting and Wiring Your 1336 IMPACT Drive
Grounding Your Drive
You need to properly ground your 1336 IMPACT drive. Figure 2.3
shows the grounding recommendations for the 1336 IMPACT drive.
Figure 2.3
Recommended 1336 IMPACT Drive Grounding
Conduit/4-Wire Cable
R (L1)
U (T1)
ESC
S (L2)
TE
1
Shield
V (T2)
SEL
JOG
T (L3)
Common
Mode
1
Core
W (T3)
PE/Gnd.
Shield
Motor Frame
PE
RIO/DH+
or Analog
Ground Rod/Grid
or Building Structure Steel
Common
Mode Core
Motor
Terminator
1
PE
Ground per
Local Codes
1
To Computer/Position Controller
1 Options that can be installed as needed.
To ground your 1336 IMPACT drive, you need to:
1. Connect the drive to the system ground at the power ground (PE)
terminal provided on the power terminal block (TB1).
2. Define the paths through which the high frequency ground
currents flow.
3. Connect the ground conductor of the motor cable (drive end)
directly to the drive ground terminal, not to the enclosure bus bar.
4. Ground the encoder connections (if you are using an encoder).
5. Ground the control and signal wiring.
6. Connect the TE terminal block.
7. Connect the ground bus to adjacent building steel or a floor
ground loop.
8. Solidly ground the RFI filter, if you need to use one.
These steps are explained in greater detail in the following sections.
Mounting and Wiring Your 1336 IMPACT Drive
2-15
Connecting the Drive to the System Ground
Connect the drive to the system ground at the power ground (PE)
terminal provided on the power terminal block (TB1). Ground
impedance must conform to the requirements of national and local
industrial safety regulations (such as NEC, VDE 0160, and BSI). You
should inspect and test the ground impedance at appropriate and
regular intervals.
Even if you have a floating secondary, the building must have a
safety (earth) ground.
In any cabinet, you should use a single, low-impedance ground point
or ground bus bar. You should:
• Ground all circuits independently and directly to this ground
point or bus bar.
• Directly connect the AC supply ground conductor to this ground
point or bus bar.
Defining the High Frequency Ground Current Paths
You need to define the paths through which the high frequency
ground currents flow. Defining these paths helps to assure that
noise-sensitive circuits do not share a path with high-frequency
ground currents and to minimize the area enclosed by these paths.
You must separate current carrying ground conductors. Control and
signal ground conductors should not run near or parallel to a power
ground conductor.
Connecting the Ground Conductor of the Motor Cable
Connect the ground conductor of the motor cable (drive end) directly
to the drive ground terminal, not to the enclosure bus bar. Grounding
directly to the drive (and filter, if installed) provides a direct route for
high-frequency current returning from the motor frame and ground
conductor. At the motor end, you should also connect the ground
conductor to the motor case ground.
If you use shielded or armored cables, connect the shield to the drive
chassis and the motor frame.
2-16
Mounting and Wiring Your 1336 IMPACT Drive
Making the Encoder Connections
If you want to use an encoder, you need to use an L Option board. If
you do not have an L Option board, you cannot use an encoder.
To make the encoder connections, you must:
1. Route the connections in grounded steel conduit or shield cable in
a wire tray. If cables are run in a wire tray, you must separate the
signal and encoder wire from the power cables, preferably with a
steel divider.
2. Ground the conduit at both ends.
3. Ground the cable shield only at the drive.
For additional information about using an encoder, refer to Chapter 5,
Using the L Option.
Grounding the Discrete Control and Signal Wiring
To ground the control and signal wiring, you need to:
1. Ground the 0V or ground terminal at the equipment (source) end,
not the drive end. You must ground all control and signal wiring
at a single point in the system, remote from the drive.
2. Ground the shield if you are using shielded control and signal
wires.
Connecting the TE Terminal Block
The TE terminal block is used for all control signal shields within the
drive. Refer to the frame specific chapters for the TE terminal block
location.
The TE terminal block accepts wire with the following specifications:
Wire information
Description
mm2
Minimum wire size
0.30
Maximum wire size
2.1 mm2 (14 AWG)
(22 AWG)
Maximum torque
1.36 N-m (12 lb.-in.)
Wire type
Use only copper wire
Grounding the Safety Ground (PE)
Most codes require a safety ground. You can connect the ground bus
to adjacent building steel (such as a girder or joist) or a floor ground
loop, provided that the grounding points comply with your national
(such as NEC), regional, or local regulations.
Mounting and Wiring Your 1336 IMPACT Drive
2-17
Grounding the Optional RFI Filter
If you are using an RFI filter, you must solidly ground the RFI filter.
Important: Using an optional RFI filter may result in relatively high
ground leakage currents. The filter incorporates surge suppression
devices to clamp line surges to a limited voltage above ground
potential. Therefore, you must permanently install and solidly ground
the filter. Grounding must not rely on flexible cables and should not
include any form of plug or socket that would permit inadvertent
disconnection. You should periodically check the integrity of this
connection.
Additional information about the optional RFI filter is located in
Appendix E, CE Conformity.
Wiring the Power
The input and output power connections are different between the
different frame sizes.
If you have this frame size:
Refer to this chapter:
A1, A2, A3, or A4
Chapter 3
B, C, D, E, F, G, or H
Chapter 4
The following table provides generic terminal information.
Terminal
Description
PE
Power earth ground
R (L1), S (L2), T (L3)
AC line input terminals
+DC, -DC
DC bus terminals
U (T1), V (T2), W (T3)
Motor connection
!
ATTENTION: The national codes and standards (such
as NEC, VDE, and BSI) and local codes outline
provisions for safely installing electrical equipment.
Installation must comply with specifications regarding
wire type, conductor sizes, branch circuit protection, and
disconnect devices. Failure to do so may result in
personal injury and/or equipment damage.
Important: For maintenance and set up procedures, you may operate
the drive without having a motor connected.
2-18
Mounting and Wiring Your 1336 IMPACT Drive
The following table provides information about the
maximum/minimum wire size and maximum torque used for the
various frame sizes.
If you have this
frame size:
The maximum/minimum wire size1
in
mm2 (AWG) is:
The maximum torque in
N-m (lb.-in.) is:
A1 – A4
5.3/0.8 (10/18)
1.81 (16)
B
8.4/0.8 (8/18)
13.3/0.5 (6/20)
1.81 (16)
1.70 (15)
C
26.7/0.8 (3/18)
5.65 (50)
127.0/2.1 (250 MCM/14)
67.4/2.1 (00/14)3
6.00 (52)
6.00 (52)
E2
253.0/2.1 (500 MCM/14)
10.00 (87)
F2
303.6/2.1 (600 MCM/14)
23.00 (200)
2
G
303.6/2.1 (600 MCM/14)
23.00 (200)
H2
303.6/2.1 (600 MCM/14)
23.00 (200)
D2
1 Wire sizes given are the maximum/minimum sizes that TB1 will accept. These are
not recommendations.
2 These configurations of TB1 are stud type terminations and require the use of lug
type connectors to terminate field installed conductors. Lug kits are available for use
with these configurations. Wire size used is determined by selecting the proper lug
kit based on the drive catalog number. Refer to Chapter 4 for information on lug kits.
3 Applies to 30 kW (40 hp) 200 – 240V, 45 and 56 kW (60 and 75 hp) 380 – 480V,
56 kW (75 hp) 500 – 600V drives only.
The drive connections are frame specific. Refer to the appropriate
chapter for the drive connections.
Selecting Your Motor Cables
You can select which type of cable you want to use with the 1336
IMPACT drive.
Unshielded Cable
For many installations, you can use unshielded cable as long as you
can separate it from sensitive circuits. As an approximate guide, allow
a spacing of 1 meter (3.3 feet) for every 10 meters (33 feet) of length.
In all cases, you need to avoid long parallel runs.
Unshielded cable should be 4-conductor with the ground lead
connected directly to the drive ground terminal (PE) and the motor
frame ground terminal.
Shielded Cable
You should use shielded cable if sensitive circuits or devices are
connected or mounted to the machinery driven by the motor. You
must connect the shield to the drive chassis. Make the connection at
both ends to minimize the external magnetic field.
If you use cable trays or large conduits to distribute the motor leads
for multiple drives, use shielded cable to reduce or capture the noise
from the motor leads and to minimize cross coupling of noise
between the leads of different drives. Connect to the ground (PE)
connections at both the motor and the drive end.
Mounting and Wiring Your 1336 IMPACT Drive
2-19
Some installations require armored cable instead of shielded cable.
Refer to the following table:
Condition:
Dry
Wet
Insulation Type:
Example:
PVC1
THHN
XLPE
XHHW-2
XLPE
XHHW-2
1 For input voltages in excess of 230 V AC, motor cables greater than 15 m (50 ft), or
wire with less than 15 mil of insulation, wire with XLPE insulation is recommended.
Contact Rockwell Automation if you have questions.
Armored Cable
Armored cable also provides effective shielding. Ideally, you should
ground armored cable only at the drive (PE) and motor frame. Some
armored cable has a PVC coating over the armor to prevent incidental
contact with grounded structure. If, due to the type of connector, you
must ground the armor at the cabinet entrance, use shielded cable
within the cabinet to continue as far as possible with the coaxial
arrangement of power cable and ground.
In some hazardous environments, you cannot ground both ends of the
cable armor. This is because of the possibility of high current
circulating at the input frequency if the ground loop is cut by a strong
magnetic field. This only applies in the proximity of powerful
electrical machines. In this case, make the ground connection at one
end through a capacitance that blocks the low, line frequency current
but presents a low impedance to RF. Due to the highly pulsed nature
of the circulating current, the capacitor type used must be rated for
AC-to-ground voltage. Consult the factory for specific guidelines.
Conduit
If you use metal conduit for cable distribution, use these guidelines:
• Drives are normally mounted in cabinets, and ground connections
are made at a common ground point in the cabinet. If the conduit
is connected to the motor junction box and the drive end, you do
not need any additional conduit connections.
• Route no more than three sets of motor leads through a single
conduit. This minimizes cross talk that could reduce the
effectiveness of the noise reduction methods described. If more
than three drive/motor connections per conduit are required, use
shielded cable. If practical, each conduit should contain only one
set of motor leads.
!
ATTENTION: To avoid a possible shock hazard
caused by induced voltages, ground unused wires in the
conduit at both ends. For the same reason, if a drive
sharing a conduit is being serviced or installed, disable
all drives using this conduit to eliminate the possible
shock hazard from cross coupled drive motor leads.
2-20
Mounting and Wiring Your 1336 IMPACT Drive
Observe all applicable safety and national and local regulations when
selecting the appropriate wire size for your system. Due to the drive
overload capacity, the conductors for the transformer primary and
secondary must be sized (at a minimum) for 125% of the maximum
motor current. The motor conductors must also be rated for 125% of
the full load motor current. The distance between the drive and motor
may affect the size of the conductors used.
To protect against interference, use shielded type wire in control
circuits. A shielded wire is required for all signal wires. The
recommended conductor size must be a minimum of 0.82mm2
(16 AWG). The best interference suppression is obtained with a wire
having an individual shield for every twisted pair. Figure 2.4 shows
the recommended cable shielding.
Figure 2.4
Cable Shielding Recommendations
Signal
Signal
Shield
Signal
TE
Signal
2-Conductor Shielded Cable
Shield Connection
2-Conductor Shielded Cable
Signal
Signal
Shield
Signal
TE
Signal
Multi-Conductor Shielded Cable with
Individual Shielded Twisted Pairs
Shield
Signal
TE
Signal
By-Pass Contactors
Please read the following Attention regarding by-pass contactors.
!
ATTENTION: An incorrectly applied or installed
system can result in component damage or reduction in
product life. The most common causes are:
•
•
Wiring AC line to drive output or control terminals.
Improper by-pass or output circuits not approved
by Allen-Bradley.
• Output circuits which do not connect directly to the
motor.
• Incorrect or inadequate AC supply.
• Excessive ambient temperature.
Contact Allen-Bradley for assistance with application
or wiring.
Mounting and Wiring Your 1336 IMPACT Drive
Hard Wiring Your I/O
2-21
Before you can transfer data to or from the drive, you need to hard
wire the analog inputs, the analog outputs, the output relays, and the
L Option (optional). The terminal block locations for the reference
signal connections are in the frame-specific chapters.
The terminal blocks accept wire with the following specifications:
Wire information
Description
2
Minimum wire size
0.06 mm (30 AWG)
Maximum wire size
3.3 mm2 (12 AWG)
Maximum torque
0.79 N-m (7 lb.-in.)
Recommended control signal wire is:
This Belden wire or
equivalent:
Should have these specifications:
8760
0.750 mm2 (18 AWG), twisted pair, shielded
8770
0.750 mm2 (18 AWG), 3-conductor, shielded
9460
0.750 mm2 (18 AWG), twisted pair, shielded
The location of the terminal blocks is frame specific. Refer to the
appropriate chapter (Chapter 3 or 4) for the location of your terminal
blocks.
!
ATTENTION: If you install control and signal wiring
with an insulation rating of less than 600V, route this
wiring inside the drive enclosure to separate it from any
other wiring and uninsulated live parts. If you do not
separate these wires, you may damage your equipment
or have unsatisfactory drive performance.
Connecting the Analog Inputs
The 1336 IMPACT drive has the following analog inputs:
Quantity
Description
Input impedance
2
Range of ±10V
20K Ohms
1
4 – 20 mA
130 Ohms
These inputs are differential inputs with noise rejection filtering. Each
input has a gain and offset adjustment. The A/D converter is a 12-bit
device where an input value of +10V results in a digital value of
2048. Likewise, an input value of -10V results in a digital output
value of -2048.
For an analog input to function, you must link the analog input
parameters to an appropriate drive parameter as well as define the
scaling and offset parameters.
2-22
Mounting and Wiring Your 1336 IMPACT Drive
The typical analog input connections for unidirectional operation are
shown as follows:
-10V DC (Power Supply)
A
Connect to
either A or C
(only one)
Frames
A
B
C
D
E
F
COM (Power Supply Common)
A1–A4
B–H
J4–3
J4–2
J4–1
J7–1
J7–2
J7–3
TB10–3
TB10–2
TB10–1
TB10–4
TB10–5
TB10–6
B
+10V DC (Power Supply)
C
IN + (Analog In)
D
IN - (Analog In)
E
Reference Pot
2.5 k Ω Minimum
ADC
Shield
F
To TE
(Signal Ground Terminal Block)
Note: Connect to only one set of inputs
-- IN4+ and IN4-- IN3+ and IN3-- IN2+ and IN2-- IN1+ and IN1-
The typical analog input connections for bidirectional operation can
be shown as follows:
Forward
Reverse
R
Reverse
Relay
Frames
A1–A4
-10V DC (Power Supply)
Reverse
B–H
COM (Power Supply Common)
A
B
C
D
E
F
J4–3
J4–2
J4–1
J7–1
J7–2
J7–3
A
TB10–3
TB10–2
TB10–1
TB10–4
TB10–5
TB10–6
B
+10V DC (Power Supply)
C
IN + (Analog In)
D
IN - (Analog In)
E
Forward
Reference Pot
2.5 k Ω Minimum
ADC
Shield
F
To TE
(Signal Ground Terminal Block)
Note: Connect to only one set of inputs
-- IN4+ and IN4-- IN3+ and IN3-- IN2+ and IN2-- IN1+ and IN1-
If you are wiring a remote pot to your system, you may want to refer
to Chapter 9, Applications, and Appendix B, Control Block
Diagrams, for additional information.
Mounting and Wiring Your 1336 IMPACT Drive
2-23
Analog Outputs
There are two analog outputs that have a range of ±10V and one
4 – 20mA output with a digital resolution of 12 bits. The typical
analog output connections can be shown as follows:
Quantity
2
1
Description
+10V
Impedance 100 ohms
10mA maximum
4-20mA
Impedance 273 ohms
OUT + (Analog Out)
A
DAC
OUT - (Analog Out)
B
Shield
C
-10
0
+10
Discrete Outputs
Fault outputs from the 1336 IMPACT drive are supplied at terminal
blocks. Fault outputs provide warning or fault signals based on drive
programming. Refer to the frame-specific chapters for additional
information about the terminal blocks available for your frame size.
The following values are the contact ratings for the programmable
relays:
2A at 115V AC
2A at 30V DC
Figure 2.5 shows the typical digital output connections.
Figure 2.5
Typical Digital Output Connections
Programmable: Default is set to Not Fault
Programmable: Default set to Not Warning (Alarm)
Programmable
Default is set to At Speed
Normally Closed (NC)
Normally Closed (NC)
Supply
Common
Common
Programmable
Default is set to Enable (Run)
Normally Open (NO)
Normally Open (NO)
Pulse Input
The pulse input is a differential input that lets an external source
provide the drive with a digital reference or trim signal. The pulse
input has the following specifications:
Specification
Description
Voltage rating
5 or 12V
Maximum frequency
100 kHz
Minimum mA
10
Auxiliary Output - TB9
The 480V or 600V (depending on the input voltage to the drive)
output terminal block (TB9) is only available on F Frame Drives. This
terminal block provides a three-phase, high voltage connection from
the load side of the AC input line fuses.
2-24
Mounting and Wiring Your 1336 IMPACT Drive
Normally this connection is used to power an external control
transformer (user supplied) or an auxiliary circuit.
Important: Depending on the circuitry connected, additional fusing
may be required.
!
ATTENTION: The installation of auxiliary circuits
must comply with the national codes and standards
(NEC, VDE, BSA, etc.) and local codes regarding wire
type, conductor sizes, branch circuit protection and
disconnect devices. Failure to do so may result in
personal injury and/or equipment damage.
The auxiliary circuit can be utilized to a maximum current
capacity of 8 amperes RMS.
The maximum and minimum wire size accepted by TB9 is 4.0 and
0.8 mm2 (12 and 18 AWG). Use Copper wire Only with a minimum
temperature rating of 75 degrees C. Maximum torque is 0.90-1.81
Nm (8 - 16 lb-in.).
Connecting Your Gateway
If you have a B – H frame drive, you can connect the 1336 IMPACT
drive to a network using either an isolated gateway such as a GD1 or
GD2 communications module or an internal gateway such as a GM1
or GM2 communications module.
If you have an A1 – A4 frame, you can connect the 1336 IMPACT
drive to a network using an isolated gateway.
If you are using an isolated gateway, connect the module to the drive
by plugging the communications module cable into the bottom of the
drive.
If you are using an internal gateway, connect the module to the drive
at the connector labeled GATEWAY on your board.
Mounting and Wiring Your 1336 IMPACT Drive
2-25
Figure 2.6
Gateway Connection Location
Connect Your
Communications
Module Here.
Refer to the documentation that came with your gateway for
installation information.
If you need additional SCANport connections, the 1203-SG2 and
1203-SG4 SCANport expanders are available.
Installing an Interface Board
If you are using an L Option board, refer to Chapter 5, Using the
L Option, for installation instructions. The terminal blocks used to
connect the L Option board accept wire with the following
specifications:
Wire information
Connecting the Power to the
Drive
Description
Minimum wire size
0.06 mm2 (30 AWG)
Maximum wire size
3.3 mm2 (12 AWG)
Maximum torque
0.79 N-m (7 lb.-in.)
Wire type
Use only copper wire
AC Supply Source
1336 IMPACT drives are suitable for use on a circuit that can deliver
up to a maximum of 200,000 rms symmetrical amperes when used
with the AC input line fuses specified in the tables in the
frame-specific chapters.
The 1336 IMPACT drive does not contain input power short circuit
fusing. Specifications for the recommended size and type to provide
drive input power protection against short circuits are on the
following pages.
2-26
Mounting and Wiring Your 1336 IMPACT Drive
!
ATTENTION: To guard against personal injury and/or
equipment damage caused by improper fusing, use only
the recommended line fuses specified in the tables in the
frame-specific chapters. Branch circuit breakers or
disconnect switches cannot provide this level of
protection for drive components.
Unbalanced Distribution Systems
The drive is designed for use with conventional three-phase supplies
that are symmetrical with respect to ground. Surge suppression
devices are included to protect the drive from lightning-induced
overvoltages between line and ground. For this reason, we
recommend a neutral grounded system. The drive works with a
grounded phase, but you may want to use an isolation transformer to
provide a supply balanced with respect to ground.
Ungrounded Distribution Systems
All 1336 IMPACT drives are equipped with a MOV (Metal Oxide
Varistor). The MOV provides voltage surge protection and
phase-to-phase plus phase-to-ground protection which is designed to
meet IEEE 587. The MOV circuit is designed for surge suppression
only (transient line protection), not continuous operation.
With ungrounded distribution systems, the phase-to-ground MOV
connection could become a continuous current path to ground. MOV
line-to-line and line-to-ground voltages should not exceed the input
voltage rating shown in Appendix A, Specifications. Exceeding these
values may cause physical damage to the MOV.
Figure 2.7
MOV Ratings
R
Three-Phase S
AC Input
T
Ground
Joules = (A)
Joules = (A)
Joules = (A)
Joules = (B)
Line-to-Line MOV Rating
1
2
3
Energy Rating = 2 x Line-Line Rating (A)
Line-to-Ground MOV Rating
Energy Rating = Line-Line (A) + Line-Ground (B)
Frame Reference
Device Rating (V)
Line-Line (A)
Line-Ground (B)
A
240 480 600
160 140 NA
220 220 NA
B-C
240 480 600
160 160 160
220 220 220
D-H
240 480 600
140 140 150
220 220 220
4
Mounting and Wiring Your 1336 IMPACT Drive
2-27
Is a Line Reactor or Isolation-Type Transformer Required?
Typically, you can connect the 1336 IMPACT drive directly to a
three-phase AC power line. However, certain power line conditions
may introduce the possibility of drive input power component
malfunction. To reduce the possibility of these malfunctions, a line
reactor or isolation-type transformer may be required.
Use the following table to determine if a line reactor or isolation-type
transformer is required for your system:
If the AC line supplying the drive:
Then an AC line reactor or isolation-type transformer:
Has power factor correction capacitors connected and switched
Is recommended between the capacitor bank and the input to the
drive.
Frequently experiences transient power interruptions or significant
voltage spikes
May be required.
Is run off the same line as a line commutated DC drive
May be required
Input Fusing
!
ATTENTION: The 1336 IMPACT drive does not
provide input power short circuit fusing. Specifications
for the recommended fuse size and type to provide drive
input power protection against short circuits is provided
in the tables in the frame-specific chapters. Branch
circuit breakers or disconnect switches cannot provide
this level of protection for drive components.
The input fusing requirements are frame-size specific. Please refer to
the appropriate chapter.
Disconnecting the Drive Output
Any method of disconnecting the drive that you wire to drive output
terminals M1, M2, and M3 must be able to disable the drive if opened
during drive operation. If opened during drive operation, the drive
may fault. You should remove the Drive Enable before the contactor
is opened. When the Drive Enable is removed, the drive stops
modulating.
Starting and Stopping the
Motor
!
ATTENTION: The 1336 IMPACT drive control
circuitry includes solid-state components. If hazards due
to accidental contact with moving machinery or
unintentional flow of liquid, gas, or solids exists, an
additional hardwired stop circuit may be required to
remove AC line power to the drive. When AC input
power is removed, there is a loss of inherent regenerative
braking effect and the motor coasts to a stop. An
auxiliary braking method may be required.
2-28
Mounting and Wiring Your 1336 IMPACT Drive
Electrical Interference —
EMI/RFI
Immunity
The immunity of 1336 IMPACT drives to externally generated
interference is good. Usually, no special precautions are required
beyond the installation practices provided in this manual.
You should suppress the coils of DC energized contactors associated
with drives with a diode or similar device, because they can generate
severe electrical transients.
In areas subject to frequent lightning strikes, additional surge
suppression is advisable. You should use suitable MOVs connected
between each line and ground. Refer to Figure 2.7 for additional
information about MOVs.
Emission
To avoid interference with nearby sensitive equipment, you must be
careful about how you arrange the power and ground connections to
the drive. Route the cable that goes to the motor well away from
sensitive equipment, as the motor cable does carry switched voltages.
Connect the ground conductor of the motor cable to the drive ground
(PE) terminal directly. Connecting this ground conductor to a cabinet
ground point or ground bus bar may cause high frequency current to
circulate in the ground system of the enclosure. You must solidly
connect the motor end of this ground conductor to the motor case
ground.
You may use shielded or armored cable to guard against radiated
emissions from the motor cable. Connect the shield or armor to the
drive chassis.
Common mode chokes are recommended at the drive output to reduce
the common mode noise. An RFI filter can be used and in most
situations provides an effective reduction of RFI emissions that may
be conducted into the main supply lines.
If the installation combines a drive with sensitive devices or circuits,
program the lowest possible drive PWM frequency.
Do I Need an RFI Filter?
You can install 1336 IMPACT drives with an RFI filter. The RFI filter
controls radio-frequency conducted emissions into the main supply
lines and ground wiring. If you follow the cabling and installation
instructions described in this manual, interference problems are
unlikely when the drive is used with conventional industrial electronic
circuits and systems.
You should use the optional RFI filter if:
• You must conform to a standard such as EN 55011, VDE0875,
BSI, or FCC.
• You need to achieve very low emission levels.
• You are installing sensitive devices or circuits on the same AC
supply.
• The motor cable exceeds 50 meters (164 feet). Beyond this
length, capacitance to ground increases the supply emissions.
Mounting and Wiring Your 1336 IMPACT Drive
2-29
Important: The conformity of the drive and filter to any standard
does not assure that the entire installation conforms. Other factors can
influence the total installation and only direct measure can verify total
conformity.
Installing an RFI Filter
To install the RFI filter, follow the instructions provided with the
filter. In addition, you should note the following information:
• Connect the RFI filter between the incoming AC supply line and
the drive power input terminals.
• Install the filter on the same mounting plate as the drive, if
possible. The filter should be physically close to the drive with
short connections.
Important: To assure that the RFI filter is effective, you must shield
or armor the motor cable and follow the guidelines given in this
manual.
RFI Filter Leakage Current
The optional RFI filter may cause ground leakage currents. Therefore,
you must provide an appropriate ground connection (refer to the
grounding instruction on page 2-14).
!
ATTENTION: To guard against possible equipment
damage, you can only use RFI filters with AC supplies
that are nominally balanced with respect to ground. In
some countries, three-phase supplies are occasionally
connected in a 3-wire configuration with one phase
grounded (Grounded Delta). The filter must not be used
in Ground Delta supplies.
2-30
Notes:
Mounting and Wiring Your 1336 IMPACT Drive
Chapter
3
Mounting and Wiring Information
Specific to Frames A1, A2, A3, and
A4
Chapter Objectives
Chapter 3 provides the mounting and wiring information specific to
frames A1, A2, A3, and A4.
This Topic:
Starts on Page:
Wiring the power
3-1
Hard wiring your I/O
3-3
Input fusing requirements
3-4
Dimensions
3-5
Important: If your 1336 IMPACT drive is not an A1 – A4 frame
size, skip this chapter and read the mounting and wiring instructions
specific to your frame size. If you do not know what your frame size
is, refer to Chapter 1, Overview.
The input and output connections for frames A1 – A4 are shown in
Figure 3.1.
Figure 3.1
Terminal Block Locations
TB3
TB4
TB7
TB1
Power Terminal Block
TB4, 7, 10 Control & Signal Wiring
TB3
Control Interface Option
Control Interface
Option
Wiring the Power
TB10
TB1
3-2
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
The drive connections for TB1 are shown in Figure 3.2.
Figure 3.2
Drive Connections for Frames A1 – A4
A1-A3
A4 Frame
Frame
200-240V, 0.37-3.7 kW (0.5-5 HP) Terminal Designations
380-480V, 0.37-3.7 kW (0.5-5 HP) Terminal Designations
GRD
GRD
R
(L1)
S
(L2)
T
(L3)
U
(T1)
DC
–
V
(T2)
W
(T3)
GRD
GRD
R
(L1)
S
(L2)
T
(L3)
Dynamic Brake
Option
To Motor
Required 1
Input Fusing
DC
+
380-480V, 5.5-7.5 kW (7.5-10 HP) Terminal Designations
500-600V, 0.75-7.5 kW (1-10 HP) Terminal Designations
To Motor
1 Required Branch
Circuit Disconnect
U
DC BRK 2
(T1)
–
–
COM
To Motor
DC Input Line
Required 1
Input Fusing
AC Input Line
DC
+
V
(T2)
W
(T3)
To Motor
1 Required Branch
Circuit Disconnect
AC Input Line
2 Dynamic Brake
1 User supplied.
2 Before wiring your dynamic brake for the A4 frame, double check the terminals. You should attach the + terminal on
the brake to the DC+ terminal on your drive and the - terminal on the brake to the BRK - terminal on your drive. If your
BRK - terminal is labeled VBUS -, connect the - terminal on the brake to the VBUS - terminal on your drive.
!
ATTENTION: If you install control and signal wiring
with an insulation rating of less than 600V, route this
wiring inside the drive enclosure to separate it from any
other wiring and uninsulated live parts. If you do not
separate these wires, you may damage your equipment
or have unsatisfactory drive performance.
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
Hard Wiring Your I/O
3-3
You can use terminal blocks TB4, TB7, and TB10 for hardwiring
your I/O. These terminal blocks are shown in Figure 3.3.
Figure 3.3
Reference Signal Connections
J4 (TB4)
Analog Output 1*
Analog Output 2*
4 to 20 mA*
+10V
1
Com
2
-10V
3
Shield
4
+
-
5
Shield
7
+
-
8
DC Power
Supply*
* The power supply is for drive
input use only.
6
9
Shield
10
+
-
11
12
J7 (TB7)
Analog Input 1
Analog Input 2
4 to 20 mA
Pulse Source
+
-
1
Shield
3
+
-
4
Shield
6
+
-
7
Shield
9
2
J10 (TB10)
5
1
2
3
4
5
6
7
8
9 10 11 12
8
+
-
10
Shield
12
TE
Supply
11
Relay 3
Voltage
Default: Not Fault
Clearance
Relay 2
Relay 4
Default: Enable Default: Not Warning
(Run)
(Alarm)
Relay 1
Default: At Speed
*NOTE: Analog I/O is differential, non-isolated I/O.
A (-) negative does not indicate common.
3-4
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
The terminal blocks provide the following:
This Terminal
Block:
Provides these Terminal
Numbers:
Which Provide Access to this Signal:
4, 7, 10
Shield ground
1, 2, 3
DC power supply
±10V DC
50 mA per voltage
0 to ±10V DC output
Output impedance = 100 Ohms;
10mA maximum
4 – 20 mA DC output
Output impedance = 20 Ohms
TB4
5, 6, 8, 9
11, 12
3, 6, 9, 12
1, 2, 4, 5
7, 8
0 to ±10V DC input
Input impedance = 20K Ohms
4 – 20 mA input
Input impedance = 130 Ohms
Pulse input for frequency reference
+5V DC — Jumper J8 Set to 1 – 2
+12V DC — Jumper J8 Set to 2 – 3
Scale Factor (Pulse PPR) must be set
10mA minimum
TB7
10, 11
12
TB10
Shield Ground
Logic Earth Ground, Shield
1, 2, 3,
4, 5, 6,
7, 8, 9
Programmable contacts
Resistive rating = 115VAC/30VDC, 5.0A
Inductive rating = 115VAC/30VDC, 2.0A
10, 11
Voltage clearance. Provides physical space between the logic earth ground and other
signals on the terminal block.
Input Fusing Requirements
The following are the input fusing requirements for frames A1 – A4.
Maximum Recommended AC Input Line Fuse Ratings (Fuses are User Supplied)
European Installations
The recommended fuse is Class
gG general industrial
applications and motor circuit
protection.
BS88 (British Standard) Parts 1
& 2*, EN60269-1, Parts 1 & 2,
type gG or equivalent should be
used for these drives. Fuses that
meet BS88 Parts 1 & 2 are
acceptable.
* Typical designations include,
but may not be limited to the
following:
Parts 1 & 2: AC, AD, BC, BD, CD,
DD, ED, EFS, EF, FF, FG, GF,
GG, GH
North American
Installations
Drive Catalog
Number
kW (HP)
Rating
200 – 240V
Rating
380 – 480V
Rating
500 – 600V
Rating
0.37 – 0.56
(0.5 – 0.75)
6A
3A
—
1336E-_ _ F10
0.75 (1)
10A
6A
3A
1336E-_ _ F15
1.2 (1.5)
15A
6A
—
1336E-_ _ F20
1.5 (2)
15A
10A
6A
1336E-_ _ F30
2.2 (3)
25A
15A
10A
1336E-_ _ F50
3.7 (5)
40A
20A
10A
1336E-_ _ F75
5.5 (7.5)
—
20A
15A
1336E-_ _ F100
7.5 (10)
—
30A
20A
1336E-_ _ F05, 07
UL requirements specify
that UL Class CC, T, or
J1 fuses must be used
for all drives in this
section*.
* Typical designations
include:
Type CC:
KTK,
FNQ-R
Type J:
JKS, LPJ
Type T:
JJS, JJN
1 Both fast acting and slow blow are acceptable.
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
Dimensions
3-5
The following shows the dimensions for frames A1 – A4.
A
Y
Z
C Max.
D
AA E B
Mounting Hole Detail
7.0 (0.28)
7.0 (0.28)
12.7 (0.50)
BB
12.7 (0.50)
CC
Three-Phase Rating
Mounting Holes (4) – See Detail
Bottom View Will Vary with HP – See
Bottom View Dimensions
380 – 480V
0.37 – 0.75 kW
0.5 – 1 HP
0.37 – 1.2 kW
0.5 – 1.5 HP
—
A1
1.2 – 1.5 kW
1.5 – 2 HP
1.5 – 2.2 kW
2 – 3 HP
—
A2
2.2 – 3.7 kW
3 – 5 HP
3.7 kW
5 HP
—
A3
5.5 – 7.5 kW
7.5 – 10 HP
*0.75 – 7.5 kW
1 – 10 HP
A4
5.5 – 11 kW
7.5 – 15 HP
11 – 22 kW
15 – 30 HP
*11 – 15 kW
15 – 20 HP
B
15 – 22 kW
20 – 30 HP
30 – 45 kW
40 – 60 HP
18.5 – 45 kW
25 – 60 HP
C
30 – 45 kW
40 – 60 HP
45 – 112 kW
60 – 150 HP
56 – 93 kW
75 – 125 HP
D
56 – 93 kW
75 – 125 HP
112 – 187 kW
150 – 250 HP
112 – 187 kW
150 – 250 HP
E
187 – 448 kW
250 – 600 HP
224 – 448 kW
300 – 600 HP
G
—
—
500 – 600V
Frame
Reference
200 – 240V
* Use care when choosing Frame Reference — some ratings may
exist in another frame size.
Frame
A
Reference
B
C Max.
D
E
Y
Z
AA
BB
CC
Shipping
Weight
A1
215.9
(8.50)
290.0
(11.42)
160.0
(6.30)
185.2
(7.29)
275.0
(10.83)
15.35
(0.60)
7.5
(0.30)
130.0
(5.12)
76.2
(3.00)
85.3
(3.36)
4.31 kg
(9.5 lbs.)
A2
215.9
(8.50)
290.0
(11.42)
180.5
(7.10)
185.2
(7.29)
275.0
(10.83)
15.35
(0.60)
7.5
(0.30)
130.0
(5.12)
76.2
(3.00)
85.3
(3.36)
5.49 kg
(12.1 lbs.)
A3
215.9
(8.50)
290.0
(11.42)
207.0
(8.15)
185.2
(7.29)
275.0
(10.83)
15.35
(0.60)
7.5
(0.30)
130.0
(5.12)
76.2
(3.00)
85.3
(3.36)
6.71 kg
(14.8 lbs.)
A4
260.0
(10.24)
350.0
(13.78)
212.0
(8.35)
230.0
(9.06)
320.0
(12.60)
15.35
(0.60)
15.35
(0.60)
130.0
(5.12)
133.0
(5.23)
86.0
(3.39)
15.90 kg
(35.0 lbs.)
3-6
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
Frames A1 through A4
S
R
Q
22.2 (0.88) Conduit Knockout - 1 Plc.
P
22.2/28.6 (0.88/1.13)
Conduit Knockout - 3 Plcs.
N M L
Fans will be present on A4 Frame
Frame
Reference
L
M
N
P
Q
R
S
A1
111.8
(4.40)
105.4
(4.15)
86.3
(3.40)
25.4
(1.00)
63.2
(2.49)
102.1
(4.02)
135.4
(5.33)
A2
132.3
(5.21)
126.0
(4.96)
106.9
(4.21)
25.4
(1.00)
63.2
(2.49)
102.1
(4.02)
135.4
(5.33)
A3
158.8
(6.25)
152.4
(6.00)
133.4
(5.25)
25.4
(1.00)
63.2
(2.49)
102.1
(4.02)
135.4
(5.33)
A4
164.0
(6.45)
164.0
(6.45)
139.0
(5.47)
27.0
(1.06)
65.0
(2.65)
97.0
(3.82)
128.7
(5.07)
All Dimensions in Millimeters and (Inches).
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
3-7
The following are the dimensions for the IP65/54 (NEMA 4/12)
enclosures.
A
See Detail A
D
12.4 (0.49)
C
F
G
H
See
Detail B
E
B
7.9 (0.31)
12.7 (0.50)
7.1 (0.28) Dia.
12.7 (0.50)
14.3 (0.56) Dia.
Typical Top and Bottom
Detail A
12.7 (0.50) Dia.
Drive
Heatsink
19.1 (0.75)
19.1 (0.75) Dia.
Detail B
All Dimensions in Milimeters and (Inches).
Frame
Reference
A
B
C
D
E
F
G
H
Approx. Ship
Weight
A1
430.0
(16.93)
525.0
(20.67)
350.0
(13.78)
404.9
(15.94)
500.1
(19.69)
250.0
(9.84)
N/A
N/A
16.8 kg
(37.0 lbs.)
A2
430.0
(16.93)
525.0
(20.67)
350.0
(13.78)
404.9
(15.94)
500.1
(19.69)
250.0
(9.84)
N/A
N/A
17.9 kg
(39.4 lbs.)
A3
430.0
(16.93)
525.0
(20.67)
350.0
(13.78)
404.9
(15.94)
500.1
(19.69)
250.0
(9.84)
N/A
N/A
18.6 kg
(41.0 lbs.)
A4
655.0
(25.79)
650.0
(25.59)
425.0
(16.74)
629.9
(24.80)
625.1
(24.61)
293.0
(11.54)
63.5
(2.50)
76.2
(3.00)
39.5 kg
(87.0 lbs.)
3-8
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
Heat Sink Through-the-Back Mounting - Frames A1 through A3
210.0 1
(8.25)
98.0
(3.86)
196.0
(7.72)
182.1
(7.17)
78.1
(3.076)
234.2
(9.2204)
249.7 1
(9.83)
78.2
(3.080)
220.0
(8.66)
Cutout
All Dimensions in Millimeters and (Inches)
10 Required
4.3 (0.171) Dia. for 10-32 x 12.7 (0.5) Self-Tap – 4.0 (0.159) for 10-32 x 12.7 (0.5) Threaded
Back of Enclosure
Drive
A1 = 50.8 (2.00)
A2 = 71.4 (2.81)
A3 = 98.8 (3.85)
1 Shading indicates approximate size
of drive inside enclosure.
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
3-9
Heat Sink Through-the-Back Mounting - Frame A4
257.0 1
(10.12)
80.4
(3.17)
160.9
(6.33)
120.7
(4.75)
241.3
(9.50)
225.0
(8.86)
301.2
(11.86)
225.9
(8.89)
317.0 1
(12.48)
285.0
(11.22)
Cutout
150.6
(5.93)
75.3
(2.96)
All Dimensions in Millimeters and (Inches)
14 Required
4.3 (0.171) Dia. for 10-32 x 12.7 (0.5) Self-Tap – 4.0 (0.159) for 10-32 x 12.7 (0.5) Threaded
Back of Enclosure
Drive
90.0 (3.54)
1 Shading indicates approximate size
of drive inside enclosure.
3-10
Notes
Mounting and Wiring Information Specific to Frames A1, A2, A3, and A4
Chapter
4
Mounting and Wiring Information
Specific to Frames B, C, D, E, F, G,
and H
Chapter Objectives
Chapter 4 provides the mounting and wiring information specific to
frames B – H.
This Topic:
Wiring the power
Starts on Page:
4-1
Selecting the proper lug kit for your system
4-6
Hard wiring your I/O
4-8
Selecting/verifying fan voltage
4-10
Input fusing requirements
4-11
Dimensions
4-12
Important: If your 1336 IMPACT drive is not a B – H frame size,
skip this chapter and read the mounting and wiring instructions
specific to your frame size. If you do not know what your frame size
is, refer to Chapter 1, Overview.
Wiring the Power
The location of the input and output connections depend on the size
of your drive:
If your drive is:
Then, the input and output connections need to be
made:
15 to 30 hp
Through an 11-position terminal block, TB1, located on the
Gate Driver Board.
Over 30 hp
At separate terminal strips located at the bottom of the drive.
4-2
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Figure 4.1
Terminal Block Locations
TB1
TB10, 11
TB3
TB4
TB6
TB9
TE
Power Terminal Block
Control & Signal Wiring
Control Interface Option
For factory use only
For factory use only
480V Output (F Frame Only) or 600V depending On Drive Output Volts
Shield Terminals
TB9
TB3
TB4
TB6
TB3
Control Interface
Option
TB10
TB10
Control Interface
Option
TB1
TB3
TB11
TB1
TB1
Location
Frames B, C
TB4
TB11
TE
TB6
TB1 Location
TB1
Brake
Terminals
TB1
Frames D, E
R, S, T
TB10, 11
TE
Frame F
+, -
TB3
TB3
TB10, 11
TE
TB1
Location
U, V, W
& Brake
Terminals
TB10, 11
TE
TB1
Location
PE
Ground
Frame G
U, V, W
& Brake
Terminals
PE Ground
Frame H
!
ATTENTION: The national codes and standards (such
as NEC, VDE, and BSA) and local codes outline
provisions for safely installing electrical equipment.
Installation must comply with specifications regarding
wire type, conductor sizes, branch circuit protection, and
disconnect devices. Failure to do so may result in
personal injury and/or equipment damage.
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-3
The drive connections for TB1 are shown in Figure 4.2, 4.3, and 4.4.
Figure 4.2
Drive Connections for Frames B1 and B2
200-240V, 5.5 kW (7.5 HP) Terminal Designations
380-480/500-600V, 11 kW (15 HP) Terminal Designations
B1 Frame
PE
DC
DC
–
+
Dynamic Brake
PE
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
(T2)
W
(T3)
To Motor
To Motor
Required1
Input Fusing
1 Required Branch
Circuit Disconnect
AC Input Line
200-240V, 7.5-11 kW (10-15 HP) Terminal Designations
380-480V, 15-22 kW (20-30 HP) Terminal Designations
500-600V, 15 kW (20 HP) Terminal Designations
B2 Frame
PE
PE
DC
+
DC
–
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
(T2)
Dynamic Brake
To Motor
1 Required
Input Fusing
To Motor
1 Required Branch
Circuit Disconnect
AC Input Line
1 User supplied.
W
(T3)
4-4
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Figure 4.3
Drive Connections for Frames C and D
200-240V, 15-22 kW (20-30 HP) Terminal Designations
380-480V, 30-45 kW (40-60 HP) Terminal Designations
500-600V, 18.5-45 kW (25-60 HP) Terminal Designations
C Frame
PE
GRD
PE
GRD
DC
+
DC
–
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
(T2)
Dynamic Brake
1 Required
Input Fusing
To Motor
1 Required Branch
To Motor
Circuit Disconnect
AC Input Line
200-240V, 30-45 kW (40-60 HP) Terminal Designations
380-480V, 45-112 kW (60-150 HP) Terminal Designations
500-600V, 56-112 kW (75-150 HP) Terminal Designations
D Frame
DC +
Brake
DC –
Brake
PE
PE
TE
To Motor
R
(L1)
S
(L2)
T
(L3)
U
(T1)
V
(T2)
To Motor
1 Required
Input Fusing
1Required Branch
Circuit Disconnect
AC Input Line
1 User supplied.
W
(T3)
W
(T3)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Figure 4.4
Drive Connections for Frames E, F, and G
200-240V, 56-75 kW (75-100 HP) Terminal Designations
380-480V, 112-187 kW (150-250 HP) Terminal Designations
500-600V, 112-224 kW (150-300 HP) Terminal Designations
E Frame
TE
+DC
–DC
PE
PE
R-L1
BUS
S-L2
INPUT
T-L3
U-M1
V-M2
W-M3
OUTPUT
To Motor
Required
Input Fusing
1
To Motor
1 Required Branch
Circuit Disconnect
AC Input Line
380-480V, 187-336 kW (250-450 HP) Terminal Designations
F Frame
R-L1
T-L3
S-L2
PE
U-M1
W-M3
V-M2
Input Fusing
(Supplied)
To Motor
1 Required Branch
Circuit Disconnect
AC Input Line
DC –
Brake
DC +
Brake
typical terminal
380-480V, 224-448 kW (300-600 HP) Terminal Designations
500-600V, 187-448 kW (250-600 HP) Terminal Designations
Brake terminals are located on the
DC choke behind the "U" terminal.
Access the DC Choke from
the right side of the chassis.
G Frame
T
(L3)
S
(L2)
R
(L1)
Connect the +DC Brake
to the +Bus to the drive.
Required
Input Fusing
Required Branch
Circuit Disconnect
U
(M1)
V
(M2)
To Motor
R
T
typical terminal layout
(located at top of drive)
1 User supplied.
Connect the -DC Brake
to the -Bus to the drive.
Refer to the Troubleshooting
Guide for information on
accessing the DC Bus Inductor.
AC Input Line
S
W
(M3)
4-5
4-6
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Figure 4.5
Drive Connections for Frame H
380-480V, 522-597 kW (700-800 HP) Terminal Designations
500-600V, 522-597 kW (700-800 HP) Terminal Designations
Connect the DC Brake to the
Link Choke at the bottom of Bay 2.
Connect the -DC Brake
Connect the +DC Brake
to the -Bus to the drive.
to the +Bus to the drive.
H Frame
T
(L3)
S
(L2)
Required 1
Input Fusing
1 Required Branch
Circuit Disconnect
R
(L1)
U
(M1)
V
(M2)
W
(M3)
Front View
AC Input Line
To Motor
1 User supplied.
Selecting the Proper Lug Kit for
Your System
D, E, F, G, and H frame drives have stud type terminals and/or bus
bars/bolts that require standard crimp-type connectors for cable
termination. Connectors such as T & B COLOR-KEYED
Connectors or equivalent are recommended. Table 4.A shows the lug
selection for one possible cable choice. Choose connectors for each
installation based on the desired cable sizes, the application
requirements, and all applicable national, state, and local codes.
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-7
Table 4.A
Lug Selection
Drive Catalog
Number
DC+
DC-1
AC Input R, S, T
Output U, V, W and PE
TE
T&B Part No.2
Cable (per Phase)
T&B Part No.2
Cable (per Phase)
Qty.
mm1 (AWG)
Qty.
Number
Qty.
mm1 (AWG)
Qty.
Number
Qty.
mm1 (AWG)
Qty.
Number
1336E-A040
(1)
53.5 (1/0)
(8)
541533
(1)
13.3 (6)
(2)
541353
(1)
13.3 (6)
(1)
541353
1336E-A050
(1)
85.0 (3/0)
(8)
541633
(1)
13.3 (6)
(2)
541353
(1)
13.3 (6)
(1)
541353
3
(1)
21.2 (4)
(1)
541393
Cable (per Phase)
T&B Part No.2
1336E-A060
(1)
107.2 (4/0)
(8)
541683
(1)
13.3 (6)
(2)
54135
1336E-A075
(2)
53.5 (1/0)
(8)
(8)
54109T
54109B
(1)
33.6 (2)
(2)
54109
(1)
21.2 (4)
(1)
541393
1336E-A100
(2)
85.0 (3/0)
(8)
(8)
54111T
54111B
(1)
42.4 (1)
(2)
54148
(1)
33.6 (2)
(1)
541423
1336E-A125
(2)
107.2 (4/0)
(8)
(8)
54112T
54112B
(1)
67.4 (2/0)
(2)
54110
(1)
33.6 (2)
(1)
541423
1336E-B060
(1)
42.4 (1)
(8)
541473
(1)
8.4 (8)
(2)
541313
(1)
13.3 (6)
(1)
541353
1336E-B075
(1)
53.5 (1/0)
(8)
541533
(1)
13.3 (6)
(2)
541353
(1)
13.3 (6)
(1)
541353
1336E-B100
(1)
85.0 (3/0)
(8)
541633
(1)
13.3 (6)
(2)
541353
(1)
13.3 (6)
(1)
541353
(2)
541473
(1)
21.2 (4)
(1)
541393
(1)
21.2 (4)
(1)
541393
1336E-B125
(1)
107.2 (4/0)
(8)
541683
(1)
26.7 (3)
1336E-BX150
(1)
107.2 (4/0)
(8)
541683
(1)
26.7 (3)
(2)
541473
1336E-B150
(2)
53.5 (1/0)
(8)
(8)
54109T
54109B
(1)
33.6 (2)
(2)
54110
(1)
21.2 (4)
(1)
541393
1336E-B200
(2)
85.0 (3/0)
(8)
(8)
54111T
54111B
(1)
42.4 (1)
(2)
54148
(1)
26.7 (3)
(1)
541423
1336E-B250
(2)
107.2 (4/0)
(8)
(8)
54112T
54112B
(1)
67.4 (2/0)
(2)
54110
(1)
33.6 (2)
(1)
541423
1336E-B300
(3)
67.4 (2/0)
(24)
54110
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-BP300
(3)
67.4 (2/0)
(24)
54110
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-B350
(3)
85.0 (3/0)
(24)
54111
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-BP350
(3)
85.0 (3/0)
(24)
54111
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-B400
(3)
107.2 (4/0)
(24)
54112
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-BP400
(3)
107.2 (4/0)
(24)
54112
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-B450
(3)
127.0 (250 MCM)
(24)
54174
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-BP450
(3)
127.0 (250 MCM)
(24)
54174
(1)
42.4 (1)
(2)
54148
NA
NA
1336E-B500
(3)
152.0 (300 MCM)
(24)
54179
(1)
53.5 (1/0)
(2)
54109
NA
NA
1336E-B600
(3)
152.0 (300 MCM)
(24)
54179
(1)
53.5 (1/0)
(2)
54109
(4)
253.0 (500 MCM)
(8)
54118
(1)
107.2 (4/0)
(1)
54110
1336E-B700C
—
1336E-B800C
—
—
—
NA
NA
(4)
253.0 (500 MCM)
(8)
54118
(1)
107.2 (4/0)
(1)
54110
1336E-C075
(1)
33.6 (2)
(8)
541423
(1)
13.3 (6)
(2)
541353
(1)
8.4 (8)
(1)
541313
1336E-C100
(1)
53.5 (1/0)
(8)
541533
(1)
13.3 (6)
(2)
541353
(1)
13.3 (6)
(1)
541353
1336E-C125
(1)
67.4 (2/0)
(8)
541583
(1)
26.7 (3)
(2)
541473
(1)
13.3 (6)
(1)
541353
1336E-C150
(1)
107.2 (4/0)
(8)
54111
(1)
42.4 (1)
(2)
54148
(1)
13.3 (6)
(1)
541353
1336E-C200
(2)
67.4 (2/0)
(8)
(8)
54110T
54110B
(1)
42.4 (1)
(2)
54148
(1)
26.7 (3)
(1)
541423
1336E-C250
(2)
85.0 (3/0)
(8)
(8)
54111T
54111B
(1)
67.4 (2/0)
(2)
54110
(1)
26.7 (3)
(1)
541423
1336E-CX300
(3)
85.0 (3/0)
(16)
54111
NA
NA
1336E-C300
(3)
85.0 (3/0)
(16)
54111
NA
NA
1336E-C350
(3)
53.5 (1/0)
(24)
54109
NA
NA
(3)
67.4 (2/0)
(24)
54110
NA
NA
1336E-C450
(3)
85.0 (3/0)
(24)
54111
NA
NA
1336E-C500
(3)
107.2 (4/0)
(24)
54112
NA
NA
1336E-C600
(3)
127.0 (250 MCM)
(24)
54174
NA
1336E-CP350
1336E-C400
Consult Factory
1336E-CP400
NA
1336E-C700C
—
—
(3)
253.0 (500 MCM)
(6)
54118
(1)
67.4 (2/0)
(1)
54110
1336E-C800C
—
—
(3)
253.0 (500 MCM)
(6)
54118
(1)
67.4 (2/0)
(1)
54110
1
Lugs shown for DC+/- are based on dynamic brake sizing of 50% of (motor rating x 1.25). Select proper lugs based on required braking torque. Refer to 1336-5.64 or 1336-5.65
for additional information.
2
T & B COLOR-KEYED Connectors require T & B WT117 or TBM-6 Crimper tool or equivalent. Lugs should be crimped according to manufacturer’s tool instructions. If
required, Rockwell Automation can supply lug kits for lugs shown above. Kits do not include crimping tools. Consult factory for kit information.
3
5/16" Stud. All other studs are 3/8".
4-8
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Hard Wiring Your I/O
You can use terminal blocks TB10 and TB11 for hard wiring your
I/O. These terminals are shown in Figure 4.6.
Figure 4.6
Reference Signal Connections
TB11
1
2
3
4
5
6
7
8
9
10
TE
Supply
Relay 3
Relay 1
Default: At Speed Default: Not Fault
SH = Shield
Voltage
Clearance
Relay 4
Relay 2
Default: Enable Default: Not Warning
(Alarm)
(Run)
DC Power
Supply
+10V Com -10V
TB10
1
2
3
4
5
+ Analog
Input 1
6
7
8
SH
+ Analog
Input 2
9 10 11 12
SH
+ 4-20 mA
Input
13 14 15 16 17 18 19 20 21 22
SH +
-
Pulse
Source
+ -
SH
+ -
Analog
Analog
Output 1* Output 2*
SH +
-
4-20 mA
Output*
NOTE: Analog I/O is differential, non-isolated I/O. A negative (-) does not
Indicate common.
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-9
The terminal blocks provide the following:
This
terminal
block:
Provides these terminal
numbers:
Which provide access to this signal:
6, 9, 12, 17, 20
Shield ground
1, 2, 3
DC power supply
4, 5, 7, 8
0 to ±10V DC Input
Input impedance = 20K Ohms
10, 11
4 – 20 mA input
Input impedance = 130 Ohms
13, 14
Pulse input for frequency reference
± 10V DC
50 mA per voltage
TB10
+5V DC — Jumper J4 Set to 1 – 2
+12V DC — Jumper J4 Set to 2 – 3
Scale Factor (Pulse PPR) must be set
10mA minimum
TB11
15, 16, 18, 19
0 to ±10V DC output
Output impedance = 100 Ohms, 10mA maximum
21, 22
4 – 20 mA DC output
Output impedance = 20 Ohms
10
Logic Earth Ground, Shield
1, 2, 3,
Programmable contacts
4, 5, 6,
Resistive rating = 115VAC/30VDC, 5.0A
7, 8, 9
Inductive rating = 115VAC/30VDC, 2.0A
The voltage clearance provides physical space between the logic earth
ground and other signals on the terminal block.
4-10
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Selecting/Verifying Fan Voltage
1336 IMPACT drives, 45 kW (60 hp) to 448 kW (600 hp) that have
cooling fans use a transformer to match the input line voltage to the
proper fan voltage. If you are using an input voltage other than the
standard 240, 480, or 600V AC, you may need to change the
transformer tap.
To change a transformer tap, follow these instructions:
!
ATTENTION: To avoid a shock hazard, assure that all
power to the drive has been removed before proceeding.
1. Ensure that all power has been removed to the drive.
2. Locate the transformer in the lower left corner of the drive
chassis. Note lead placement (tap being used).
3. Determine the correct tap from Figure 4.7 and verify.
4. If the present tap is incorrect, remove the insulating sleeve from
the correct tap.
5. Remove the wire lead presently connected.
6. Place the wire lead on the selected tap.
7. Replace the insulating sleeve on the unused tap.
Figure 4.7
Fan Tap Locations
200-240V AC Input Voltage
200 Volt Tap
(use for 200-220V)
380-480V AC Input Voltage
380 Volt Tap
(use for 380-400V)
500-600V AC Input Voltage
500 Volt Tap
(use for 500V)
415 Volt Tap
(use for 415V)
240 Volt Tap
(use for 230-240V)
460 Volt Tap
(use for 460-480V)
575 Volt Tap
(use for 575-600V)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Input Fusing Requirements
4-11
The following are the input fusing requirements for frames B, C, D,
E, F, G, and H.
Maximum Recommended AC Input Line Fuse Ratings (fuses are user supplied)
North American
Installations
European Installations
UL requirements specify
that UL Class CC, T, or J1
The recommended fuse is
fuses must be used for all
Class gG, general industrial
drives in this section*.
applications and motor circuit
* Typical designations
protection.
include:
Type CC: KTK, FNQ-R
BS88 (British Standard) Parts 1
Type J: JKS, LPJ
& 2*, EN60269-1, Parts 1 & 2,
type gG or equivalent should be Type T: JJS, JJN
used for these drives. Fuses
that meet BS88 Parts 1 & 2 are UL requirements specify
acceptable for Frames A – F.
that UL Class CC, T, or J1
* Typical designations include, fuses must be used for all
but may not be limited to the
drives in this section*.
following:
* Typical designations
Parts 1 & 2: AC, AD, BC, BD,
include:
CD, DD, ED, EFS, EF, FF, FG,
Type CC: KTK, FNQ-R
GF, GG, GH.
Type J: JKS, LPJ
Type T: JJS, JJN
Drive Catalog
Number
1 Both fast acting and slow blow are acceptable.
2 Fuses are supplied with F and H Frame drives.
3 Two fuses in parallel are required.
380 – 480V
Rating
500 – 600V
Rating
5.5 (7.5)
40A
20A
15A
1336E-_ _ 010
7.5 (10)
50A
30A
20A
1336E-_ _ 015
11 (15)
70A
35A
25A
1336E-_ _ 020
15 (20)
100A
45A
35A
1336E-_ _ 025
18.5 (25)
100A
60A
40A
1336E-_ _ 030
22 (30)
125A
70A
50A
1336E-_ _ X040
30 (40)
150A
80A
60A
1336E-_ _ 040
30 (40)
150A
80A
60A
1336E-_ _ 050
37 (50)
200A
100A
80A
1336E-_ _ X060
45 (60)
—
100A
—
1336E-_ _ 060
45 (60)
250A
125A
90A
1336E-_ _ 075
56 (75)
300A
150A
110A
1336E-_ _ 100
75 (100)
400A
200A
150A
1336E-_ _ 125
93 (125)
450A
250A
175A
1336E-_ _ X150
112 (150)
—
250A
—
1336E-_ _ 150
112 (150)
—
300A
225A
1336E-_ _ 200
149 (200)
—
400A
350A
1336E-_ _ 250
187 (250)
—
450A
400A
1336E-_ _ X300
224 (300)
—
—
400A
224 (300)
—
500A
2
2
400A
224 (300)
—
500A
1336E-_ _ 350
224 (300)
—
600A
450A
1336E-_ _ P3502
261 (350)
—
600A2
—2
1336E-_ _ 400
298 (400)
—
600A
500A
298 (400)
—
600A
2
1336E-_ _ 450
336 (450)
—
800A
600A
1336E-_ _ P4502
336 (450)
—
700A2
—2
1336E-_ _ 500
373 (500)
—
800A
800A
1336E-_ _ 600
448 (600)
—
900A
800A
1336E-_ _ 650
485 (650)
—
—
800A
700A3
700A3
1336E-_ _ P300
Bussmann FWP/Gould
Shawmut A-70Q or QS
semiconductor type fuses
must be used for all drives
in this section.
200 – 240V
Rating
1336E-_ _ 007
1336E-_ _ 300
The recommended fuse is
Class gG, general industrial
applications and motor circuit
protection.
BS88 (British Standard) Part 4,
EN60269-1, Part 4*, type gG
semiconductor fuses or
equivalent should be used for
these drives. G Frame drives
require semiconductor fuses
and should be fused with Part 4
fuses.
* Typical designations include,
but may not be limited to the
following:
Part 4: CT, ET, FE, EET, FEE,
RFEE, FM, FMM.
kW (HP)
Rating
1336E-_ _ P400
2
700C2
522 (700)
—
600A3
1336E-_ _ 800C2
597 (800)
—
700A3
1336E-_ _
—
—2
4-12
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Dimensions
The following are the dimensions for the B, C, D, E, F, G, and H
frames.
Dimensions for Frames B, C, and D
A
Y
Z
C Max.
D
Mounting Hole Detail
(Frames B & C)
7.1 (0.28)
7.1 (0.28)
12.7 (0.50)
12.7 (0.50)
AA E B
Mounting Hole Detail
(Frame D)
BB
R 5.2 (0.20)
14.7 (0.58)
R 9.5 (0.38)
CC
Mounting Holes (4) – See Detail
Bottom View Will Vary with HP – See
Bottom View Dimensions
All Dimensions in Milimeters and (Inches).
All Weights in Kilograms and (Pounds).
Frame
Reference
A
B
C Max.
D
E
Y
Z
AA
BB
CC
Shipping
Weight
B
276.4
(10.88)
476.3
(18.75)
225.0
(8.86)
212.6
(8.37)
461.0
(18.15)
32.00
(1.26)
7.6
(0.30)
131.1
(5.16)
18.08
(7.12)
71.9
(2.83)
22.7 kg
(50 lbs)
C
301.8
(11.88)
701.0
(27.60)
225.0
(8.86)
238.0
(9.37)
685.8
(27.00)
32.00
(1.26)
7.6
(0.30)
131.1
(5.16)
374.7
(14.75)
71.9
(2.83)
38.6 kg
(85 lbs)
D
381.5
(15.02)
1240.0
(48.82)
270.8
(10.66)
325.9
(12.83)
1216.2
(47.88)
27.94
(1.10)
11.94
(0.47)
131.1
(5.16)
688.6
(27.11)
83.6
(3.29)
108.9 kg
(240 lbs)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-13
Dimensions for Frame E
A
Y
Z
C Max.
D
37.9
(1.49 )
Mounting Hole Detail
AA
Dia. 10.2 (0.40)
17.0 (0.67)
E B
Dia. 19.1 (0.75)
BB
See Bottom View Dimensions for Details
CC
Mounting Holes (4) – See Detail
All Dimensions in Milimeters and (Inches).
All Weights in Kilograms and (Pounds).
Frame
Reference
A
B
C Max.
D
E
Y
Z
AA
BB
CC
Shipping
Weight
E — Enclosed
511.0
(20.12)
1498.6
(59.00)
424.4
(16.71)
477.5
(18.80)
1447.8
(57.00)
16.8
(0.66)
40.1
(1.61)
195.0
(7.68)
901.4
(35.49)
151.9
(5.98)
186 kg
(410 lbs)
E — Open
511.0
(20.12)
1498.6
(59.00)
372.6
(14.67)
477.5
(18.80)
1447.8
(57.00)
16.8
(0.66)
40.1
(1.61)
138.4
(5.45)
680.0
(26.77)
126.3
(4.97)
163 kg
(360 lbs)
4-14
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Dimensions for Frame F
635.0
(25.00)
762.0
(30.00)
2286.0
(90.00)
252.7
(9.95)
37.9
(1.49 )
193.0
(7.60)
1219.2
(48.00)
274.8
(10.82)
31.5
(1.24)
698.5
(27.50)
All Dimensions in Millimeters and (Inches)
Conduit
Access Area
298.5
(11.75)
Bottom View
50.8
(2.00)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-15
Dimensions for Frame G
63.5 (2.50)
Removable Lifting Angle
Open Chassis Dimensions
Depth = 508.3 (20.01)
Weight = 453.6 kg (1000 lbs.)
117.3
(4.62)
2324.1
(91.50)
1524.0
(60.00)
19.3
(0.76)
648.0
(25.51)
Important: Two (2) 725 CFM fans are
required if an open type drive is
mounted in a user supplied
enclosure.
635.0
(25.00)
762.0
(30.00)
Conduit
Access Area
All Dimensions in Millimeters and (Inches)
See Bottom View Dimensions
for Details
4-16
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Typical G Frame Mounting in User Supplied Enclosure
14.2 (0.56)
11.1 x 19.1
(0.44 x 0.75)
41.1
(1.62)
82.6 (3.25)
134.1
(5.28)
55.1
(2.17)
Bracket
Important:
This information represents the method used to factory mount an
open type Frame G in an enclosure specifically designed by
Allen-Bradley. Illustrations are only intended to identify structural
mounting points and hardware shapes. You must design and
fabricate steel components based on the actual mounting
configuration, calculated loads and enclosure specifications.
Minimum thickness of all parts = 4.6 (0.18).
154.2
(6.07)
188.0
(7.40)
2 Plcs.
Each End
Length =
549.4 (21.63)
57.2
(2.25)
Rail
Brace
25.4 (1.00)
50.8 (2.00)
14.5 (0.57)
682.2 (26.86)
711.2 (28.00)
0.75 (19.1)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-17
Dimensions for Frame H
Proper Fan Rotation
(Counter-clockwise when
viewed from the top)
Top Mounted Fan
Shipped Loose for
Customer Installation
635.0
(25.00)
Manufacturer-dependent,
may be shorter.
Removable Lifting Angle
2324.1
(91.50)
762.0
(30)
508.0
(20)
635.0
(25)
Proper Fan Rotation
(Fan not visible when viewed from the top)
Conduit Access
Area
Front
1270.0
(50)
Bottom View
Conduit Access
Area
635.0
(25)
1270.0
(50)
Top View
All Dimensions in Millimeters and (Inches)
4-18
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Bottom Dimensions for Frames B – G
Frames B and C
S
R
Q
28.6/34.9 (1.13/1.38)
Conduit Knockout - 3 Plcs.
P
22.2 (0.88) Conduit Knockout - 1 Plc.
All Dimensions in Millimeters and (Inches)
M L
Frame
Reference
L
M
P
Q
R
S
B
181.6
(7.15)
167.1
(6.58)
112.8
(4.44)
163.6
(6.44)
214.4
(8.44)
249.9
(9.84)
C
181.6
(7.15)
167.1
(6.58)
119.1
(4.69)
182.6
(7.19)
227.1
(8.94)
275.3
(10.84)
Frame D
62.7/76.2 (2.47/3.00)
Conduit Knockout - 2 Plcs.
343.9 (13.54)
261.4 (10.29)
34.9 (1.38)
Conduit Knockout - 3 Plcs.
144.0 (5.67)
52.1 (2.05)
34.9/50.0 (1.38/1.97)
Conduit Knockout - 1 Plc.
198.1
(7.80)
169.4
(6.67)
131.6
(5.18)
All Dimensions in Millimeters and (Inches)
204.5
(8.05)
153.7
(6.05)
Frame E
432.3 (17.02)
305.3 (12.02)
178.3 (7.02)
38.6 (1.52)
88.9/101.6 (3.50/4.00)
Conduit Knockout - 3 Plcs.
50.8 (2.0)
12.7 (0.50) Conduit Knockout - 6 Plcs.
311.2
(12.25)
260.4
(10.25)
209.6
(8.25)
Frame G
660.4 (26.00)
431.8
(17.00)
Conduit Access Area
(Top)
431.8
(17.00)
50.8 (2.00)
Conduit
Access Area
547.6
(21.56)
29.0 (1.14)
254.0
(10.00)
298.5
(11.75)
42.9
(1.69)
381.0
(15.00)
15.9 (0.63) Dia. - 2 Mtg. Holes
(Bottom)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
4-19
The following are the dimensions for the IP65/54 (NEMA 4/12)
enclosures.
A
See Detail A
D
12.4 (0.49)
C
F
G
H
See
Detail B
E
B
7.9 (0.31)
12.7 (0.50)
7.1 (0.28) Dia.
12.7 (0.50)
14.3 (0.56) Dia.
Typical Top and Bottom
Detail A
12.7 (0.50) Dia.
Drive
Heatsink
19.1 (0.75)
All Dimensions in Millimeters and (Inches)
Frame
Reference
19.1 (0.75) Dia.
Detail B
A
B
C
D
E
F
G
H
Approx.
Ship Weight
B1
5.5 kW (7.5 HP) at 200 – 240V AC
5.5 – 11 kW (7.5 – 15 HP) at 380 – 480V AC
5.5 – 7.5 kW (7.5 – 10 HP) at 500 – 600V AC
655.0
650.0
425.0
629.9
625.1
(25.79) (25.59) (16.74) (24.80) (24.61)
293.0
63.5
76.2
44.7 kg
(11.54) (2.50) (3.00) (98.5 lbs)
B2
7.5 – 11 kW (10 – 15 HP) at 200 – 240V AC
15 – 22 kW (20 – 30 HP) at 380 – 480V AC
11 – 15 kW (15 – 20 HP) at 500 – 600V AC
655.0
900.0
425.0
629.9
875.0
(25.79) (35.43) (16.74) (24.80) (34.45)
293.0
63.5
76.2
56.5 kg
(11.54) (2.50) (3.00) (124.5 lbs)
655.0
1200.0 425.0
629.9
1174.5
(25.79) (47.24) (16.74) (24.80) (46.22)
293.0
63.5
76.2
80.7 kg
(11.54) (2.50) (3.00) (178.0 lbs)
C
4-20
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Open Dimensions - Frame F “Roll-In Chassis”
All Dimensions in Millimeters and (Inches)
635.0
(25.00)
1543.3
(60.76)
DANGER
DANGER
DANGER
DANGER
DANGER
DANGER
TE
R-L1
S-L2
T-L3
PE
U-M1
717.6
(28.25)
V-M2
W-M3
463.6
(18.25)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Heat Sink Through-the-Back Mounting - Frame B1/B2
267.2 1
(10.52)
6.35
(0.25)
244.4
(9.62)
2.54
(0.10)
435.4 1
(17.14)
257.1
(10.12)
415.3
(16.35)
410.2
(16.15)
308.6
(12.15)
Cutout as Viewed
from INSIDE Enclosure
283.2
(11.15)
127.0
(5.00)
All Dimensions in Millimeters and (Inches)
8 Required
4.3 (0.171) Dia. for 10-32 x 12.7 (0.5) Self-Tap – 4.0 (0.159) for 10-32 x 12.7 (0.5) Threaded
Drive
Back of Enclosure
129.3 (5.09)
1 Shading indicates approximate size
of drive inside enclosure.
4-21
4-22
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Heat Sink Through-the-Back Mounting - Frame C
303.8 1
(11.96)
282.5
(11.12)
4.8
(0.19)
273.1
(10.75)
4.8
(0.19)
635.0
(25.00)
Cutout
644.7
(25.38)
508.0
(20.00)
660.4 1
(26.00)
381.0
(15.00)
254.0
(10.00)
12 Required
4.3 (0.171) Dia. for 10-32 x 12.7 (0.5) Self-Tap
4.0 (0.159) for 10-32 x 12.7 (0.5) Threaded
127.0
(5.00)
All Dimensions in Millimeters and (Inches)
Drive
1 Shading indicates approximate size
of drive inside enclosure.
Back of Enclosure
129.3 (5.09)
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Heat Sink Through-the-Back Mounting - Frame D
9.9 (0.39)
Detail
356.1
(14.02)
4.6 (0.18)
362.2
(14.26)
375.2 1
(14.77)
6.1
(0.24)
See Detail
26.7
(1.05)
1118.6
(44.04)
1054.4
(41.51)
1145.3
(45.09)
962.7
(37.90)
867.4
(34.15)
806.7
(31.76)
773.9
(30.47)
680.5
(26.79)
1178.1 1
(46.38)
Cutout as Viewed
from INSIDE Enclosure
650.8
(25.62)
587.0
(23.11)
494.5
(19.47)
338.6
(13.33)
182.6
(7.19)
All Dimensions in Millimeters
and (Inches)
16 Required
4.3 (0.171) Dia. for 10-32 x 9.7 (0.38) Self-Tap
4.0 (0.159) for 10-32 x 9.7 (0.38) Threaded
26.7
(1.05)
1 Shading indicates approximate size
of drive inside enclosure.
* Minimum dimension allowed – More space will
improve fan effectiveness and heat dissipation.
Drive
Back of Enclosure
84.1 (3.31) *
4-23
4-24
Mounting and Wiring Information Specific to Frames B, C, D, E, F, G, and H
Heat Sink Through-the-Back Mounting - Frame E
508.0 1
(20.00)
5.8
(0.23)
489.0
(19.25)
127.0
(5.00)
54.1
(2.13)
477.3
(18.79)
Cutout
1084.1
(42.68)
1422.4 1
(56.00)
1095.8
(43.14)
127.0
(5.00)
All Dimensions in Millimeters and (Inches)
26 Required
4.3 (0.171) Dia. for 10-32 x 9.7 (0.38) Self-Tap
4.0 (0.159) for 10-32 x 9.7 (0.38) Threaded
75.4
(2.97) 5.8
(0.23)
Back of Enclosure
1 Shading indicates approximate size
Drive
of drive inside enclosure.
* Minimum dimension allowed – More space will
improve fan effectiveness and heat dissipation.
132.33 (5.21) *
Chapter
5
Using the L Option
Chapter Objectives
Chapter 5 provides information to help you set up and use the
L Option.
This topic:
Starts on page:
A description of the L Option
5-2
A list of the available functions
5-3
Setting up the L Option board
5-4
Using an encoder with the L Option board
5-11
Individual board requirements
5-11
Important: If you are using an L Option board, you must wire the
L Option board before you start your drive.
If you do not have an L Option board installed, verify that two
jumpers are installed at connector J5 (for frames A1 – A4) or J2 (for
frames B – H), one at pins 3 and 4 and the other at pins 17 and 18.
You can skip the remainder of this chapter.
Jumper 1
Jumper 2
Spares
Spares
Language
Module
L Option board
Connector
Jumper 1
Jumper 2
L Option
Connectors
Spare jumpers are located at J12 and J13 for Frames A1 – A4 and
J17 and J18 for Frames B – H.
!
ATTENTION: If you are using an L8E or L9E for the
encoder but do not want to use the L Option inputs, you
need to place jumpers on J5 (stop) and J6 (enable) on
the L Option board. However, these jumpers must not
be present if you use the L Option inputs as the jumpers
cause the stop and enable functions to be permanently
enabled.
5-2
Using the L Option
What is the L Option?
This option:
The L Option is a plug-in option card that provides control inputs to
the drive. The six versions of the L Option are:
Is a:
Can you attach
an encoder?
L41
Contact closure interface
No
L7E2
Contact closure interface
Yes
L51
+24V AC/DC interface
No
L8E2
+24V AC/DC interface
Yes
L61
115V AC interface
No
115V AC interface
Yes
L9E
2
This option is compatible with these Allen-Bradley PLC
modules:
1771-OYL, 1171-OZL
1771-OB, 1771-OB16, 1771-OBB, 1771-OBD,
1771-OBN, 1771-OQ, 1771-OQ16, 1771-OYL,
1171-OZL
1771-OA, 1771-OAD3, 1771-OW, 1771-OWN
1 The L4, L5, and L6 options each have nine control inputs. You can select the function of each input through an L Option mode, which is
covered later in this chapter.
2 The L7E, L8E, and L9E options are similar to the L4, L5, and L6 options with the addition of encoder feedback inputs.
3 Contact the factory for the recommended series/revision level.
Important: We do not recommend using an L4E, L5E, or L6E with
the 1336 IMPACT drive.
Using the L Option
What Functions are Available?
The L Option lets you choose a combination of the following
functions:
Control function
Accel/decel
rates (2)
5-3
Description
These inputs let you select the acceleration and deceleration times the drive uses.
When single source inputs are used, Accel Time 2/Decel Time 2 are selected when this input is high (1) and Accel
Time 1/Decel Time 1 are selected when this input is low (0).1 When multiple source inputs are used, a separate
Accel/Decel 1 and 2 are used.2
Digital potentiometer These inputs increase or decrease the drive commanded speed when MOP (Manually Operated Potentiometer) is
(MOP)
chosen as the speed command source. You can program the rate of increase or decrease.
Enable3
Flux enable
Removing this input disables the inverter and the motor coasts to a stop.
This input fluxes up the motor.
In single source modes, applying this input commands reverse direction and removing this input commands forward
Fwd/Reverse
direction.1
In multiple source modes, a separate forward and reverse are used.2
Jog
This input is a maintained (unlatched) start that follows the jog speed. When the jog input is removed, the motor stops
by a ramp, current limit, or coast stop based on how you set Logic Options (parameter 17).
Note: All starts must be low to jog.
Local control
Applying this input gives exclusive control of drive logic to the inputs at the L Option. No other devices may issue logic
commands (excluding stop) to the drive.
Not Ext Flt4
This input is intended to fault the drive via external devices, such as motor thermoswitch and O.L. relays. Removing this
input faults the drive and the motor stops according to how the stop type 1 bit is set in Logic Options (parameter 17).
Process trim
Applying this input enables the process trim function.
Ramp
Applying this input disables the ramp function. When the ramp function is disabled, the acceleration and deceleration
times are set to 0.
Reset
Applying this input resets the drive.
Run forward5
Applying this input issues both a start command and a direction command to the drive. Removing this input stops the
drive. The stop follows the stop type 1 specified in Logic Options (parameter 17).
Run reverse5
Applying this input issues both a start command and a direction command to the drive. Removing this input stops the
drive. The stop follows the stop type 1 specified in Logic Options (parameter 17).
Speed selects (3)
These inputs choose the speed command source for the drive.
Speed/torque
selections (3)
These inputs take exclusive control of Spd/Trq Mode Sel (parameter 68). This lets you switch between the speed and
torque modes of the drive.
Start 1,2
Applying this input issues a start command for the drive to begin accelerating to the commanded speed. A stop
command is required to stop the drive. The stop follows the stop type in Logic Options.
Note: All jogs must be low to start. A transition from jog to start without a start transition is allowed (the drive is jogging,
you set a start, remove the jog, and the drive starts).
Not Stop, Clear
Fault3
Removing this input issues a stop command for the drive. The drive stops according to the programmed stop mode
based on Logic Options (parameter 17) and the selected stop mode, if applicable. If the drive has faulted, removing this
input clears the fault if Clr Flt/Res Mask (parameter 127) is enabled.
Stop mode selects
(2)
Applying this input indicates that the L Option stop input follows stop type 2 in Logic Options (parameter 17). Removing
this input indicates that the L Option stop input follows stop type 1 in Logic Options.
Note: Stop mode only affects the L Option stop. Stops commanded from a terminal (such as a Human Interface
Module (HIM)) follow stop type 1 in Logic Options.
Speed Profiling
Mode 31 & 32 allow Speed Profiling to be accomplished through digital inputs. Refer to Chapter 9, Applications for more
information on this feature.
1 Available only with three-wire control, single source.
2 Available only with three-wire control, multi source.
3 Must be asserted for operation.
4 Must be applied for operation if L Option Mode (parameter 116) is not 1 or disable the fault in Fault Select 2 (parameter 22) and Warning
Select 2 (parameter 23).
5 Available only with two-wire control.
5-4
Using the L Option
Setting Up the L Option Board
To use the L Option board, you need to:
1. Choose the L Option input mode that is best for your application.
2. Record the selected mode number:
Selected Mode Number: ______________________________
3. Wire the L Option board according to the input mode you
selected.
4. Enter the input mode number during the digital set up portion of
the start up procedure. The input mode is then used for the value
of L Option Mode (parameter 116). This step is covered in
Chapter 6, Starting Up Your System.
Choosing the L Option Mode
To choose the L Option mode that is best for your application, you
need to:
1. Determine the type of start/stop/direction control you want.
2. Determine the remaining control functions that you want.
3. Use Table 5.A, Figure 5.1 and Figure 5.2 to determine the input
mode number.
Using the L Option
5-5
Table 5.A shows the available combinations. Figure 5.1 and
Figure 5.2 also show the available combinations.
Table 5.A
Available Control Functions
Input Mode
Control
Function
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20 21 22
23
24
25
26
27
28
29
30
31
32
●
1st Accel
●
1st Decel
2nd/1st Decel
●
1
●
2nd Accel
●
●
●
2nd Decel
●
Common
● ● ● ● ● ● ● ● ●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Enable
● ● ● ● ● ● ● ● ●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Flux Enable
● ●
Forward
●
Jog
●
●
●
●
●
● ●
●
●
Local
●
●
MOP
Dn2
●
●
●
●
●
●
●
●
MOP
Up2
●
●
●
●
●
●
●
●
Not Ext Fault
● ● ● ● ● ● ● ●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Not Stop, Clr
Flt
● ● ● ● ● ● ● ● ●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Proc Trim
●
Ramp
●
●
●
●
●
Reset
● ●
Reverse
●
●
●
●
●
●
● ● ● ● ●
Rev/Fwd1,3
●
●
●
●
●
Run Fwd
●
●
●
●
●
●
●
●
●
●
Run Rev
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Spd Sel
14
● ● ● ● ● ● ● ●
●
●
●
●
●
●
●
Spd Sel
24
● ● ● ● ● ● ● ●
●
●
●
●
●
●
●
● ●
●
●
Spd Sel 34
Spd/Trq
●
●
● ●
●
●
●
15
●
●
●
5
●
●
●
35
●
●
●
●
●
Spd/Trq 2
Spd/Trq
●
● ● ● ● ● ● ● ●
Start
Status
Stop Type1
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
Profile Enable
Step Trigger
●
●
Run Sequence
●
Position Hold
●
1 The L Option uses the first function (such as 1st Decel or Rev) when input is applied and the second function (such as 2nd Decel or Fwd)
when input is not applied.
2 In modes 5, 9, 10, and 15, the MOP value is not reset to 0 when you stop. In modes 27, 28, 29, and 30, the MOP value is reset to 0 when you stop.
3 The L Option has ownership of direction. No other device on SCANport can control the direction.
4 The L Option has ownership of reference if all three selects are not available.
5 The L Option controls Spd/Trq Mode Sel (parameter 68).
NOTE: All Functions are enabled when input is applied and disabled when not applied.
5-6
Using the L Option
Figure 5.1
L Option Mode Selection and Typical TB3 Connections
19
Status
20
Not Stop , Clear Fault
21
Common
22
Status
23
Status
24
Status
25
Common
26
Status
27
Status
28
Status
29
Common
30
Enable
19
Start 9
20
Not Stop , Clear Fault
21
Common
22
Rev/Fwd 5
3, 6
7
3
7
23
24
Not Ext Fault 4,8
25
Common
26
27
Speed Select 2 1
28
Speed Select 1 1
29
Common
30
Enable 3
Three Wire
3, 6
2
3
4
Mode
5 10
Jog
Stop
Type
2nd/1st
Accel
Digital
Pot Up
Speed Speed 2nd/1st
Select 3 1 Select 3 1 Decel
Digital
Pot Dn
6
Jog
17
18
Proc Trim Flux En
Local
Ramp
Control 2
Reset
27 10
Digital
Pot Up
Digital
Pot Dn
1 See Speed Select table.
2 Drive must be stopped to take Local Control. Control by all other adapters is disabled (except Stop).
3 These inputs must be present before drive will start.
4 For Common Bus, this becomes Precharge Enable.
5 Bit 11 of Logic Options (parameter 17) must be 0 for reverse direction control.
6 For soft faults only. You need to recycle power to the drive or reset to clear hard faults. For hard faults, refer to the Troubleshooting chapter.
7 To configure the stop type, refer to Logic Options (parameter 17). Note: This only affects the L Option stop. For modes that do not have Stop
Type, stop commands follow Stop 1 in Logic Options.
8 This input must be present before the fault can be cleared and the drive will start. This can be disabled through Fault Select 2 (parameter 22)
and Warning Select 2 (parameter 23).
9 Latched (momentary) starts require a stop to stop the drive.
10 In mode 5, the MOP value is not reset to 0 when you stop. In mode 27, the MOP value is reset when you stop.
Using the L Option
5-7
Figure 5.2
L Option Mode Selection and Typical TB3 Connections
19
Start
9
THREE WIRE
3, 6
7
20
Not Stop , Clear Fault
21
Common
8
27
1
28
Speed Select 1
29
Common
30
Enable
19
Run Forward
Digital
Pot Dn
5
21
10
10
10
10
10
10
Speed/
Torque 2
Speed 1 Speed 1
Select 3 Select 3
Digital
Pot Up
1st
Decel
Speed/
Speed/
Torque 1 Torque 1
Speed 1 Speed 1 Speed 1
Select 2
Select 2 Select 2
Digital
Pot Dn
2nd
Decel
5
Forward
Jog
26
Reverse
20
2nd
Accel
Reverse
5
Common
Digital
Pot Up
12
19
Forward
Forward
25
11
Speed/
Torque 3
23
4,8
10
1st
Accel
Reverse
Not Ext Fault
9
5
5
22
24
12 Mode
12
7
5
Speed/
Torque 3
Speed/
Torque 2
Process
Trim
Flux
Enable
22
28
12
29
5
Reverse
5
Forward
Ramp
Disable
Reset
5
Speed/10 Digital
Pot Up
Torque 3
Reverse
Speed/10 Digital
Torque 2
Pot Dn
Forward
10
5
Speed 1
Select 3
Digital
Pot Up
Speed 1 Speed 1
Select 2
Select 2
Digital
Pot Dn
Speed/
Torque 1
3
20
21
22
5, 11
7
Not Stop , Clear Fault
Mode
Common
5, 11
25
4, 8
28
29
30
13
14
15
16
23
24
12
25
26
30
Local 2 Stop 7 2nd/1st
Control
Type
Accel
Digital
Pot Up
Jog
Digital
Pot Up
Local 2 Process
Trim
Control
Flux
Enable
Process
Trim
Reset
Reset
Ramp
Speed 1 Digital
Disable Select 3 Pot Dn
31 & 32
See Note Below
Not Ext Fault
Common
1
26
27
12
Run Reverse
23
24
TWO WIRE
3, 6
1
Speed
Speed
Select 3 Select 3
1
2nd/1st
Decel
Digital
Pot Dn
Stop
Type
Speed Select 2
1
Speed Select 1
Common
3
Enable
1 See Speed Select table.
2 Drive must be stopped to take Local Control. Control by all other adapters is disabled (except Stop).
3 These inputs must be present before drive will start.
4 For Common Bus, this becomes Precharge Enable.
5 Bit 11 of Logic Options (parameter 17) must be 0 for reverse direction control.
6 For soft faults only. You need to recycle power to the drive to clear. For hard faults, refer to the Troubleshooting chapter.
7 To configure the stop type, refer to Logic Options (parameter 17).
8 This input must be present before the fault can be cleared and the drive will start. This can be disabled through Fault Select 2 (parameter 22)
and Warning Select 2 (parameter 23).
9 Latched starts require a stop to stop the drive. Note: This only affects the L Option stop. For modes that do not have Stop Type, stop commands
follow Stop 1 in Logic Options.
10 See Speed/Torque Select table. This takes precedence over Spd/Trq Mode Sel (parameter 68).
11 Unlatched (maintained) start.
12 In modes 5, 9, 10, and 15, the MOP value is not reset to 0 when you stop. In modes 27, 28, 29, and 30, the MOP value is reset to 0 when you stop.
NOTE: For detailed information on Modes 31 and 32 which were added for Speed Profiling applications, refer to page 9-23 in this manual.
5-8
Using the L Option
Entering the Input Mode into the Input Mode Parameter
During the start up procedure, you will be prompted for the L Option
mode number. The drive enters the number you select at this prompt
into L Option Mode (parameter 116).
Changing the Input Mode
You can change L Option Mode at any time either by re-running the
start up procedure or by changing L Option Mode directly. The start
up procedure is the preferred method. If you change L Option Mode
directly, the change does not take affect until you reset the drive or
complete the following steps:
1. Remove power to the drive.
2. Let the bus voltage decay completely.
3. Restore power to the drive.
When you restore the power, the drive uses the new input mode value
to determine the function of the L Option inputs.
You may also need to manually adjust several other parameters that
the start up procedure prompts you for.
Important: If you do not have an L Option board installed, you must
set L Option Mode to 1 (default) and install jumpers. If the drive was
shipped from the factory without the option, these jumpers will have
been installed.
Jumper 1
Jumper 2
Language
Module
L Option board
Connector
Jumper 1
L Option
Connectors
Jumper 2
Wiring the L Option Board
TB3 accepts wire with the following specifications:
Wire information
Minimum wire size
Description
0.30
mm2
mm2
(22 AWG)
Maximum wire size
2.1
Maximum torque
1.36 N-m (12 lb.-in.)
Wire type
Use only copper wire
(14 AWG)
Figure 5.3 provides the terminal designations for TB3.
Using the L Option
5-9
Figure 5.3
TB3 Terminal Designations
31
Common
Enable
Encoder B
32
33
34
35
36
Encoder Common
30
+12V (200mA max.)
29
Encoder A
28
Encoder NOT B
27
Encoder NOT A
26
Input 8
Input 3
25
Input 7
Common
24
Input 6
Input 2 (Stop)
23
Common
22
Input 5
21
Input 4
20
Input 1
Included on L7E, L8E, & L9E Only
19
Speed Select/Speed Reference
Several sources can provide the speed reference to the drive. A
SCANport device or the L Option determine the source.
The default source for a command reference (all speed select inputs
open) is Speed Ref 1. If any of the speed select inputs are closed, the
drive uses other parameters as the speed reference source.
The following table defines the input state of the Speed Select inputs
for a desired speed reference source:
Speed
select 3
Speed
select 2
Speed
select 1
Frequency source:
Open
Open
Open
Speed Ref 1
Open
Open
Closed
Speed Ref 2
Open
Closed
Open
Speed Ref 3
Open
Closed
Closed
Speed Ref 4
Closed
Open
Open
Speed Ref 5
Closed
Open
Closed
Speed Ref 6
Closed
Closed
Open
Speed Ref 7
Closed
Closed
Closed
Last State
Closed = Applied = 1
Open = Removed = 0
Remote
26
Speed Select 3 (Open)
27
Speed Select 2 (Open)
28
Speed Select 1
Local
file: Interface/Comm
group: SCANport Analog
file: Interface/Comm
group: Analog Inputs
Example 1
For the first example, input mode 2 has been selected. The application
calls for a local Human Interface Module (HIM) speed command or
remote 4 – 20mA from a PLC. To program the drive for this example:
1. Set the value of SP An In1 Select (parameter 133) to 1.
2. Set the value of SP An In1 Scale (parameter 135) to 0.125.
3. Link SP An In1 Value (parameter 134) to Speed Ref 1
(parameter 29).
4. Set mA In Offset (parameter 103) to 0.
5. Set mA In Scale (parameter 104) to 2.
6. Link mA In Value (parameter 102) to Speed Ref 2 (parameter 31).
5-10
Using the L Option
Local
1 2
26
3
See Table
27
Speed Select 2
28
Speed Select 1
With Speed Select inputs 2 and 3 open and the selector switch set to
Remote (Speed Select 1 closed), the drive follows Speed Ref 2
(parameter 31) or 4 – 20mA. With the switch set to Local (Speed
Select 1 open), all speed select inputs are open and the drive follows
the local HIM Speed Ref 1 (parameter 29).
Example 2
For the second example, input mode 7 has been selected. The
application follows a local HIM unless a preset speed is selected. To
program the drive for this example:
1. Set the value of SP An In1 Select (parameter 133) to 1.
2. Set the value of SP An In1 Scale (parameter 135) to 0.125.
3. Link SP An In1 Value (parameter 134) to Speed Ref 1
(parameter 29).
4. Set Speed Ref 2 (parameter 31) to 10 rpm.
5. Set Speed Ref 3 (parameter 32) to 50 rpm.
6. Set Speed Ref 4 (parameter 33) to 100 rpm.
The following table shows how the contacts operate for the speed
select switch. Because Input Mode 7 does not offer a Speed Select 3
input, Speed Ref 4 – 7 are not available.
Switch
position
Speed select input
1 (#28)
2 (#27)
Parameter used
for speed
reference
Programmed setting
Local
Open
Open
Speed Ref 1
(HIM) 0 — base speed
1
Closed
Open
Speed Ref 2
10 rpm
2
Open
Closed
Speed Ref 3
50 rpm
3
Closed
Closed
Speed Ref 4
100 rpm
Speed/Torque Selection
The following table defines the input state of the speed/torque mode
select inputs for a desired speed/torque mode.
Speed/ torque
mode select 3
Speed/ torque
mode select 2
Speed/ torque
mode select 1
Open
Open
Open
Zero torque
Open
Open
Closed
Speed regulate
Open
Closed
Open
Torque regulate
Open
Closed
Closed
Minimum torque/speed
Closed
Open
Open
Maximum torque/speed
Closed
Open
Closed
Sum of the torque and speed
Closed
Closed
Open
Zero torque
Closed
Closed
Closed
Zero torque
Speed/torque mode:
Closed = Applied = 1
Open = Removed = 0
Refer to the Torque Reference Overview section of Appendix B,
Control Block Diagrams, for additional information about speed and
torque selection.
Using the L Option
Using an Encoder with the
L Option Board
5-11
If you have an L7E, L8E, and L9E board, you need to complete the
following steps to use the encoder:
1. Ground the encoder the cable shield.
Ground the encoder to the following
location on the control board:
If your drive is a(n):
A1, A2, A3, or A4 frame
J7 pin 9, 6, or 3
B, C, D, E, F, G, or H frame
TB10 pin 20, 17, 12, 9, or 6
2. Set the encoder voltage jumper to match the encoder used
(J1/J2:5V/12V) on the L Option board.
3. Connect phase A, phase A NOT, phase B, and phase B NOT.
4. Connect the power to the encoder.
Requirements for the Contact
Closure Interface Board (L4)
Figure 5.4 shows the wiring diagram for the L4 Option board.
Figure 5.4
L4 Option Board Wiring Diagram
Typical
0.1 µf
0.1 µf
10.7k
10.7k
Not Used
Isolated
+5V
0.1 µf
470
470
Isolated
Ground
IGND
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
TB3
Circuits used with the L4 Option board must be able to operate with
low = true logic. Reed type input devices are recommended.
In this state:
External circuits must:
low
Be capable of a sinking current of approximately 10 mA to pull
the terminal voltage low to 3.0V DC or less.
high
Let the terminal voltage rise to a voltage of 4.0 – 5.0V DC
5-12
Using the L Option
Requirements for the 24V
AC/DC Interface Board
Requirements (L5)
Figure 5.5 shows the wiring diagram for the L5 Option board.
Figure 5.5
L5 Option Board Wiring Diagram
510
510
20k
Typical
0.22 µf
510
Not Used
1k
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
TB3
Common
User Supplied
24V AC/DC
+24V
Circuits used with the L5 Option board must be able to operate with
high = true logic.
In the low state, this
type of external circuit:
Must generate a
voltage of no more
than:
And, leakage current must be
less than:
DC
8V DC
1.5 mA into a 2.5K ohm load
AC
10V AC
2.5 mA into a 2.5K ohm load
Both AC and DC external circuits in the high state must generate a
voltage of +20 to +26 volts and source a current of approximately 10
mA for each input.
Using the L Option
Requirements for the 115V AC
Interface Board (L6)
100
5-13
Figure 5.6 shows the wiring diagram for the L6 Option board.
Figure 5.6
L6 Option Board Wiring Diagram
100
20k
Typical
0.22 µf
0.15 µf
0.33 µf
Not Used
499k
49
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
TB3
Common
Fuse
115V AC
Fuse
User Supplied
115V AC
Circuits used with the L6 Option board must be able to operate with
high = true logic.
In this state:
Circuits must generate a voltage of:
low
No more than 30V AC. Leakage current must be less than 10 mA
into a 6.5K ohm load.
high
90 – 115V AC ±10% and source a current of approximately 20
mA for each input.
Important: The series B 115V AC Interface Board (L6) is equivalent
to the 115V AC Interface Board (L9E). Refer to page 5-16 for a
description.
5-14
Using the L Option
Requirements for the Contact
Closure Interface Board (L7E)
Figure 5.7 shows the wiring diagram for the L7E Option board.
Figure 5.7
L7E Option Board Wiring Diagram
Typical
Typical
0.1 µf
0.1 µf
681
Current
Limit
Feedback
0.5A
173
5V
10.7k
10.7k
J1/J2
Isolated
+5V
12V
2200pf
255
0.1 µf
470
470
0.001
Isolated
Ground
576
B
IGND
19
20
21
22
23
24
25
26
27
28
29
30
31
A
32
33
ENC
12V
A
B
34
35
ENC
RET
36
TB3
Circuits used with the L7E Option board must be able to operate with
low = true logic. Reed type input devices are recommended.
In this state:
External circuits must:
low
Be capable of a sinking current of approximately 10 mA to pull
the terminal voltage low to 3.0V DC or less.
high
Let the terminal voltage rise to a voltage of 4.0 – 5.0V DC.
Using the L Option
Requirements for the
24V AC/DC Interface Board
Requirements (L8E)
5-15
Figure 5.8 shows the wiring diagram for the L8E Option board.
Figure 5.8
L8E Option Board Wiring Diagram
Typical
140
681
Typical
Current
Limit
Feedback
0.5A
173
5V
J1/J2
1.0
1.87k
12V
2200pf
255
280
0.001
576
B
19
20
21
22
23
24
25
26
27
28
29
30
31
A
32
A
B
33
34
ENC
12V
35
ENC
RET
36
TB3
Common
User Supplied
24V AC/DC
+24V
Circuits used with the L8E Option board must be able to operate with
high = true logic.
In the low state, this type
of external circuit:
Must generate a voltage
of no more than:
And, leakage current
must be less than:
DC
8V DC
1.5 mA into a 2.5K ohm
load
AC
10V AC
2.5 mA into a 2.5K ohm
load
Both AC and DC external circuits in the high state must generate a
voltage of +20 to +26 volts and source a current of approximately 10
mA for each input.
5-16
Using the L Option
Requirements for the 115V AC
Interface Board (L9E)
Figure 5.9 shows the wiring diagram for the L9E Option board.
Figure 5.9
L9E Option Board Wiring Diagram
Typical
140
681
Typical
Current
Limit
Feedback
0.5A
173
5V
J1/J2
1.0
1.87k
12V
2200pf
255
280
133
0.001
1 Meg
576
B
19
20
21
22
23
24
25
26
27
28
29
30
31
A
32
B
33
ENC
12V
A
34
35
ENC
RET
36
TB3
Common
Fuse
115V AC
Fuse
User Supplied
115V AC
Circuits used with L9E Option board must be able to operate with
high = true logic.
In this state:
Circuits must generate a voltage of:
low
No more than 30V AC. Leakage current must be less than 10 mA
into a 6.5K ohm load.
high
90 – 115V AC ±10% and source a current of approximately 20
mA for each input.
Chapter
6
Starting Up Your System
Chapter 6 provides information so that you can start up your system.
Chapter Objectives
This Topic:
Starts on Page:
Before applying power to your drive
6-1
Applying power to your drive
6-3
Recording your drive and motor information
6-3
Using the Human Interface Module (HIM)
6-4
Starting up your system
6-7
Running Quick Motor Tune
6-8
Running Digital Setup
6-10
Running Analog Setup
6-11
Understanding links
6-12
Where should I go from here?
6-14
Important: We recommend that you run the start up sequence to start
up your system most easily.
Before Applying Power to Your
Drive
Before you apply voltage to your system, you should:
• Check the drive for any damage that may have occurred during
shipment and installation.
• Verify that all jumpers and configuration controls are properly set
for your application.
• Check all wiring external to the drive for accuracy and reliability.
• Verify that all external I/O wires are properly terminated in the
terminal blocks.
• Perform a full point-to-point continuity check on all I/O wiring
connected to the drive.
• Verify that the incoming power connections are properly
connected and tight.
• Verify that the power source is properly sized and protected for
your particular drive.
• Verify that the motor power connections are properly connected
and tight.
• Check the motor phasing. Motor phase A should be connected to
drive output phase A. Likewise, phase B and C should be
properly terminated to their respective terminals. This phasing is
double-checked during the start up procedure.
• For H frame drives, verify phasing of incoming power for correct
rotation of the 3 phase, top mounted fan.
• Verify that the Pulse Input Voltage Selection jumper is set
correctly for your application.
6-2
Starting Up Your System
If your input voltage is:
Then jumper J8 (frames A1 – 14)/J4 (frames B – H)
should be across:
+5V DC
Pins 1 and 2
+12V DC
Pins 2 and 3
If you are using an encoder attached to your L Option board, you
should also:
• Verify that the encoder feedback device is properly connected.
The encoder should be a quadrature device with a 12V input
power requirement and either 12V or 5V differential outputs.
Jumpers J1 and J2 on the L Option board must be set for the
desired output. The jumper settings for J1 and J2 must match.
• Verify that the L Option board, if present, is wired properly.
• Check the phasing of the encoder. A and A NOT as well as B and
B NOT must be properly terminated. This phasing is double
checked during the start up procedure.
Starting and Stopping the Motor
!
ATTENTION: The drive start/stop control circuitry
includes solid-state components. If hazards due to
accidental contact with moving machinery or
unintentional flow of liquid, gas, or solids exist, an
additional hardwired stop circuit is required to remove
AC line power to the drive. When AC power is removed,
there is a loss of inherent regenerative braking effect and
the motor coasts to a stop. An auxiliary braking method
may be required.
Repeated Application/Removal of Input Power
!
ATTENTION: The 1336 IMPACT drive is intended to
be controlled by control input signals that start and stop
the motor. A device that routinely disconnects and then
reapplies line power to the drive for the purpose of
starting and stopping the motor is not recommended. If
you use this type of circuit, a maximum of 3 stop/start
cycles in any 5 minute period (with a minimum 1 minute
rest between each cycle) is required. Ten minute rest
cycles must separate these 5 minute periods to let the
drive precharge resistors cool. Refer to codes and
standards applicable to your particular system for
specific requirements and additional information.
Starting Up Your System
6-3
Applying Power to Your Drive
When the pre-power checks are completed, apply incoming power.
System design determines how you apply power. Make sure that you
know the safety controls associated with your system before applying
power. Only apply power if you thoroughly understand the 1336
IMPACT drive and the associated system design.
Measure the incoming line voltage between L1 & L2, L2 & L3, and
L1 & L3. Use a Digital Multimeter (DMM) on AC volts, highest
range (1000V AC). The input voltage should equal the drive rated
input voltage present on the drive’s nameplate within ±10%. If the
voltage is out of tolerance, verify that the drive rating is correct for the
application. If it is correct, adjust the incoming line voltage to within
±10%. Refer to Appendix D, Derating Guidelines, for the drive
current derating requirements for voltages above nominal to +10%.
Recording Your Drive and
Motor Information
Record the following information. You will need this information for
the start up routine and for any future servicing, if needed.
Table 6.A
Drive and Motor Information
Drive Nameplate Data
Catalog Number: ___________________________________________
Serial Number: _____________________________________________
Series: ___________________________________________________
AC Input:____________ Volts: _______________Amps:____________
AC Output: __________ Volts: _______________Amps:____________
Horsepower Rating: _________________ kW:____________________
Motor Nameplate Data
Catalog Number: ___________________________________________
Serial Number: _____________________________________________
Series: ___________________________________________________
AC Input:____________ Volts: _______________Amps:____________
Horsepower Rating: _________________ kW:____________________
Poles: ________________________ (May be located on the nameplate.)
RPM: ________________________
Hz: __________________________
Encoder Nameplate Data
Optional
Catalog Number: ___________________________________________
Serial Number: _____________________________________________
Series: ___________________________________________________
Input Power Supply: _____________________________________ Volts
Input Signal Level: ______________________________________ Volts
Output Signal Level: _____________________________________ Volts
Output Type: _______________________________________________
Pulse Per Revolution: _____________________________________PPR
Maximum Speed: ___________________________________________
Maximum Frequency: ________________________________________
Revision Levels
Main Control Board: _________________________________________
Gate Driver Board: __________________________________________
Jumper Settings
(Board Dependent)
____________________________
____________________________
___________________________
___________________________
6-4
Starting Up Your System
Understanding the Basics of
the Human Interface Module
(HIM)
The Human Interface Module (HIM) is the standard user interface for
the 1336 IMPACT drive.
Important: For more information about the HIM, refer to
Appendix C, Using the Human Interface Module (HIM).
Important: The start up procedure described in this manual assumes
that you are using a HIM. If you are using another programming
device, such as a Graphic Programming Terminal (GPT), refer to the
instructions for that programming device and modify the start up
instructions in this manual accordingly.
Important: Your HIM should be connected to SCANport 1 for all
HIM functions to work correctly. The defaults have been set up for
the HIM to be connected to port 1. If you plug the HIM into a
different port, you need to change the default links.
The HIM contains a display panel and a control panel. The display
panel lets you program the drive and view the various operating
parameters. The control panel lets you control different drive
functions.
Figure 6.1 shows an example of a HIM.
Figure 6.1
Example of a HIM
Display Panel
Control Panel
Human Interface Module
(HIM)
The display panel provides the following keys:
Press this
key:
To:
This key is
referred to as:
Go back one level in the menu tree that the HIM uses
The Escape key
to organize information.
Alternate which display line (top or bottom) is
currently active.
The Select key
Increment (increase) the selected value. If no value is
The Increment
selected, use this key to scroll through the groups or
key
parameters currently selected.
Decrement (decrease) the selected value. If no value
The Decrement
is selected, use this key to scroll through the groups
key
or parameters currently selected.
Select the group or parameter that is currently active
or enter the selected parameter value into memory.
The top line of the display automatically becomes
active to let you choose another parameter or group.
The Enter key
Starting Up Your System
6-5
The HIM provides the following keys for the control panel section:
Press this
key:
To:
This key is
referred to as:
Start operation if the hardware is enabled and no
other control devices are sending a Stop command.
The Start key
Initiate a stop sequence.
The Stop key
Jog the motor at the specified speed. Releasing the
key stops the jog.
The Jog key
Change the motor direction. The appropriate
Direction Indicator light will light to indicate direction.
The Change
Direction key
Increase or decrease the HIM speed command. An
indication of this command is shown on the visual
Speed Indicator.
Pressing both keys simultaneously stores the current
HIM speed command in HIM memory. Cycling power
or removing the HIM from the drive sets the speed
command to the value stored in HIM memory.
These arrows are only available with digital speed
control.
The Up Arrow
and Down Arrow
keys
The control panel section also provides the following indicators:
This
indicator:
Provides information about:
This is referred
to as:
The direction of motor rotation.
The Direction
LED
An approximate visual indication of the command
speed. This indicator is only available with digital
speed control.
The Speed
Indicator
When you first apply power to the 1336 IMPACT drive, the HIM
cycles through a series of displays. These displays show the drive
name, HIM ID number, and communication status. When complete,
the status display shown in Figure 6.2 is displayed.
Figure 6.2
Initial Status Display
The display shows the current drive status or any faults that may be
present. During the start up procedure, you will need to answer the
questions that are displayed in the status display area.
6-6
Starting Up Your System
Press any key on the HIM to continue.
Before you begin the start up procedure, you should have a basic
understanding of how the HIM uses a menu tree to organize the
information that the HIM displays. Figure 6.3 shows the generic HIM
menu tree used by all devices that support the HIM.
Figure 6.3
HIM Menu Tree
Operator Level
Power-Up and
Status Display
or
or
or
or
Choose Mode
Mode Level
EEProm
Save Values
Recall Values
Reset Defaults
Drive to HIM
HIM to Drive
Search
Parameters
Links
Control
Status
Control Logic
Reset Drive 1
Fault Queue
Warning Queue
Password
Login
Logout
Modify
Display
Process
Program
Process Display
Link
Start Up
Set Links
Clear All Links
File Level
Parameter Files
Group Level
Parameter Groups
Element Level
Parameters
1
Not available before Version 1.06 Series B.
Starting Up Your System
Starting Up Your System
6-7
Once you are familiar with the HIM, you can begin the start up
procedure.
!
ATTENTION: During the start up procedures, the
motor will rotate. Hazard of personal injury exists due
to unexpected starts, rotation in the wrong direction, or
contact with the motor shaft.
If possible, uncouple the motor from the load and place
a guard around the motor shaft.
Make sure the motor is securely mounted before
beginning this procedure.
Figure 6.4 shows the outline for the start up procedure for the
1336 IMPACT drive.
Figure 6.4
Start Up Procedure
Startup
Quick Motor Tune?
No
Configure Digital
Section?
No
Configure Analog
Section?
Enter Motor Data?
Relay Output
Inputs
Encoder?
L Option
Outputs
No
Done
Regen/Brake?
Phase Rotation?
Autotune?
Inductance
Resistance
Flux Current
Inertia
This start up procedure is designed to be a fast, basic start up. It does
not address all available functions and options. You should use this
start up procedure to get your basic system running and then adjust
any remaining parameters that you need for your particular
application.
6-8
Starting Up Your System
To begin the start up procedure from the Choose Mode/Startup
prompt, you need to follow these steps:
Step:
1.
2.
At this prompt:
Choose Mode
Start Up
Quick Motor Tune
Procedure? Y
You need to:
Press the ENTER key.
Step 2
Decide if you want to run the Quick Motor Tune routine. The quick motor tune routine
includes entering your basic drive/motor nameplate data, verifying that your motor and
encoder (if used) leads are connected correctly, and running the auto-tune tests.
If yes, press the ENTER key.
If no, press INC or DEC to get N. Then press ENTER.
3.
4.
Config Digital
Section? N
Setup Reference
Analog/PPR IO? N
Then go to:
Decide if you need to configure the digital input and output parameters. The digital section
includes the set up information for the programmable relay and the L Option board.
If yes, press INC or DEC to get Y. Then press ENTER.
Running the Quick
Motor Tune
Procedure
Step 3
Configuring the
Digital Section
If no, press the ENTER key.
Step 4
Decide if you need to configure the analog input and output parameters. The analog
section includes the set up information for the following inputs and outputs: Speed
Reference 1, Speed Reference 2, Torque Reference, Analog Output 1, Analog Output 2,
and the HIM status display.
Configuring the
Analog Section
If yes, press INC or DEC to get Y. Then press ENTER.
If no, press ENTER.
5.
Startup Complete
Step 5
Press ENTER.
When you have finished the start up procedure and pressed ENTER,
you are placed at the following prompt:
To continue, press ENTER. To go back to the start up routine:
1. Press either INC or DEC to toggle Completed to Reset Sequence.
2. Press ENTER.
The 1336 IMPACT drive retains any information that you have
already entered. Choosing Reset Sequence lets you re-enter the start
up routine.
Running the Quick Motor Tune
Procedure
The Quick Motor Tune procedure helps you set up your basic drive
parameters, verify that your motor and encoder (if used) leads are
connected correctly, and run the auto-tune tests. You should set this
information up the first time you run the start up procedure.
Follow these steps to complete the Quick Motor Tune procedure:
Starting Up Your System
Step:
At this prompt:
You need to:
Decide if you want to enter the nameplate motor data.
If no, press INC or DEC to get N. Then press ENTER.
6-9
Go to:
Step 3
If yes, press ENTER.
1.
Enter Nameplate
Motor Data? Y
You are asked to provide the following motor information for:
• Nameplate HP (the horsepower rating)
• Nameplate Volts (the voltage rating)
• Nameplate Amps (the current rating)
• Nameplate Hz (the frequency rating)
• Nameplate RPM (the rated speed)
• Motor Poles (the number of motor poles)
For each item you need to do the following:
Step 2
1. Press SEL to make the bottom display line active.
2. Use INC or DEC to enter the correct value.
3. When the value is correct, press ENTER to return to the top line.
4. Press ENTER again.
2.
Do you have an
Encoder? N
If you are not using an encoder, press ENTER.
Step 4
If you are using an encoder, use INC or DEC to toggle the N to a Y. Press ENTER.
Step 3
Press SEL to make the bottom display line active.
3.
Encoder PPR
xxxx
Use INC or DEC to enter the pulses per revolution that your encoder uses.
Step 4
When the value is correct, press ENTER to return to the top line. Press ENTER again.
4.
5.
Is there Regen/
Dynamic Brake? N
If you are not using a dynamic brake or regenerative system, press ENTER.
If you are using a dynamic brake or regenerative system, use INC or DEC to toggle the N Step 5
to a Y. Press ENTER.
Rotation Test.
Press START.
Press GREEN STRT
6.
Is the Motor
Rotating? Y
7.
Is the Rotation
Direction Fwd? Y
Step 6
If the motor is rotating, press ENTER.
If the motor is not rotating, go to Chapter 12, Troubleshooting.
Step 7
If the motor is rotating in what you consider to be the forward direction, press ENTER.
Otherwise, you will be asked to stop the drive by pressing STOP.
Step 8
You then need to exit start up and change the motor leads.
8.
9.
STOP Drive Press
RED button.
Tune Drive with
50% Current? Y
Press STOP.
Step 9
If you want to run the auto-tune tests with 50% motor current, press ENTER.
If 50% motor current is not enough to run the tests on your system, the start up procedure
will time out and let you increase the percentage.
To use a different percentage of current:
1. Use INC or DEC to toggle the Y to an N.
2.
3.
4.
5.
Step 10
Press ENTER.
Press SEL.
Use INC or DEC to enter the percentage you want to use.
Press ENTER.
Press START. The inductance, resistance, flux current, and inertia tests are run at this
time. The display section shows you which auto-tune test is currently running.
10.
Motor May Rotate
Press GREEN STRT
!
11.
Tune Complete
Press ENTER
Press ENTER.
ATTENTION: Hazard of personal injury exists. Even though the motor may
not rotate during the first three tests, the motor will rotate during the inertia
test.
Step 11
6-10
Starting Up Your System
Configuring the Digital Section
Step:
1.
2.
At this prompt:
Configure the
Relay Output? Y
Relay Config 1
At Set Speed
3.
Relay Setpoint 1
+x.x%
4.
Configure the L
Options Board? Y
5.
6.
7.
8.
L Option mode
#
Follow these steps to configure the digital section:
You need to:
Go to:
Press ENTER if you want to set up the relay output.
Step 2
If you do not want to set up the relay output, use INC or DEC to toggle the Y to an N.
Press ENTER.
Step 4
Press SEL.
Decide what you want the function of TB10 pins 1 and 2 (for frames A1 – A4) or TB11 pins
1 and 2 (for frames B – H) to be. These functions are listed in the description of Relay
Config 1 (parameter 114) in Chapter 11, Parameters.
Enter the appropriate value.
When the value is correct, press ENTER to return to the top line.
Press ENTER again.
If you selected ≥ Speed, < Speed, ≥ Current, < Current:
Step 3
Otherwise:
Step 4
Press SEL.
Use INC or DEC to enter the setpoint threshold for either speed or current.
When the value is correct, press ENTER to return to the top line.
Press ENTER again.
Step 4
Press ENTER if you want to set up the L Option information.
Step 5
If you do not want to set up the L Option, use INC or DEC to toggle the Y to an N. Press
ENTER.
Step 6
Press SEL.
Use INC or DEC to select the L Option mode that you want to use. Refer to Chapter 5 and
the description of L Option Mode (parameter 116) in Chapter 11, Parameters.
When the value is correct, press ENTER to return to the top line.
Press ENTER again.
Important: Depending on the option mode that you chose, you are asked specific
questions about how you want to set up your L Option board.
Step 6
Make Stop#1 Type
COAST Stop? N
Choose how you want your drive to stop. You have three choices: coast, ramp, or current
limit. For more information about these stop types, refer to the Speed Reference Selection
Overview in Appendix B, Control Block Diagrams.
Step 7
Press ENTER if you do not want to use a coast stop. You will then be prompted for a ramp
stop followed by a current limit stop.
If you do want to use a coast stop, use INC or DEC to toggle the N to a Y. Press ENTER.
Accel Time 1
5.0 SEC
Press SEL.
Decide what value you want the drive to use for the acceleration ramp. For more
information about the acceleration ramp, refer to the Speed Reference Selection Overview
in Appendix B, Control Block Diagrams.
Step 8
Use INC or DEC to enter the value.
When the value is correct, press ENTER to return to the top line.
Press ENTER again.
Decel Time 1
5.0 SEC
Press SEL.
Decide what value you want the drive to use for the deceleration ramp. For more
information about the deceleration ramp, refer to the Speed Reference Selection Overview
in Appendix B, Control Block Diagrams.
Step 9
Use INC or DEC to enter the value.
When the value is correct, press ENTER to return to the top line.
Press ENTER again.
Starting Up Your System
Step:
At this prompt:
9.
Speed Ref 1
+500.2 RPM
10.
Digital Config.
Complete ENTER
You need to:
Press ENTER.
At this prompt:
1.
Setup Reference
Analog/PPR IO? N
2.
Connect Inputs
to References? N
3.
Configure Speed
Reference #1? N
Go to:
If a speed reference is not already linked, you can enter a value to use as a preset speed.
For example, if there is a link to Speed Ref 1 (parameter 29), the start up procedure would
skip to Speed Ref 2 (parameter 31), or the next non-linked speed reference.
For each speed reference, press SEL.
Step 10
Use INC or DEC to enter the value.
When the value is correct, press ENTER to return to the top line.
Press ENTER again.
Configuring the Analog Section
Step:
6-11
Follow these steps to configure the analog section:
You need to:
Go to:
Press ENTER if you do not want to configure the analog section.
Step 11
If yes, press INC or DEC to toggle the N to a Y. Press ENTER.
Step 2
To connect the inputs, press INC or DEC to toggle the N to a Y. Press ENTER to connect
inputs to Speed Reference 1, speed Reference 2, Torque Reference, Current, or 4 –
20 mA.
Step 3
If no, press ENTER.
Step 6
Press INC or DEC to toggle the N to a Y to configure Speed Reference 1.
Press ENTER. You can connect Speed Reference 1 to any ONE of the following: the HIM
pot, Analog In1, Analog In2, the 4 – 20 mA input, the MOP input, the Pulse Input, or the
gateway. Depending on which input you choose, you may be prompted for an offset and
scale value.
Step 4
If no, press ENTER.
4.
Configure Speed
Reference #2? N
Press INC or DEC to toggle the N to a Y to configure Speed Reference 2.
Press ENTER. You can connect Speed Reference 2 to any ONE of the following: the HIM
pot, Analog In1, Analog In2, the 4 – 20 mA input, the MOP input, the Pulse Input, or the
gateway. Depending on which input you choose, you may be prompted for additional
information.
Step 5
If no, press ENTER.
5.
Configure Torque
Reference? N
6.
Configure Analog
Outputs? N
7.
Configure Analog
Output #1? N
Press INC or DEC to toggle the N to a Y to configure the Torque Reference.
Press ENTER. You can connect the Torque Reference to any ONE of the following: the
HIM pot, Analog In1, Analog In2, the 4 – 20 mA input, or the gateway. Depending on which Step 6
input you choose, you may be prompted for an offset and scale value.
If no, press ENTER.
Press INC or DEC to toggle the N to a Y to connect the analog outputs. Press ENTER.
Step 7
If no, press ENTER.
Step 11
Press INC or DEC to toggle the N to a Y to configure Analog Output 1. Press ENTER. You
can connect it to one of the following: Speed, Current, Volts, Torque, or Power. In addition,
you are asked for an offset and scale value.
Step 8
If no, press ENTER.
8.
Configure Analog
Output #2? N
Press INC or DEC to toggle the N to a Y to configure Analog Output 2. Press ENTER. You
can connect it to one of the following: Power, Speed, Current, Volts, or Torque. In addition,
you are asked for an offset and scale value.
Step 9
If no, press ENTER.
9.
Setup the 4 – 20 mA
Output? N
10.
Configure HIM
Status Display? N
Press INC or DEC to toggle the N to a Y to configure the 4 – 20 mA output. press ENTER.
If no, press ENTER.
Press INC or DEC to toggle the N to a Y to adjust to output to the HIM display. Press
ENTER. You can link to Speed, Current, Volts, Torque, or Power. You are then asked to
reset the HIM.
If no, press ENTER.
11.
Startup Complete
Press ENTER
Press ENTER.
Step 10
Step 11
6-12
Starting Up Your System
Understanding Links
A link is a software connection between two parameters that lets one
parameter receive information from another parameter. The
parameter receiving the information is called a destination parameter.
Throughout this manual, destination parameters are identified by the
following symbol:
The parameter providing the information is called a source parameter.
Throughout this manual, source parameters are identified by the
following symbol:
Each destination parameter can only have one source parameter.
However, source parameters may be linked to multiple destination
parameters. The information from the link always flows from the
source parameter to the destination parameter:
or
Creating a Link
You create links at the destination parameter. To create a link:
1. Go to the parameter that you want to receive the information.
2. Enter the number of the source parameter.
The following example uses a Human Interface Module (HIM) to
create a link. For this example, SP An Output (parameter 139) is the
destination parameter that is linked to Motor Torque % (parameter
86), which is the source parameter. To create this link:
1. From the Choose Mode prompt, use INC or DEC to select Links.
2. Press INC or DEC to select Set Links. The HIM automatically
scrolls through the linear parameter list until it finds a parameter
that you can link.
3. Use INC or DEC to scroll through the parameter list until you
come to the destination parameter that you want to link. In this
example, you would use INC or DEC until you reach
parameter 139. The display should be similar to the following:
4. Press SEL. The display should now be similar to the following:
5. Press INC or DEC to go to the parameter that you want to provide
the information. In this case, parameter 8 — Motor Torque %.
6. Press ENTER.
7. Press ESC when you have finished to exit the Set Links mode.
Starting Up Your System
6-13
Using the Pre-Defined Links
The following are the pre-defined links:
Source
To
Destination
134
To
29
Speed Ref 1
96
To
31
Speed Ref 2
Motor Speed
81
To
105
An Out 1 Value
Motor Power
90
To
108
An Out 2 Value
81
To
139
SP An Output
SP An In1 Value
An In 1 Value
Motor Speed
The default configuration assumes that a Human Interface Module
(HIM) terminal is connected to SCANport. Speed Ref 1 is connected
to SP An In1 Value, which is assumed to be the HIM port.
Removing a Link
To remove a link, you need to:
!
ATTENTION: Be careful when removing links. If the
source parameter has already written a value to the
destination parameter, the destination parameter retains
the value until you explicitly remove it. For some
parameters, this may produce undesirable results.
1. From the Choose Mode prompt, use INC or DEC to select Links.
2. Press INC or DEC to select Set Links.
3. Use INC or DEC to scroll through the parameter list until you
come to the destination parameter that you want to link.
4. Press SEL.
5. Enter 0.
6. Press ENTER.
7. Press ESC when you have finished to exit the Set Links mode.
6-14
Starting Up Your System
Where Do I Go From Here?
Your drive should now be up and communicating with your terminal
device(s). To change the way the drive operates by default, you can
modify some of the default settings. You can use the following table
as a starting point.
If you want to:
Then refer to:
Use the L Option
Chapter 5
Understand how analog I/O works
Chapter 7
Understand how to use pulse input
Chapter 7
Use the programmable relay
Chapter 7
Modify your SCANport configuration
Chapter 9
Use a communication gateway
Chapter 9
Select a braking method
Chapter 9
Use a remote pot
Chapter 9
Use the MOP
Chapter 9
Use Speed Profiling
Chapter 9
Understand precharge and ridethrough
Chapter 12
Adjust the Kp, Ki, and/or Kf gains
Chapter 13
Understand the auto-tune procedures
Chapter 13
Understand the process trim routine
Appendix B
Understand the speed reference selection process
Appendix B
Understand the NTC and IT protection mechanisms
Appendix B
Learn more about the Human Interface Module (HIM)
Appendix C
Chapter
7
Setting Up the Input/Output
Chapter Objective
Chapter 7 provides information to help you set up the standard I/O for
the 1336 IMPACT drive.
This topic:
A description of drive units
Starts on page:
7-1
Setting up the analog I/O
7-1
Setting up the 4 – 20 mA I/O
7-8
Using the SCANport capabilities
7-10
Configuring the output relays
7-10
Configuring the pulse input
7-11
Configuring the L option I/O
7-12
What Are Drive Units?
The drive uses internal drive units to represent input and output
values. Each parameter is a 16-bit word that allows a range of ±32767
or 65535 internal units. The drive is scaled so that 4096 is equal to
one per unit or 100% of the quantity being regulated. For analog
inputs, 5V converts to a digital value of 1024. Therefore, if you have a
±10V DC signal, you have a total range of ±2048 internal drive units.
For the analog outputs, 1024 converts to an analog output voltage of
5V.
Setting Up the Analog I/O
Before you can use analog I/O, you need to do the following:
1. Hard wire the analog I/O to the board terminals. This is covered
in the mounting and wiring chapter.
2. Set up the analog input and output configuration parameters in
the drive. This can be performed during the start up sequence.
3. Create any user links, if appropriate.
The 1336 IMPACT drive has been pre-configured for your
convenience. Refer to Chapter 6, Starting Up Your System, for a
complete list of the pre-defined links.
Each terminal has parameters associated with it as shown in
Figures 7.1 and 7.2.
7-2
Setting Up the Input/Output
Figure 7.1
Parameters with Associated Terminals for Frames A1 – A4
TB4 (J4)
Analog
Output 1
Analog
Output 2
4-20mA
Output 1
+10V
Com
-10V
Shield
+
Shield
+
Shield
+
-
1
2
3
4
5
6
7
8
9
10
11
12
Offset
Scale
106
107
Offset
Scale
109
110
Offset
Scale
112
113
Motor Speed
105
81
108
Motor Power
90
111
TB7 (J7)
Analog
Input 1
Analog
Input 2
4-20mA
Input 1
Pulse
Source
+
Shield
+
Shield
+
Shield
+
Shield
1
2
3
4
5
6
7
8
9
10
11
12
Offset
Scale
Filter BW
97
98
182
Offset
Scale
Filter BW
100
101
183
Offset
Scale
Filter BW
103
104
184
120
121
122
Pulse In PPR
Pulse In Scale
Pulse In Offset
Speed Ref 2
96
31
99
102
123
TB10 (J10)
Relay 1
Supply
Relay 2
Relay 3
Relay 4
Voltage Clearance
Voltage Clearance
TE
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
SP An In1 Sel (Par 133)
1
2
3
4
5
6
SP An In2 Sel (Par 136)
1
2
3
4
5
6
114
115
Relay Config 1
Relay Setpoint 1
187
188
Relay Config 2
Relay Setpoint 2
189
190
Relay Config 3
Relay Setpoint 3
191
192
Relay Config 4
Relay Setpoint 4
SP An In1 Value
Speed Ref 1
134
29
SP An In1 Scale (Par 135)
SP An In2 Value
SP An In2 Scale (Par 138)
137
SP An Output
Motor Speed
139
81
Setting Up the Input/Output
7-3
Figure 7.2
Parameters with Associated Terminals for Frames B – H
TB10 (J10)
+10V
Com
-10V
Analog
+
Input 1
Shield
Analog
+
Input 2
Shield
+
4-20mA
Input 1
Shield
Pulse
+
Source
+
Analog
Output 1
Shield
+
Analog
Output 2
Shield
+
4-20mA
Output 1
-
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
Offset
Scale
Filter BW
97
98
182
Offset
Scale
Filter BW
100
101
183
Scale
Filter BW
104
184
Offset
103
120
121
122
Pulse In PPR
Pulse In Scale
Pulse In Offset
Offset
Scale
106
107
Offset
Scale
109
110
Offset
Scale
112
113
Speed Ref 2
96
31
99
102
123
Motor Speed
105
81
108
Motor Power
90
111
TB11 (J11)
Relay 1
Supply
Relay 2
Relay 3
Relay 4
Voltage Clearance
TE
1
2
3
4
5
6
7
8
9
Relay Config 1
Relay Setpoint 1
187
188
Relay Config 2
Relay Setpoint 2
189
190
Relay Config 3
Relay Setpoint 3
191
192
Relay Config 4
Relay Setpoint 4
10
1
2
3
4
5
6
SP An In1 Sel (Par 133)
1
2
3
4
5
6
SP An In2 Sel (Par 136)
1
2
3
4
5
6
114
115
SP An In1 Value
Speed Ref 1
134
29
SP An In1 Scale (Par 135)
SP An In2 Value
SP An In2 Scale (Par 138)
137
SP An Output
Motor Speed
139
81
7-4
Setting Up the Input/Output
As Figures 7.1 and 7.2 show, each analog input and output parameter
has associated offset and scale parameters. The 1336 IMPACT drive
provides the offset and scale parameters so that you can adjust the
range of the analog input and output sources and use the entire
internal range of drive units.
If you are having problems determining your scale and offset values
or are using a PLC, refer to the explanation in the application
section.
The following table provides information about the analog scale and
offset parameters.
Input Range
Offset parameters (97,
100, 103, 106, 109, and
112)
±20
Output Range
Affects
Description
±20
analog value
(external units)
Lets you shift the input range. For example,
if your analog input values have a range of 0
to 10V, you can use an offset value of -5 to
change the range to ±5V.
Lets you use the full range of internal drive
units. The maximum range is ±32767
internal units. The maximum analog to
digital value is ±2048.
Lets you use a low pass filter to reduce the
noise received from the input.
Scale parameters (98,
101, 104, 107, 110, and
113)
±16
±1
digital value
(internal units)
Filter parameters (182,
183, and 184)
0 – 200
NA
digital value
(internal units)
Not all applications require both an offset parameter and a scale
parameter. For example, if you have an input range of 0 to 10V and
you want a range of 0 to 8192 internal drive units, you do not need to
supply an offset value. If you do not require an offset value, make
sure that the offset parameter is set to 0. Likewise, you may not need
a scale value. If this is the case, make sure that the scale parameter
is set to 1.
Determining the Offset and Scale Values for an Analog
Input
file: Interface/Comm
group: Analog Inputs
To determine the offset and scale values for an analog input, you need
to know the following:
• the range of units coming from the analog input (for example,
-5V to +5V or 0V to 10V)
• the range that you want to see in internal drive units (for example,
-2048 to +2048 or 0 to 4096)
You determine the value of the offset parameter by comparing the
range of units coming from the analog input to the range that you
want to see in internal drive units. For example, if you need to get a
± drive unit range from a 0 to 10V input range, you can use an offset
of -5 (subtracting 5 from both 0 and 10 gives you a -5 to +5 range).
Once you have the proper range, the offset is converted to an internal,
or digital, value. 10V is always equal to 2048 internal drive units. 5V
equals 1024 internal drive units. For this example, the internal drive
units are ±1024.
Setting Up the Input/Output
7-5
To get to the desired range of ±4096 (4096 = base motor speed), you
need to scale the internal drive units by 4 (4 x 1024 = 4096).
Figure 7.3 shows an example of the offset and scale values for an
analog input parameter.
Figure 7.3
Example of Offset and Scale for Analog Inputs
0 to +10V pot
Analog
Input
+10
Range of the analog
input in internal
drive units
Range of the analog
input after the offset
is applied
0
Analog to
Digital
Converter
–5
±5 =
±1024
+5
Offset
–5
0
+1024
Drive Output
+4096
Scale
0
4
0
–1024
–4096
By multiplying ±1024 by 4,
you get the ±4096 range
you were looking for
.
By subtracting 5 from
both 0 and +10, you get
a ±5 range.
A
B
C
To summarize, to determine the offset and scale values for your
analog inputs, you need to:
1. Compare the output range to the internal drive unit range. In the
example shown in Figure 7.3, you would compare the ranges
represented by A and B.
If the ranges are:
Then you:
Go to:
The same (that is, both ±,
both 0 to +n, or both 0 to -n)
Do not need an offset
Step 3
Different
Need an offset
Step 2
In the example shown in Figure 7.3, the ranges were different, so
we used Step 2.
2. Calculate the offset. For example, if you need a 0 to +10V input
and you have a ±4096 internal range, offset the 0 to +10V range
to get a ± range. In this case, an offset of -5 works because
subtracting 5 from both 0 and 10 gives you a -5 to +5 range.
3. Convert the analog input range to a digital range based on 10V
being equal to 2048. For example:
This analog value:
Is converted to this digital value:
+10
+2048
+5
+1024
0
0
-5
-1024
-10
-2048
7-6
Setting Up the Input/Output
4. Compare the output of the digital-to-analog conversion (C) with
the internal drive units (B).
If the values are:
Then you:
Go to:
Identical
Do not need to scale the value
Step 6
Different
Need to scale the value
Step 5
In Figure 7.3, the values were different, so we used Step 5.
5. Calculate the scale. For example, if the output of the digital to
analog conversion is ±1024 and the internal drive units are ±4096,
the scale value should be 4 (4 x 1024 = 4096).
6. Enter the offset and scale values into the appropriate parameters.
Figure 7.4 shows another example of an analog input. In this
example, you have an analog input range of ±10V and you want an
internal range of ±4096 (4096 = base motor speed).
Figure 7.4
Example of Offset and Scale for Analog Inputs
±10V pot
Analog
Input
+10
–10
Range of the analog
input in internal
drive units
Range of the analog
input after the offset
is applied
Offset
+10
0
0
Analog to
Digital
Converter
–10
±10 =
±2048
Because you already have the
correct range (± to ±), you do
not need an offset.
Drive Output
+2048
Scale
+4096
0
2
0
–2048
–4096
By multiplying ±2048 by 2,
you get the ±4096 range
you were looking for
.
The offset is 0 because the analog input and the internal range are
both ± ranges. When the ±10V range is converted to internal units,
you get a range of ±2048. To get the internal range of ±4096, you can
use a scale factor of 2 (2 x 2048 = 4096).
The 1336 IMPACT drive provides analog input filter parameters for
you to use if the analog values are unstable. The filter parameters use
a low pass filter to create a more stable value. You will lose some of
the available bandwidth by using these parameters.
Determining the Offset and Scale Values for an Analog
Output
file: Interface/Comm
group: Analog Outputs
To determine the offset and scale values for an analog output, you
need to know the following:
• the range that you want for the analog output (for example, -5V to
+5V or 0V to 10V)
• the range that the drive is using for the internal units (for
example, -2048 to +2048 or 0 to 4096)
Setting Up the Input/Output
7-7
Determining the offset and scale parameters for analog outputs can be
confusing. You need to calculate the offset before you can calculate
the scale. However, because the drive applies the scale first and then
the offset, you need to take the inverse of your results. For example, if
you calculated a scale factor of 2 and you were trying to convert from
±4096 drive units to a ±10V output, you would actually want to use a
scale factor of 1/2, or 0.5.
Figure 7.5 shows an example of the scale and offset values for an
analog output parameter.
Figure 7.5
Example of Scale and Offset for Analog Outputs
Range of the analog
output before the
offset is applied
Analog
Output
+10
Offset
+5
5
+5
0
Digital to
Analog
Converter
–5
±1024 =
±5V
5V
0V
Range of the drive
output in internal
units after the scale
is applied
10V
0
Internal
Units
+1024
Scale
0
0.25
–1024
+4096
Add drive
–4096
By multiplying ±4096 by 0.25,
you get ±1024 which, when
converted, equals ±5V.
By adding +5 to both
±5, you get the 0–10V
range your meter requires.
A
B
C
Figure 7.5 is used to help explain the offset and scale values for
analog output. To determine the offset and scale values, you need to:
1. Compare the output range to the internal units range. In the
example shown in Figure 7.5, you would compare the ranges
represented by A and B.
If the ranges are:
Then you:
Go to:
The same (that is, both ±,
both 0 to +n, or both 0 to -n)
Do not need an offset
Step 4
Different
Need an offset
Step 2
In the example shown in Figure 7.5, the ranges were different so
we used Step 2.
2. Calculate the offset. For example, if you need a 0 to +10V input
and you have a ±4096 internal range, you need to offset the 0 to
+10V range to get a ± range. In this case, you would have an
offset of -5.
3. Take the opposite sign of what your offset calculations show. In
this case, the true offset would be +5. Therefore, when +5 is
added to the range values after the range is converted to an analog
value, the range comes out to 0 to 10V.
7-8
Setting Up the Input/Output
4. Convert the digital output range to an analog range. For example:
This digital value:
Is converted to this analog value:
+2048
+10
+1024
+5
0
0
-1024
-5
-2048
-10
5. Compare the input to the digital-to-analog conversion (C) with
the internal drive units (B).
If the values are:
Then you:
Go to:
Identical
Do not need to scale the value
Step 8
Different
Need to scale the value
Step 6
In Figure 7.5, the values were different so we used Step 6.
6. Calculate the scale. For example, if the input to the digital to
analog conversion is ±1024 and the internal drive units are ±4096,
the scale value should be 4 (4 x 1024 = 4096).
7. Take the inverse of the value you calculated in Step 6. For
example, if the scale value should be 4, you need to actually use
1/4, or 0.25 as your scale value.
8. Enter the offset and scale values into the appropriate parameters.
Setting Up the 4 – 20 mA
Input/Output
When setting up the 4 – 20 mA input/output, you should keep the
following in mind:
• 4 – 20 mA I/O is not bi-directional.
• 4 – 20 mA faults occur when the 4 – 20 mA input is connected to
a current source and then removed. This trip point is -250 drive
units or 0.45 mA.
• The maximum number of drives on the mA output is 3.
• The 4 – 20 mA output can drive a maximum load of 750Ω.
When setting up your 4 – 20 mA input/output, you need to know that
4 mA is equal to 0 internal units and 20 mA is equal to 2048 internal
units.
The scaling and offset parameters for 4 – 20 mA input/output work
similarly to the analog scaling and offset parameters. Figure 7.6
shows an example of the scaling and offset used for the 4 – 20 mA
input.
Setting Up the Input/Output
7-9
Figure 7.6
Example of Scaling and Offset for 4 – 20 mA Inputs
4 – 20 mA Pot
4–20 mA
Input
+20
Range of the
input in internal
drive units
Range of the
input after the offset
is applied
Offset
+20
0
+4
+4
Analog to
Digital
Converter
20=2048
4=0
+2048
Drive Output
Scale
+4096
2
0
By subtracting 0mA from
both 20 and 4, you maintain the current range,
with +4 as the zero point.
0
By multiplying +2048 by2,
you get the +4096 range
you were looking for
.
A
B
C
In this example, the 4 – 20 mA input is offset and scaled to provide
±2048 range from the 4 – 20 mA input. To do this, you would need to:
1. Compare the range of the output that you want to 4 – 20.
If the ranges are:
Then you:
Go to:
The same (that is, both positive)
Do not need an offset
Step 3
Different
Need an offset
Step 2
In the example shown in Figure 7.6, the ranges were the same, so
we used Step 3.
2. Calculate the offset.
3. Convert the mA range to a digital range, if you have not already
done so. Keep in mind that 20 mA equals 2048 and 4 mA equals
0.
4. Compare the output of the conversion to internal units to the
output range you want.
If the values are:
Then you:
Go to:
Identical
Do not need to scale the value
Step 6
Different
Need to scale the value
Step 5
In the example shown in Figure 7.6, the ranges were different, so
we used Step 5.
5. Calculate the scale. In this example, the internal units were +2048
and you needed 4096; therefore, you would use a scale value of 2.
6. Enter the offset and scale values into the appropriate parameters.
7-10
Setting Up the Input/Output
Using the SCANport
Capabilities
To communicate with external devices such as terminals, the 1336
IMPACT drive uses the SCANport communications protocol. You
can access the SCANport capabilities without doing any special
configuration. However, if you plan to use SCANport, you can
change the default configuration to customize the way SCANport
works for you. Chapter 8, Using the SCANport Capabilities, contains
information about SCANport and how you can change the default
configuration.
Configuring the Output Relay
There are four programmable relays:
1
2
3
4
5
6
7
8
9 10 11 12
Frames A1-A4: J10 (TB10)
Frames B-H: TB11
Relay 1
Default: At Speed
Relay 3
Default: Not Fault
Relay 2
Default: Enable (Run)
Relay 4
Default: Not Warning
(Alarm)
file: Interface/Comm
group: Digital Config
This
relay:
Is configured using these parameters:
And defaults to the
following:
1
Relay Config 1 (parameter 114) and Relay
Setpoint 1 (parameter 115)
At Speed
2
Relay Config 2 (parameter 187) and Relay
Setpoint 2 (parameter 188)
Enable
3
Relay Config 3 (parameter 189) and Relay
Setpoint 3 (parameter 190)
Not Fault
4
Relay Config 4 (parameter 191) and Relay
Setpoint 4 (parameter 192)
Not Warning (alarm)
The programmable relays are a combination of normally open and
closed contacts. You can configure these relays using the Relay
Config x parameters to specify that a relay should follow a specific
function. You can configure the relay to follow the bit function or the
NOT of the function. For example:
If the motor is at set speed and you
want the contact to:
You would enter this value in the Relay
Config parameter:
Close
13 to indicate At Set Speed
Open
14 to indicate Not At Set Speed
Refer to the descriptions of Relay Config 1, Relay Config 2, Relay
Config 3, or Relay Config 4 in Chapter 11, Parameters, for a complete
listing of functions.
Setting Up the Input/Output
Configuring the Pulse Input
The pulse input lets an external source provide the drive with a digital
reference or trim signal. Pulse input is a differential input with a
maximum frequency of 100kHz. The parameters available for pulse
input include:
file: Interface/Comm
group: Digital Config
7-11
To:
Use this parameter:
Set the number of pulses per one revolution
Pulse In PPR
(parameter 120)
Apply a scale to the external source
Pulse In Scale
(parameter 121)
Add or subtract a fixed amount to or from Pulse In Value
Pulse In Offset
(parameter 122)
View the pulse input value
Pulse In Value
(parameter 123)
By using the pulse input, you can have an external source provide the
drive with a digital reference or trim signal. This can be useful if you
have a system with multiple drives and you want encoder magnetic
pickup or a lead drive that provides a pulse to supply the reference for
any secondary drives, called follower drives. You could use this
reference to ensure that all drives run at the same speed or to ensure
that the speed of the follower drives is related to the speed of the
reference.
Basically, the drive performs the following functions:
1. Uses the values that you enter into Pulse In PPR and Pulse In
Scale to perform some calculations. Pulse In Scale can be any
value from 0.01 to 10.00.
2. Applies the Pulse In Offset value.
3. Places the result in Pulse In Value.
The drive can use the value placed in Pulse In Value to, for example,
control the speed of a second motor.
For example, you could have a system with two drives. The lead drive
has a 1024 PPR encoder with a base speed of 1750 rpm. For this
application, the second drive, or follower, uses the lead drive’s
encoder, but the application needs the follower to run at half the speed
of the lead drive.
Figure 7.7
Pulse Input Configuration
Pulse In PPR
120
Lead
Drive
Speed
Pulse In Offset
122
Pulse In Scale
121
To set up the follower drive, you would need to:
1. Set Pulse In PPR (parameter 120) to 1024.
2. Set Pulse In Scale (parameter 121) to 0.50.
Pulse In Value
Ref 1
123
29
7-12
Setting Up the Input/Output
3. Set Pulse In Offset (parameter 122) to 0.
4. Create a link from Speed Ref 1 (parameter 29) to Pulse In Value
(parameter 123).
Configuring the L Option I/O
file: Interface/Comm
group: Digital Config
The L Option input modes configure the L Option inputs. Chapter 5,
Using the L Option, describes the input modes The modes let you set
up the input to meet the requirements of your application. L Option
Mode (parameter 116) sets the mode and takes effect on a power
cycle or reset.
The stop type available in modes 3, 13, and 16 only affects the
L Option stop input. Two-wire run forward and run reverse use Stop
Type 1 when the circuit is opened. SCANport devices use Stop
Type 1. The stop types are set up in Logic Options (parameter 17).
file: Control
group: Accel/Decel
Accel Time 1 (parameter 42) and Accel Time 2 (parameter 43) and
Decel Time 1 (parameter 44) and Decel Time 2 (parameter 45) are
selected by modes 4, 11, and 14. Otherwise, the acceleration/
deceleration times follow Accel Time 1 and Decel Time 1.
If the L Option mode is not 1, the L Option speed reference takes
ownership of the speed reference. To let other devices control speed
reference, disable the L Option speed reference with Dir/Ref Mask
(parameter 124) for modes 4 – 7, 10, 11, 14 – 25, or set Speed Ref 1,
2, and 3 – 7 for modes 2, 3, 8, 9, 12, and 13. If you select modes 19,
20, or 22, the L Option board takes precedence over Spd/Trq Mode
Sel (parameter 68).
Configuring the Manually Operated Potentiometer (MOP)
Function
file: Interface/Comm
group: Digital Config
The L Option I/O, modes 5, 9, and 15, control the Manually Operated
Potentiometer (MOP) function. The MOP up and MOP down,
increment and decrement MOP Value (parameter118) based on MOP
Increment (parameter 117), which is in rpm per second. To control
speed, you need to link MOP Value to a speed reference.
Chapter
8
Using the SCANport Capabilities
Chapter Objectives
Chapter 8 provides information for changing the default configuration
to customize the way SCANport works for you.
This topic:
Starts on page:
Understanding the Logic Input Sts parameter
8-1
Configuring the SCANport controls
8-3
Setting the SCANport faults
8-7
Using the SCANport I/O image
8-8
Setting the analog I/O parameters
8-14
Understanding the Logic Input
Sts Parameter
file: Monitor
group: Drive/Inv Status
Logic Input Sts (parameter 14) shows which functions are currently
executing. To use SCANport effectively, you need to understand how
Logic Input Sts works.
Logic Input Sts has the following bits:
This bit:
SCANport Definition
Identifies this function:
This bit:
Identifies this function:
0
Normal Stop
8
Coast Stop
1
Start
9
Ramp Disable
2
Jog1
10
Flux Enable
3
Clear Fault
11
Process Trim Enable
4
Forward
12
Speed Ref A
5
Reverse
13
Speed Ref B
6
Jog2
14
Speed Ref C
7
Current Limit Stop
15
Reset Drive
Serial Communications devices such as the Human Interface Module
that are directly mounted on the IMPACT drive are identified as
SCANport Device 1. Remote communication devices such as a HIM,
GPT etc. are identified as Device 2 and up (depending on the amount
of control devices connected to the Drive).
8-2
Using the SCANport Capabilities
The logic evaluation block receives SCANport control from up to
eight sources. The logic evaluation block takes this information and
combines it to form a single logic command word that you can view
using Logic Input Sts. In this manner, the logic evaluation block
allows for multi-point control. Figure 8.1 shows the flow of
information.
Figure 8.1
SCANport Interactions with Logic Input Sts
SCANport 1
SCANport 2
SCANport 3
SCANport 4
SCANport 5
SCANport 6
L Option Board
Logic Cmd Input
(parameter 197)
Logic Evaluation
Block
Logic Input Sts
(Parameter 14)
Bit 0 Normal Stop
Bit 1 Start
Bit 2 Jog1
Bit 3 Clear Fault
Bit 4 Forward
Bit 5 Reverse
Bit 6 Jog 2
Bit 7 Current Limit Stop
Bit 8
Bit 9
Bit 10
Bit 11
BIt 12
Bit 13
Bit 14
Bit 15
Coast Stop
Ramp Disable
Flux Enable
Process Trim Enable
Speed Ref A
Speed Ref B
Speed Ref C
Reset Drive
You can attach any combination of Human Interface Modules
(HIMs), Graphic Programming Terminals (GPTs), and/or SCANport
gateway communications modules to any of the six SCANports. In
addition, you can use Logic Cmd Input (parameter 197). Logic Cmd
Input has the same bit definitions as Logic Input Sts.
You can access ports 1 and 2 on frames A1 – A4 and ports 1, 2, and 6
on frames B – H directly from the main control board. To access
ports 3, 4, and 5, you need to plug a Port Expander into port 2.
Normally, port 1 is connected to a HIM, and port 6 is used for
connecting to gateways.
Using the SCANport Capabilities
8-3
Figure 8.2 shows the parameter interactions involved with Logic
Input Sts.
Figure 8.2
Parameter Interactions
SCANport 1
SP Enable Mask (Par 124)
Logic Input Sts (Par 14)
SCANport 2
Bit 0 — Normal Stop
Bit 1 — Start
Bit 2 — Jog 1
Bit 3 — Clear Fault
Bit 4 — Forward
Bit 5 — Reverse
Bit 6 — Jog 2
Bit 7 — Current Limit Stop
Bit 8 — Coast–to–Stop
Bit 9 — Speed Ramp Disable
Bit 10 — Flux Enable – Magnetizing Flux
Bit 11 — Process Trim Enable
Bit 12 — Speed Ref A
CBA
Bit 13 — Speed Ref B
0 0 0 — No Change
Bit 14 — Speed Ref C
0 0 1 — Speed Ref 1
Bit 15 — Reset Drive
0 1 0 — Speed Ref 2
0 1 1 — Speed Ref 3
1 0 0 — Speed Ref 4
1 0 1 — Speed Ref 5
1 1 0 — Speed Ref 6
1 1 1 — Speed Ref 7
SCANport 3
SCANport 4
SCANport 5
SCANport 6
(Gateway)
Start/Jog Mask (Par 126)
Clr Flt/Res Mask (Par 127)
Dir/Ref Mask (Par 125)
L Option Board
Logic Cmd Input
(Par 197)
Dir/Ref Mask (Par 125)
Clr Flt/Res Mask (Par 127)
Dir/Ref Owner (Par 128)
Start/Stop Owner (Par 129)
Jog1/Jog2 Owner (Par 130)
Ramp/ClFlt Owner (Par 131)
Flux/Trim Owner (Par 132)
Drive/Inv Status (Par 15)
Bit 0 — Run Ready
Bit 1 — Running
Bit 2 — Command Dir
Bit 3 — Rotating Dir
Bit 4 — Accelerating
Bit 5 — Decelerating
Bit 6 — Warning
Bit 7 — Faulted
Bit 8 — At Set Speed
Bit 9 — Enable LED
Bit 10 — Stopped
Bit 11 — Stopping
Bit 12 — At Zero Spd
Bit 13 — Speed Ref A
Bit 14 — Speed Ref B
Bit 15 — Speed Ref C
CBA
000
001
010
011
100
101
110
111
— No Change
— Speed Ref 1
— Speed Ref 2
— Speed Ref 3
— Speed Ref 4
— Speed Ref 5
— Speed Ref 6
— Speed Ref 7
The owner parameters (128 through 132) are covered in the next
section.
Configuring the SCANport
Controls
SCANport has two parts: control and analog I/O. The SCANport
controls are the functions that control the motor, such as start, stop,
and jog. The control can come from up to six SCANport devices,
Logic Cmd Input (parameter 197), and one L Option Board
simultaneously. The control is based on an ownership mechanism that
lets certain functions have only one owner and other functions to have
multiple owners.
Control of these functions can
come from only one device:
Speed reference
Direction
Local
Any device can control
these functions:
Start
Jog
Reset drive
Speed ramp disable
Stop
Clear fault
Flux enable
Process trim enable
8-4
Using the SCANport Capabilities
Ownership is when a SCANport device commands a function. As
long as that function is commanded, that device is the owner of that
function. For example, if device 1 is commanding a forward direction,
which is a one owner function, no other device can change the
direction until device 1 stops commanding the forward direction. If
device 1 is sending a start command, which is a multiple owner
function, other devices can also command a start. If device 1 stops
commanding the start, the drive does not stop running if another
device is still commanding the start.
A rising edge is required for start and jog functions. If a jog or start
is still commanded after the drive is stopped, start and jog functions
will not operate from any device until the jog or start commands are
removed.
By default, start commands from SCANport devices are 3-wire
(latched). If you want a SCANport device to use a 2-wire start
(unlatched), you need to set the appropriate bit in SP 2 Wire Enable
(parameter 181).
To use a 2-wire start for:
Set this bit:
SCANport device 1
1
SCANport device 2
2
SCANport device 3
3
SCANport device 4
4
SCANport device 5
5
SCANport device 6
6
Logic Cmd Input (parameter 197)
7
Notes Regarding 2 and 3-Wire Operation
When using 3-wire operation:
• Start is momentary (latched).
• A low to high transition on the start input is required to start the
drive.
• All 2/3-wire start inputs must be low before a low to high
transition will start the drive.
• Stop input unlatches and stops the drive.
• To make 3-wire starts operate like a 2-wire start, you need to
wire — OR the start and stop inputs.
• The drive will not start if the stop input is open, the enable input
is open, or the drive is faulted. Use Drive/Inv Status
(parameter 15) bit 0, Run Ready, to know when the drive is ready
to start.
When using 2-wire operation:
• Run Fwd/Rev is maintained (unlatched).
• A low to high transition on either Run Fwd/Rev input is required
to start the drive.
Using the SCANport Capabilities
8-5
•
All 2/3-wire start inputs must be low before a low to high
transition will start the drive.
• Closing both Run Fwd and Rev will start the drive in the last
direction it was running.
• Opening all Run Fwd/Rev inputs stops the drive. If any of the
Run Fwd/Rev inputs are closed, the drive continues to run. To
stop the drive when any Run Fwd/Rev input is opened requires
the stop input to be wire ORed with the Run Fwd or Run Rev.
• Stop input stops the drive.
• The drive will not start if the stop input is open, the enable input
is open, or the drive is faulted. Use Drive/Inv Status
(parameter 15) bit 0, Run Ready, to know when the drive is ready
to start.
When using a combination of 2- and 3-wire:
• Each wiring type operates as above.
• 2-wire has priority over 3-wire, so opening or closing and
opening 2-wire Run Fwd/Rev input will stop the drive even if
started by a 3-wire start.
• Stop input stops the drive.
Determining Function Ownership
To determine which device is issuing a specific command, use
parameters 128 through 132:
file: Interface/Comm
group: SCANport Status
To determine which device is
issuing this command:
Check the high (bits 8 – 15)/
low (bits 0 – 7) byte:
Of this
parameter:
Stop
Low
129
Direction control
High
128
Start
High
129
Jog1
High
130
Jog2
Low
130
Speed reference
Low
128
Flux enable
High
132
Trim enable
Low
132
Ramp
High
131
Clear fault
Low
131
8-6
Using the SCANport Capabilities
For each of these parameters, each bit represents a device:
If this bit is set
(for low):
Or if this bit is set
(for high):
0
8
L Option
1
9
SCANport device 1
2
10
SCANport device 2
3
11
SCANport device 3
4
12
SCANport device 4
5
13
SCANport device 5
6
14
SCANport device 6
7
15
Logic Cmd Input (parameter 197)
Then, the owner is:
The SCANport device number is determined by the SCANport
connection it is plugged into.
Masking Control Functions
mask = 1
Control Function
Control
Input
mask = 0
file: Interface/Comm
group: SCANport Config
You can also mask control functions. This lets you enable or disable a
control function for all or some of the devices.
Important: You cannot mask the stop command. Any device
attached to the 1336 IMPACT drive can stop the drive at any time.
To set a mask for a control function, you can use the following
parameters:
To set a mask to control
this function:
Set the appropriate bit in
the high/low byte:
Control which ports can accept the
control functions
Use this
parameter:
124
Issue forward/reverse commands
High
125
Issue a start command
High
126
Issue a jog command
Low
126
Select an alternate reference or preset
speed
Low
125
Generate a clear fault command
High
127
Reset drive
Low
127
For each of these parameters, each bit represents a device:
This bit (for
low):
Or this bit (for
high):
0
8
L Option
1
9
SCANport device 1
2
10
SCANport device 2
3
11
SCANport device 3
4
12
SCANport device 4
5
13
SCANport device 5
6
14
SCANport device 6
7
15
Logic Cmd Input (parameter 197)
Represents:
Using the SCANport Capabilities
8-7
The SCANport device number is determined by the SCANport
connection it is plugged into.
For a mask parameter:
Setting the SCANport Faults
If a bit is:
Then the control function is:
Clear (0)
Disabled
Set (1)
Enabled
You can specify how you want to be notified if SCANport loss or
communication errors occur.
Setting the Loss of Communications Fault
You can specify how you want to be notified if SCANport loses the
connection to a port.
If you want a
communications
loss to be:
Then:
Reported as a fault
Set the appropriate bit in Fault Select 1 (parameter 20)
corresponding to the SCANport device number.
Reported as a
warning
Set the appropriate bit in Warning Select 1 (parameter 21)
and clear the bit in Fault Select 1.
Ignored
Clear the appropriate bit in both Fault Select 1 and Warning
Select 1.
The following table shows which bits correspond to which ports:
To specify this device:
Set this bit:
SCANport device 1
9
SCANport device 2
10
SCANport device 3
11
SCANport device 4
12
SCANport device 5
13
SCANport device 6
14
For example, if you want a fault condition to be reported if
communication is lost with device 3, you would set bit 11 of Fault
Select 1.
!
ATTENTION: Hazard of personal injury or equipment
damage exist. If you initiate a command to start motor
rotation (command a start or jog) and then disconnect
the programming device, the drive will not fault if you
have the SCANport communications fault set to be
ignored for that port.
8-8
Using the SCANport Capabilities
Setting the SCANport Errors Fault
You can specify how you want to be notified if the SCANport
network receives too many errors to continue working properly.
If you want this
condition to be:
Then:
Reported as a fault
Set bit 15 in Fault Select 1 (parameter 20) corresponding to
the SCANport device number.
Reported as a
warning
Set bit 15 in Warning Select 1 (parameter 21) and clear the bit
in Fault Select 1.
Ignored
Clear bit 15 in both Fault Select 1 and Warning Select 1.
Using the SCANport I/O Image
file: Interface/Comm
group: Gateway Data In &
Gateway Data Out
The SCANport I/O image provides the interface between SCANport
devices and the drive. The SCANport I/O image is used to transfer
realtime data in the same way as the PLC image is used. The devices
on SCANport allocate the SCANport I/O image so multiple devices
can use different sections of the image.
To view the values in the I/O image table, use parameters 140 through
147 for input and 148 through 155 for output:
1336 IMPACT
Logic Command
Logic Status
Reference
Feedback
SCANport Device 1
Data In A1 (Par 140)
Data Out A1 (Par 148)
SCANport Device 2
Data In A2 (Par 141)
Data Out A2 (Par 149)
SCANport Device 3
SCANport Device 4
SCANport Device 5
SCANport Device 6
SCANport
Image In
Data In B1 (Par 142)
Data Out B1 (Par 150)
Data In B2 (Par 143)
Data In C1 (Par 144)
Data Out B2 (Par 151)
Data Out C1 (Par 152)
Data In C2 (Par 145)
Data Out C2 (Par 153)
Data In D1 (Par 146)
Data Out D1 (Par 154)
Data In D2 (Par 147)
Data Out D2 (Par 155)
SCANport Device 1
SCANport Device 2
SCANport
Image Out
SCANport Device 3
SCANport Device 4
SCANport Device 5
SCANport Device 6
You need to link the Data In parameters (parameters 140 – 147) to
other drive parameters.
SCANport gateways or adapters to RIO, serial, DeviceNet, SLC, and
Flex I/O are some of the devices that can transfer data between the
SCANport I/O image and another device.
Refer to the appropriate manual for your specific adapter.
Using the SCANport Capabilities
8-9
Within the 1336 IMPACT drive, the I/O image table resembles the
following:
Logic Input Sts
(parameter 14)
Drive/Inv Status
(parameter 15)
Bit 0
Normal Stop
Bit 0
Run Ready
Bit 1
Start1
Bit 1
Running
Bit 2
Jog 11
Bit 2
Command Dir
Bit 3
Clear Fault
Bit 3
Rotating Dir
Bit 4
Forward
Bit 4
Accelerating
Bit 5
Reverse
Bit 5
Decelerating
Bit 6
Jog 21
Bit 6
Warning
Bit 7
Cur Lim Stop
Bit 7
Faulted
Bit 8
Coast Stop
Bit 8
At Set Speed
Bit 9
Spd Ramp Dis
Bit 9
Enable LED
Bit 10 Flux Enable
Bit 10 Stopped
Bit 11 Process Trim
Bit 11 Stopping
Bit 12 Speed Ref A
Bit 12 At Zero Spd
Bit 13 Speed Ref B
Bit 13 Speed Ref A
Bit 14 Speed Ref C
Bit 14 Speed Ref B
Bit 15 Reset Drive
Bit 15 Speed Ref C
1336 IMPACT Drive
Logic Evaluation Block
SP An In2 Sel (p. 136)
Data In A1 (p. 140)
Data In A2 (p. 141)
Data In B1 (p. 142)
Data In B2 (p. 143)
Data In C1 (p. 144)
Data In C2 (p. 145)
Data In D1 (p. 146)
Data In D2 (p. 147)
Drive/Inv Status (p. 15)
SP An Output (p. 139)
Data Out A1 (p. 148)
Data Out A2 (p. 149)
Data Out B1 (p. 150)
Data Out B2 (p. 151)
Data Out C1 (p. 152)
Data Out C2 (p. 153)
Data Out D1 (p. 154)
Data Out D2 (p. 155)
Link
Logic Input Sts (p. 14)
SP An In2 Scale (p. 138)
Speed Ref 2 (p. 31)
SP An In2 Value (p. 137)
Link
Speed Ref 1 (p. 28)
Link
Motor Speed (p. 81)
Motor Current (p. 83)
Link
1 These functions require a rising edge to take effect.
You need to make the links that are shown in order to get the I/O
image table data sent to and from the specific parameters within the
drive.
The following examples are provided to show how the 1336 IMPACT
drive interfaces with some of the available adapters. These are only
examples. You should still refer to the appropriate manual for your
gateway for additional information.
8-10
Using the SCANport Capabilities
SLC to SCANport Module
The following figure shows how the I/O image table for the SLC
programmable controller relates to the 1336 IMPACT drive. In this
example, the drive is connected to channel 1 of the SLC module in
enhanced mode. If this were an example of basic mode, only the
O:1.2, O:1.3, I:1.2, and I:1.3 entries would be used.
Backplane
SCANport
SLC to
SCANport
Module
1336 IMPACT Drive
Logic Command
Reference
Datalink A1 2
Datalink A2 2
Datalink B1 2
Datalink B2 2
Datalink C1 2
Datalink C2 2
Datalink D1 2
Datalink D2 2
Logic Evaluation Block
SP An In2 Value (p. 137)
Data In A1 (p. 140)
Data In A2 (p. 141)
Data In B1 (p. 142)
Data In B2 (p. 143)
Data In C1 (p. 144)
Data In C2 (p. 145)
Data In D1 (p. 146)
Data In D2 (p. 147)
I:1.2
I:1.3
I:1.8 1
I:1.9 1
I:1.10 1
I:1.11 1
I:1.12 1
I:1.13 1
I:1.14 1
I:1.15 1
Logic Status
Feedback
Datalink A1 2
Datalink A2 2
Datalink B1 2
Datalink B2 2
Datalink C1 2
Datalink C2 2
Datalink D1 2
Datalink D2 2
Drive/Inv Status (p. 15)
SP An Output (p. 139)
Data Out A1 (p. 148)
Data Out A2 (p. 149)
Data Out B1 (p. 150)
Data Out B2 (p. 151)
Data Out C1 (p. 152)
Data Out C2 (p. 153)
Data Out D1 (p. 154)
Data Out D2 (p. 155)
M Files
Message
Buffers
SLC
I/O Image
Output Image
O:1.2
O:1.3
O:1.8 1
O:1.9 1
O:1.10 1
O:1.11 1
O:1.12 1
O:1.13 1
O:1.14 1
O:1.15 1
Input Image
1 Available only in enhanced mode.
2 Optionally enabled via the G file in the SLC processor.
Message Handler
Using the SCANport Capabilities
8-11
Serial Communications Module
The following figure shows how the I/O image table for the
programmable controller relates to the 1336 IMPACT drive when a
Serial Communications Module is used.
SCANport
PLC, SLC,
or PC
DF1/DH485
Serial Messages
(Write)
DF1/DH485
Serial Messages
(Read)
1203–Gx2
DF1/DH485 to SCANport
1336 IMPACT Drive
N40:0–63
N41:0 1
N41:1 1
N41:2 1
N41:3 1
N41:4 1
N41:5 1
N41:6 1
N41:7 1
N41:8 1
N41:9 1
BTW Emulation
Logic Command
Reference
Datalink A1
Datalink A2
Datalink B1
Datalink B2
Datalink C1
Datalink C2
Datalink D1
Datalink D2
Message Handler
Logic Evaluation Block
SP An In2 Value (p. 137)
Data In A1 (p. 140)
Data In A2 (p. 141)
Data In B1 (p. 142)
Data In B2 (p. 143)
Data In C1 (p. 144)
Data In C2 (p. 145)
Data In D1 (p. 146)
Data In D2 (p. 147)
N40:0–63
N41:0 1
N41:1 1
N41:2 1
N41:3 1
N41:4 1
N41:5 1
N41:6 1
N41:7 1
N41:8 1
N41:9 1
BTR Emulation
Logic Status
Feedback
Datalink A1
Datalink A2
Datalink B1
Datalink B2
Datalink C1
Datalink C2
Datalink D1
Datalink D2
Message Handler
Drive/Inv Status (p. 15)
SP An Output (p. 139)
Data Out A1 (p. 148)
Data Out A2 (p. 149)
Data Out B1 (p. 150)
Data Out B2 (p. 151)
Data Out C1 (p. 152)
Data Out C2 (p. 153)
Data Out D1 (p. 154)
Data Out D2 (p. 155)
1 Optionally enabled using DIP switches on the adapter.
8-12
Using the SCANport Capabilities
Remote I/O Communications Module
The following figure shows how the I/O image table for the
programmable controller relates to the 1336 IMPACT drive when a
Remote I/O Communications Module is used.
RIO
PLC I/O
Image
Output Image
8 words maximum
O:010
O:011
O:012
O:013
O:014
O:015
O:016
O:017
SCANport
1203–Gx1
Remote I/O
Communications
Module
1336 IMPACT Drive
Block Transfer
Logic Command
Reference
Datalink A1 1
Datalink A2 1
Datalink B1 1
Datalink B2 1
Datalink C1 1
Datalink C2 1
Datalink D1 1
Datalink D2 1
Message Handler
Logic Evaluation Block
SP An In2 Value (p. 137)
Data In A1 (p. 140)
Data In A2 (p. 141)
Data In B1 (p. 142)
Data In B2 (p. 143)
Data In C1 (p. 144)
Data In C2 (p. 145)
Data In D1 (p. 146)
Data In D2 (p. 147)
Block Transfer
Logic Status
Feedback
Datalink A1 1
Datalink A2 1
Datalink B1 1
Datalink B2 1
Datalink C1 1
Datalink C2 1
Datalink D1 1
Datalink D2 1
Message Handler
Drive/Inv Status (p. 15)
SP An Output (p. 139)
Data Out A1 (p. 148)
Data Out A2 (p. 149)
Data Out B1 (p. 150)
Data Out B2 (p. 151)
Data Out C1 (p. 152)
Data Out C2 (p. 153)
Data Out D1 (p. 154)
Data Out D2 (p. 155)
Input Image
8 words maximum
I:010
I:011
I:012
I:013
I:014
I:015
I:016
I:017
1 Optionally enabled using DIP switches on the module.
Flex I/O Module
The following figure shows how the I/O image table for the
programmable controller relates to the 1336 IMPACT drive when a
Flex I/O Module is used.
Flex
Adapter
RIO
DeviceNet
ControlNet
Others
1203–FM1
and 1203–FB1
Modules
SCANport
1336 IMPACT Drive
Logic Command
Reference
Logic Evaluation Block
SP An In2 Value (p. 137)
Logic Status
Feedback
Drive/Inv Status (p. 15)
SP An Output (p. 139)
Using the SCANport Capabilities
8-13
DeviceNet Communications Module
The following figure shows how the I/O image table for a DeviceNet
scanner relates to the 1336 IMPACT drive when a DeviceNet
Communications Module is used.
SCANport
PLC,
SLC,
PC
Scanner
1203–Gx5
DeviceNet to SCANport
1336 IMPACT Drive
Output Mapping
(Write)
Word 0
Word 1
1
Word 2
Word 3 1
Word 4 1
Word 5 1
Word 6 1
Word 7 1
Word 8 1
Word 9 1
Logic Command
Reference
Datalink A1
Datalink A2
Datalink B1
Datalink B2
Datalink C1
Datalink C2
Datalink D1
Datalink D2
Logic Evaluation Block
SP An In2 Value (p. 137)
Data In A1 (p. 140)
Data In A2 (p. 141)
Data In B1 (p. 142)
Data In B2 (p. 143)
Data In C1 (p. 144)
Data In C2 (p. 145)
Data In D1 (p. 146)
Data In D2 (p. 147)
Input Mapping
(Read)
Word 0
Word 1
Word 2 1
Word 3 1
Word 4 1
Word 5 1
Word 6 1
Word 7 1
Word 8 1
Word 9 1
Logic Status
Feedback
Datalink A1
Datalink A2
Datalink B1
Datalink B2
Datalink C1
Datalink C2
Datalink D1
Datalink D2
Drive/Inv Status (p. 15)
SP An Output (p. 139)
Data Out A1 (p. 148)
Data Out A2 (p. 149)
Data Out B1 (p. 150)
Data Out B2 (p. 151)
Data Out C1 (p. 152)
Data Out C2 (p. 153)
Data Out D1 (p. 154)
Data Out D2 (p. 155)
Message
Buffers
Message
Handler
Message Handler
1 Optionally enabled using DIP switches on the module.
Supported SCANport Messages
The 1336 IMPACT drive supports the following SCANport messages.
The formats and methods to use these messages vary depending on
the type of gateway used. Not all gateways support messaging or all
message types. Consult your gateway manual(s) or application notes
when determining the level of support for any gateway.
!
ATTENTION: Hazard of equipment damage exists. If
messages (block transfer messages, explicit messages,
unscheduled messages, etc.) are programmed to
frequently write parameter data to a drive, the EEPROM
(Non–Volatile Storage) will quickly exceed its life cycle
and cause the drive to malfunction. Do not create a
program that frequently writes messages to a drive.
Datalinks do not write to the EEPROM and should be
used for frequently changed parameters.
8-14
Using the SCANport Capabilities
This message:
Lets you:
Continuous Parameter Value Read
Read a continuous list of parameters beginning with the starting parameter number.
Continuous Parameter Value Write
Write to a continuous list of parameters beginning with the starting parameter number.
Scattered Parameter Value Read
Read a scattered list of parameters.
Scattered Parameter Value Write
Write to a scattered list of parameters and return the status of each parameter.
Continuous Parameter Link Read
Read a continuous list of links beginning with the starting parameter number.
Continuous Parameter Link Write
Write a continuous list of links beginning with the starting parameter number.
Scattered Parameter Link Read
Read a scattered list of parameter links.
Scattered Parameter Link Write
Write a scattered list of parameter links.
Read Product Number
Request the product number from a device.
Product Text String Read
Request the product text from a device.
Last Parameter Number Read
Request the last parameter number.
EE Command Write
Activate the specified EE function.
Read Full Parameter
Request all known attributes for the requested parameters.
Parameter Value Read
Request the value for a specific parameter.
Parameter Value Write
Write a value to a specific parameter.
Fault Command Write
Clear faults, clear the fault queue, and reset.
Fault Queue Size
Read the number of fault entries allowed in the fault queue.
Trip Fault Read
Request which fault queue entry tripped the drive.
Fault Queue Entry Read Full
Read the contents of the specified fault queue entry.
Warning Command Write
Clear faults and clear the warning queue.
Warning Queue Size
Read the number of fault entries allowed in the warning queue.
Warning Queue Entry Read Full
Read the contents of the specified warning queue entry.
Link Command Write
Clear all links.
Read Parameter Link
Request the parameter link information for a specific parameter.
Write Parameter Link
Write the parameter link information for a specific parameter.
Product Diagnostic Value
Access a simple parameter link checksum.
Setting Up the Analog I/O
Parameters for SCANport
file: Interface/Comm
group: SCANport Analog
The following figure shows the six SCANports that are available for
use with the SCANport analog I/O and the drive parameters that you
can use to control this data.
1
2
3
4
5
6
1
2
3
4
5
6
1
2
3
4
5
6
SP An In1 Sel (Par 133)
SP An In1 Value
SP An In1 Scale (Par 135)
134
SP An In2 Sel (Par 136)
SP An In2 Value
SP An In2 Scale (Par 138)
SP An Output
139
137
Using the SCANport Capabilities
8-15
To receive analog input from a SCANport device, you need to:
1. Set SP An In1 Sel (parameter 133) to the SCANport device
number.
2. Set the scale factor by using SP An In1 Scale (parameter 135).
3. Link a sink parameter to SP An In1 Value (parameter 134).
For example, if you plug a HIM into port 1 to control the external
speed, you need to enter a value of 1 for SP An In1 Sel and link Speed
Ref 1 (parameter 29) to SP An In1 Value. You may scale the speed by
using SP An In1 Scale or Speed Scale 1 (parameter 30).
When setting the scale factor, keep in mind the internal scaling range
of the SCANport device. For example, the HIM pot uses a range of 0
to 32767. Refer to the documentation for your SCANport device for
information about the range of the SCANport device.
The drive sends SP An Output (parameter 139) to all devices
connected to SCANport. To send data out to the SCANport devices,
link SP An Output to a source parameter. For example, if the HIM is
to receive speed feedback, you would link SP An Output to Motor
Speed (parameter 81).
8-16
Notes:
Using the SCANport Capabilities
Chapter
9
Applications
Chapter 9 provides applications for using the 1336 IMPACT drive.
Chapter Objectives
This Topic:
Choosing a Motor Feedback
Source
Starts On Page:
Choosing a motor feedback source
9-1
Choosing an optional braking/decelerating method
9-3
Using DC hold
9-6
Using up to 400% motor current
9-7
Understanding the scale and offset parameters for analog I/O
9-8
Using 4 – 20 mA inputs/outputs
9-11
Using a remote pot
9-12
Using MOP
9-14
Using Flying Start
9-14
Using Speed Profiling
9-16
The 1336 IMPACT drive has four sources for motor speed feedback:
• encoder feedback
• encoderless speed estimate
• encoderless speed estimate w/deadband
• motor simulation
To select either the encoder or the encoderless speed estimate, you
need to make the selection in the Quick Start routine and run the
autotune routines.
To choose the motor simulation mode, use Fdbk Device Type
(parameter 64).
To use an encoder mode, you must have an L7E, L8E, or L9E
L Option board. Refer to Chapter 5, Using the L Option, for
information about the L Option board.
Important: If you are using your 1336 IMPACT drive for hoist-like
applications, we strongly recommend that you use an encoder.
9-2
Applications
How Do Encoderless and Encoder Feedback Modes
Differ?
The following table compares the encoderless mode to the encoder
feedback mode.
Category
Encoderless Mode
Encoder Feedback Mode
Speed regulation requirements
Applicable when requirements are larger than
±0.5% of base speed. May be applicable for
requirements between ±0.1% and ±0.5% with
manual adjustments.
Recommended for requirements smaller than
0.1% of base speed.
Minimum speed1,2
Applicable when the minimum speed is greater
than 1/60 of base speed (that is, 30 rpm on a 60
Hz, 4 pole motor). May be applicable down to
speeds of 1/120 of base speed (15 rpm) if high
bandwidth responses are not required.
Recommended for speeds less than 1/120 of
base speed (15 rpm).
Maximum operating speed
Depends on the number of motor poles. A
4 pole motor has a maximum operating speed of
7200 rpm.
Depends on the number of motor poles. A 4 pole
motor has a maximum operating speed of 7200
rpm.
Maximum speed bandwidths3
30 radians/second
100 radians/second
Starting torque4
150% of rated motor torque
150% of rated motor torque
Torque regulation
±5%
±2%
Start into spinning motor
Some cogging may occur
Smooth start
Speed range
120:1
1000:1
Output frequency range
0 – 250 Hz
0 – 250 Hz
1 Erratic operation, including cogging, may result at speeds less than 1/60 of base speed.
2 You can use Min Speed Limit (parameter 215) to adjust the minimum speed.
3 The maximum speed bandwidths are with no inertia connected to the motor. The maximum achievable bandwidths decrease with increasing
connected inertia for both sensorless and encoder modes.
4 The available starting torque is at least 150% motor torque and could be as higher than 300% if the inverter can supply the current. Refer to
Max Mtr Current (parameter 195).
Improving Speed Regulation in Encoderless Mode
file: Motor/Inverter
group: Motor Constants
After completing the auto-tune tests, you can adjust Slip Gain
(parameter 169) to improve the speed regulation (as a function of
load) in encoderless mode. Slip Gain defaults to 100% and typically
results in ±0.5% speed regulation.
Ideally, you should adjust Slip Gain while the motor is fully loaded
and at its normal operating temperature. Adjust Slip Gain until the
actual speed, as measured by an independent source such as a hand
tachometer, is equal to the desired speed. This should result in a
minimum steady state speed deviation as load changes. The proper
slip for good speed regulation also depends on the motor temperature;
thus, if the motor operating temperature normally varies between cold
and hot, select a compromise slip gain.
Using the Motor Simulation Mode
You can use the motor simulation mode to simulate a system that does
not have a motor present. This can be useful for testing purposes.
Applications
9-3
To select the motor simulation mode, enter a value of 3 in Fdbk
Device Type (parameter 64). When you run simulation mode, the
torque and flux current commands for the motor are set at near zero
levels. Little, if any, torque is produced at the motor. A simulated
motor speed is calculated based on the level of internal torque
reference and total inertia. The speed regulator responds as if the
motor were present and connected to the drive.
Choosing an Optional
Braking/Decelerating Method
This method:
Bus/Brake Opts (parameter 13) lets you choose a braking/
decelerating method. The following options are available:
Uses:
To select this method, you need to:
Dynamic braking
An external braking device. The full drive power is
available for stopping. You must use this method if a linear
Set bit 10, Brake/Regen, in Bus/Brake Opts.
and controlled speed deceleration is required. The other
braking methods result in non-linear stop profiles.
Bus regulator
Regen Power Lim (parameter 76) to reduce the
regenerative torque to limit the bus voltage in the device.
Clear bit 10, Brake/Regen, and bit 6, Flux Braking, in
Bus/Brake Opts.
Flux braking
An increase in the motor flux to increase the motor losses.
Set bit 6, Flux Braking, and clear bit 10,
Brake/Regen, in Bus/Brake Opts.
DC braking
DC current to increase the motor losses.
Set bit 9, DC Brake, and clear bit 10, Brake/Regen, in
Bus/Brake Opts.
Choose the braking/decelerating method that works best for your
motor and load.
You may also want to review the standard stop types that are available
for the drive. These are covered in the Speed Reference Selection
Overview section in Appendix B, Control Block Diagrams.
Using Dynamic Braking/Brake Chopper
Dynamic braking uses an external braking device to dissipate the
excess energy when the drive is decelerated. This setup disables the
bus voltage regulator and relies on the dynamic brake to dissipate the
excess regenerated energy.
Important: The dynamic brake must be connected to the capacitor
side of the DC link choke (output side). If the brake is connected to
the converter bridge of the DC link choke (input side), it will fail.
To use a dynamic brake:
1. Set bit 10, Brake/Regen, in Bus/Brake Opts (parameter 13).
2. Clear bit 5, Bus High Lim, in Bus/Brake Opts (parameter 13).
3. Refer to the manual that came with your brake for further
information.
4. Set Regen Power Lim (parameter 76) according to the available
braking power. If the brake is sized for maximum regenerative
energy, then the Regen Power Lim (parameter 76) may be set to
its highest value.
5. If overvoltage occurs, see below.
If bus overvoltages occur, then the brake is not large enough to
dissipate the excess energy. Either increase the brake size or limit
regenerative energy until the overvoltages no longer occur.
9-4
Applications
The regenerative energy may be limited either automatically by
letting the bus regulator work along with the dynamic brake or
manually by reducing the regenerative energy. Normally, automatic
limiting by the bus voltage regulator is preferred because manual
limiting may have to be repeated if the regenerative energy changes
due to load, speed, or system losses.
To stop overvoltages automatically, you must enable the bus voltage
regulator with the dynamic brake. Follow these directions:
1. Set bit 5, Bus High Lim, in Bus/Brake Opts (parameter 13).
2. Set bit 10, Brake/Regn, in Bus/Brake Opts (parameter 13). This
sets the bus voltage regulator operation to a higher voltage.
3. If overvoltages still occur, then manually reduce the Regen Power
Lim (parameter 76). See below.
To stop overvoltages manually, you must limit the regenerated energy
by either extending the deceleration time or reducing the regenerated
power limit.
• To extend the deceleration time, set Decel Time 1 (parameter 44)
and Decel Time 2 (parameter 45) to the desired values.
• To reduce the regenerated power limit, set Regen Power Lim
(parameter 76) to the desired value.
Using the Bus Regulator for Braking
file: Application
group: Bus Control
file: Control
group: Control Limits
If you are not using a dynamic brake, the bus regulator is the default
braking method as selected during the Quick Start routine.
To enable bus regulator braking:
1. Clear bit 10, Brake/Regen, in Bus/Brake Opts (parameter 13).
2. Clear bit 6, Flux Braking, in Bus/Brake Opts.
3. Clear bit 5, Bus High Lim, in Bus/Brake Opts.
As the motor is decelerated or as regeneration occurs (for example, an
overhauling load), energy is transferred from the motor to the drive.
This causes an increase in the bus voltage. When the bus voltage
becomes high enough, the bus voltage regulator becomes active and
reduces the regeneration power limit to control the bus voltage. The
maximum regeneration power limit is controlled in Regen Power Lim
(parameter 76), and the bus voltage regulator automatically further
reduces this level as needed to limit the bus voltage. The regeneration
power limit implements a torque limit as a function of motor speed
times torque. Then, the system power losses determine the motor
deceleration.
The default bus regulator braking set up uses a -25% regenerative
power limit, Regen Power Lim. If the losses in the system are large
enough, you may use a larger value.
Applications
9-5
Figure 9.1 shows how the bus regulator relates to both speed and
torque.
Figure 9.1
Bus Regulator in Relation to Speed and Torque
VBus
Speed
0
Torque
System Losses
Using Flux Braking
file: Application
group: Flux Braking
file: Control
group: Control Limits
You can use flux braking to stop the drive or to shorten the
deceleration time to a lower speed. The higher losses result in a
shorter motor deceleration time. Other methods of deceleration or
stopping may perform better depending on the motor and the load.
To enable flux braking:
1. Set bit 6, Flux Braking, in Bus/Brake Opts (parameter 13).
1. Clear bit 10, Brake/Regen, in Bus/Brake Opts.
1. Clear bit 5, Bus High Lim, in Bus/Brake Opts.
As the motor is decelerated or as regeneration occurs, energy is
transferred from the motor to the drive. This increases the bus voltage.
When the bus voltage becomes high enough, the bus voltage regulator
becomes active and reduces the regeneration power limit to control
the bus voltage. The maximum regeneration power limit is controlled
in Regen Power Lim (parameter 76), and the bus voltage regulator
automatically further reduces this level as needed to limit the bus
voltage.
When enabled, flux braking automatically increases the motor flux
resulting in an increase of motor losses. The flux current is only
increased when the bus voltage regulator is active. When the bus
voltage regulator is not active, the flux current is returned to normal.
The maximum flux current is equal to rated motor current but may be
further reduced depending on the load level, IT protection, or current
limits. In general, the flux current is not increased when the motor is
at or above rated speed. At higher speeds, field weakening is active
and the motor flux current cannot be increased. As the speed
decreases below base speed, the flux current increases until there is
enough voltage margin to run rated motor current.
9-6
Applications
In a few applications (typically greater than 200HP), the flux braking
may interact with the field weakening control. This may result in a
bus overvoltage fault. If this occurs, increase Decel Time 1
(parameter 44) and/or Decel Time 2 (parameter 45) as needed.
Because flux braking increases motor losses, the duty cycle used with
this method must be limited. Check with the motor vendor for flux
braking or DC braking application guidelines. You may also want to
consider using external motor thermal protection.
Using DC Braking
file: Application
group: DC Braking/Hold
Using DC Hold
DC braking only becomes active during a stop (not including coast
stop) and is not active during normal decelerations. Other stopping
methods may perform better depending on the motor and the load
being stopped.
To enable DC braking:
1. Set bit 9, DC Brake, in Bus/Brake Opts (parameter 13).
2. Clear bit 10, Brake/Regen, in Bus/Brake Opts.
3. Clear bit 5, Bus High Lim, in Bus/Brake Opts.
When DC braking is enabled and you command a stop, DC current is
applied to the motor. This increases motor losses and may result in a
shorter motor deceleration time. DC Brake Current (parameter 79)
controls the magnitude of DC current applied. The magnitude has a
maximum range of 70% of the drive rated current. Current limit and
IT protection (for times greater than 60 seconds) can further reduce
the applied DC Brake Time (parameter 80). Typically, you will
measure the stopping time that you should enter in DC Brake Time.
Because DC braking increases motor losses, the duty cycle of
stopping with this method must be limited. Check with the motor
vendor for DC braking application guidelines. You may also want to
consider using external motor thermal protection.
You can use DC hold when the 1336 IMPACT drive is set up for
encoderless operation and some level of resisting torque is desired at
near zero speed.
After the motor is stopped, DC current is applied to the motor.
Although speed and torque are not controlled, the DC current results
in resisting torque when the motor shaft is rotated. As the motor speed
increases towards the rated slip for the motor, a very high resisting
torque can be produced.
Only use DC hold for encoderless operation where torque control at
zero speed cannot be guaranteed. For encoder operation, full torque
and speed control is provided at zero speed and you should use the
normal torque or speed controls.
Applications
!
!
9-7
ATTENTION: A hazard of electric shock or motor
movement does exist. When you stop the drive using DC
hold, power is not removed from the motor. You may
want to provide an alternate way to disconnect power
completely from the motor.
ATTENTION: DC hold runs for an indefinite period
of time. DC hold becomes active only after you have
commanded a stop. When the stop function completes,
the DC hold function starts. The DC hold continues until
you command a start, disable the drive (enable removed),
or command a coast stop. To issue a coast stop, set bit 8
in Logic Input (parameter 14) or set any type of stop after
configuring the coast stop select in Logic Options
(parameter 17) — coast stop option 1 or 12 per drive set
up.
When the motor is stopped, the hold function provides an indefinite
duration of DC current. The level of DC current is set by the DC
Brake Current (parameter 79) level but is limited by 70% of drive
rated current, IT protection, or current limit, whichever is less. This
function is not available when you enable a coast to stop.
To enable DC hold, set bit 7 in Bus/Brake Opts (parameter 13).
!
ATTENTION: A hazard of electric shock does exist.
You can only change Bus/Brake Opts when the drive is
disabled. If the drive is enabled, you cannot turn off the
DC hold function by clearing bit 7.
Because the actual motor losses are not known when DC hold is
active, you must determine thermally safe operating times and levels.
Check with the motor vendor for DC braking or DC hold application
guidelines. You may also want to consider using external motor
thermal protection.
A limited hold time can be provided by using the DC braking function
with an extended DC brake time.
Using Up to 400% Motor
Current
file: Control
group: Control Limits
By default, the 1336 IMPACT drive uses a maximum of 200% motor
current. However, for some applications that use a drive that is
significantly larger than the motor, you may use a maximum of 400%
motor current.
In all cases where the drive current limit (typically 150% of drive
rated current for 1 minute) is less than 400% motor current, the drive
current limit is used to determine the maximum available motor
current. The available current range is shown as the maximum current
limit value in Pos Mtr Cur Lim (parameter 72) and Neg Mtr Cur Lim
(parameter 73).
9-8
Applications
file: Application
group: 400% Mtr Current
When:
The maximum current is:
Max Mtr Current (parameter 195) is 1
400% motor current.
Max Mtr Current is 0
200% motor current.
The drive current limit is less than the
motor current limit
Determined by the drive current limit.
To enable the 400% motor current function, set Max Mtr Current
(parameter 195) to a value of 1.
Important: When you enable the 400% motor current function, you
should be aware that torque regulation specifications only apply to the
0 – 100% torque range.
When the drive is configured for 400% motor current, the current
loops are rescaled to allow a larger range of motor current at the
expense of decreased current resolution. Only use the increased
current range for large drive to motor ratios. In cases where there is
not a large difference between the drive rated current and the motor
rated current, little added benefit is provided for most applications.
The increased current range results in decreased current resolution
and therefore a decreased signal to noise ratio for the current
feedback. All other drive operations remain the same.
The duty cycle for operation above 100% load (for example, 400%
motor current) must be limited to thermally protect the motor. Check
with the motor vendor for duty cycle guidelines. You may want to
consider using external motor thermal protection.
Important: The maximum current limits that you specify in Pos Mtr
Cur Lim and Neg Mtr Cur Lim set the maximum/ minimum values for
Pos Torque Lim (parameter 74) and Neg Torque Lim (parameter 75). If
you lower the values of Pos Mtr Cur Lim and Neg Mtr Cur Lim, you
will clamp the values of Pos Torque Lim and Neg Torque Lim. If you
later raise the value of Pos Mtr Cur Lim and Neg Mtr Cur Lim, the
values of Pos Torque Lim and Neg Torque Lim remain at the lower
value.
Understanding the Scale and
Offset Parameters for Analog
I/O
The following section provides information to help you understand
and use the scale and offset parameters for analog I/O. This is an
alternate method for determining values for your scale and offset
parameters.
Understanding the Scale and Offset Parameters for Input
file: Interface/Comm
group: Analog Inputs
In example 1, a potentiometer with a range of ±10V DC has been
connected at analog input 2. An In 2 Value (parameter 99) has been
linked to Speed Ref 7 (parameter 36) in the drive, which gives the
potentiometer control of speed reference 7.
Applications
9-9
To calibrate the pot to control 100% base speed in both directions,
you need to adjust the scale parameter. The default value of the scale
parameter allows a total range of 4096, -2048 to +2048. This allows
only 50% base speed in each direction. By setting a scale factor of 2
in An In 2 Scale (parameter 101), the digital input is multiplied by 2.
This provides a range of ±4096, or 100% base speed in both
directions.
If you want a range of ± 2 times base speed, the scale factor would be
4 (base speed is 4096, 2 times base speed is 8192, 2048 times 4 is
8192). An In 2 Offset (parameter 100) remains at the default value of
zero, allowing the input range to be ±10V. The range of the offset
parameter is ± 20V DC as shown in Figure 9.2.
In this example, the filter parameter, An In2 Filter BW
(parameter 183), is not used. The filter parameter is a low pass filter
that helps to reduce the affects of noise on the system.
Figure 9.2
Potentiometer with +10V Range to Control 0 to +100% Base Speed
An In 2 Offset
Par 100 = 0
A
Multiplexer
+ 2048
(= ± 10V)
D
+ 10V Pot
+2048
0
–2048
+10V
0
–10V
An In 2 Scale
Par 101
X2
Range of 20V
+2048
0
–2048
An In2 Filter BW
Par 183
0
An In 2 Value
Par 99
Speed
Ref 7
Par 36
+4096
0
±4096
0
Potentiometer
Digital Value
Scale
Final Value in Par 99
–10V
–2048
X2
–4096
0
0
0
+10V
+2048
X2
+4096
For a second example, a 0 to 10 volt potentiometer adjusts the torque
reference from -100% to +100%. To do this, you need to adjust both
the scale and offset parameters. By linking An In 1 Value
(parameter 96) to Torque Ref 1 (parameter 69), the potentiometer
connected to analog input 1 becomes the torque reference signal. This
signal must be scaled and offset to get the entire ±100% in the 0 to 10
volt range. A digital range of 8192 (±4096) must now be scaled for an
analog range of 10 volts, and must be offset so 5 volts on the
potentiometer indicates 0% torque.
As shown in Figure 9.3 the offset voltage adds the corresponding
digital value to the range. In this case, an offset of -5 volts adds a
digital value of -1024 to the range. This causes 0 volts on the
potentiometer to register as -1024 digital internal to the drive and 10
volts on the potentiometer is +1024 to the drive. This can then be
scaled by a factor of 4 (8192 drive units) so that 0 volts sends a digital
value of -4096 for -100% torque, and 10 volts sends a digital value of
+4096 for +100% torque.
9-10
Applications
Figure 9.3
Potentiometer 0 – 10V Range to Control 100% Torque Reference
An In 1 Offset
Par 97 = –5V (–1024)
A
Multiplexer
+ 2048
(= + 10V)
D
0±10V Pot
0
to
2048
+0v
0
10v
Potentiometer
digital value
offset by –5V.
Adding –1024
Scale by 4
An In 1 Scale
Par 98
x2
–1024
+1024
An In1 Filter BW
Par 182
0
An In 1 Value
Torque
Ref 1
Par 96
Par 69
+4096
+4096
Range of 20V
–10V
0
–10V
–2048
0
0
5V
1024
+10V
+2048
–1024
–4096
0
0
+1024
+4096
10V
Understanding the Scale and Offset Parameters for Output
file: Interface/Comm
group: Analog Outputs
Analog outputs are similar to analog inputs. Each output has a scale
and offset parameter, along with a specific variable parameter used
for linking. Differences occur because of the direction of information
flow. The drive sends a digital value in drive units, which must be
matched to the voltage of the monitoring device. Similar to analog
inputs, the analog output converts a ±2048 value to ±10V DC. Thus,
when the drive sends ±100% base speed (equal to ±4096), it must be
scaled by 0.5 to be in the proper range (±4096 0.5 =±2048). The
offset can be ±20V DC, even though the physical limit is ±10V DC.
This lets you offset the signal anywhere within the entire range.
In Figure 9.4, An Out 1 Value (parameter 105) is used as an example
to show the scale and offset parameters. At An Out 1 Value, a meter
with a range of 0 to 10V DC has been connected. An Out 1 Value has
been linked to Motor Speed (parameter 81).
For the meter to indicate speed in both directions, adjust the scale and
offset parameters as shown in Figure 9.4. Working in the opposite
direction as the analog inputs, apply the scale factor first. The drive
sends a ±4096 digital value to indicate ±100% speed feedback for a
total digital range of 8192. The meter, having an analog range of 0 to
10V DC, requires a digital range of 2048. To do this, apply a scale
factor of 0.25 (8192 0.25 = 2048).
To have the 0 to 10V DC meter indicate ±100% feedback, you need to
apply an offset. Offset parameters for analog outputs again adds the
corresponding digital value to the range. In this case, an offset of 5
volts adds a digital value of 1024 to the range. This allows full range
deflection on the 0 to 10 volt meter, with 5 volts indicating zero
speed.
Applications
9-11
Figure 9.4
Analog Output 1 +100% Speed Indication
–100%
Base Speed
Motor
Speed
An Out 1 Value
Par 81
Par 105
An Out 1 Offset
Par 106
5V = 1024
(+2048 = +10V)
An Out 1 Scale
Par 107
x 0.25
+4096 (+100% Speed)
0
–4096 (–100% Speed)
+1024
0
–1024
D
+100%
Base Speed
5V
0V
A
+2048
+1024
0
0 Speed
10V
+10V = + 100% Base Speed
+5V = 0 Speed
0V = –100%
Digital Range
From Drive
Scaled by 0.25
Offset by 5V, Adding 1024
Digital Value
Meter Voltage
% Base Speed
– 4096
0
4096
– 1024
+ 1024
0
0 Volts
– 100%
0
+ 1024
0
5 Volts
0%
+ 1024
+ 1024
2048
10 Volts
+ 100%
Using 4 – 20 mA Inputs/Outputs
The 1336 IMPACT drive provides a 4 – 20 mA input and a 4 – 20 mA
output. You can use the parameters that are available for the
4 – 20 mA input and output in the same way that you would use the
analog input and output parameters. For example, you can use a scale,
offset, and/or filter parameter to adjust the input value and a scale
and/or offset parameter to adjust the output value.
Two advantages for using the 4 – 20 mA are:
• The current supply is regulated to adjust the voltage as needed to
keep a constant current moving through the system.
• Noise in the system does not affect current as much as it does
voltage.
Figure 9.5 shows an example of a 1336 IMPACT drive that is used as
a master drive to control three other 1336 IMPACT drives. Notice that
you can have a maximum of three slave drives.
9-12
Applications
Figure 9.5
An Example of a 4 – 20 mA Application
1336 IMPACT drive
4–20mA In +
4–20mA In –
1336 IMPACT drive
4–20mA Out +
4–20mA Out –
Master Drive
1336 IMPACT drive
4–20mA In +
4–20mA In –
1336 IMPACT drive
4–20mA In +
4–20mA In –
Slave Drives
(Maximum of 3)
Using a Remote Pot
For some applications, you may want to wire a remote pot to your
1336 IMPACT drive. This section provides two examples of how you
might wire a remote pot to your drive and configure the appropriate
parameters. These are only examples.
For more specific information about:
Wiring the analog inputs
Setting up your analog parameters
Specifying direction
Refer to:
Chapter 2
Chapter 7
Appendix B
The first example is shown in Figure 9.6. In this example, a ±10V pot
is wired to a D frame drive to provide speed control. This example
could apply to any B – H frame drive. However, if you are using an
A1 – A4 frame drive, you would use terminal block TB7 shown in
Figure 3.3.
Applications
9-13
Figure 9.6
An Example of a Remote 10V Pot Wired to a D Frame Drive
An In1 Scale
An In1 Filter
97
98
182
96
=0
=2
=0
= +/-4096
An In 1 Offset
An In1 Value
Link
Speed Ref 1
29
TB10
1 2 3 4 5
+10V
Remote Pot
-10V
In this example, An In 1 Offset (parameter 97) is set to 0, and An In 1
Scale (parameter 98) is set to 2. This lets the drive use the full ±4096
internal drive units. A link was also made so that Speed Ref 1
(parameter 28) would receive the value of An In 1 Value
(parameter 96) as its speed reference.
The second example is shown in Figure 9.7. In this example, a
0 – 10V pot is wired to a D frame drive to provide speed control. This
example could also apply to any B – H frame drive.
Figure 9.7
An Example of a Remote 0 – 10V Pot Wired to a D Frame Drive
An In 1 Offset
An In1 Scale
An In1 Filter
97
98
182
=0
=2
=0
TB10
1 2 3 4 5
10V
Remote Pot
(2.5K Minimum)
0V
An In1 Value
96
= +10 = +4096
-10 = -4096
Link
Torque Ref 1
69
9-14
Applications
In this example, the remote pot is set to use the 10V input. You could
also set it up to use the -10V input. An In 1 Offset (parameter 97) is
set to 0, and An In 1 Scale (parameter 98) is set to 2 to provide the full
-4096 to 0 or 0 to +4096 internal drive units based on the switch
position. A link was also made so that Torque Ref 1 (parameter 69)
would receive the value of An In 1 Value (parameter 96) as its torque
reference.
Using MOP
The MOP, or Manually Operated Potentiometer, feature lets you use
inputs to the L Option board to control the speed or torque of the
drive. You must have an L Option board to access the MOP feature.
To use the MOP feature, you need to:
1. Set L Option Mode (parameter 116) to a value of 5, 9, 10, or 15.
You must use one of these modes because these are the only
modes that provide access to Digital Pot Up/Dn.
2. Set Mop Increment (parameter 118) to a value in rpms/second.
This value sets the rate of increase or decrease to the MOP.
3. Link Mop Value (parameter 119) to either a speed or a torque
reference. For example, you could link Mop Value to Speed Ref 1
(parameter 29) if you want the drive to follow the MOP command
for speed.
When the Digital Pot Up is true, the value of Mop Increment is added
to Mop Value, and when the Digital Pot Dn is true, the value of Mop
Increment is subtracted from Mop Value. This lets you control the
speed through the MOP as shown in Figure 9.8.
Figure 9.8
Example of the MOP Feature
Mop Value
Signal
Digital Pot Up = True
Digital Pot Up = False
Using Flying Start
Digital Pot Dn = False
Digital Pot Dn = True
The flying start feature lets you start a drive when the connected
motor is rotating. When you activate the flying start feature, the drive
starts at either the last known speed or a speed that you enter.
As an example, you want to reconnect to a motor that is rotating at
860 rpm. You set Fstart Select to 2 and set Fstart Speed to +1780
rpm. The drive searches for 1.34 seconds and then reconnects to the
motor at +737 rpm. Figure 9.9 illustrates this example.
Applications
9-15
Figure 9.9
Example of a Flying Start
1780 rpm
1780 rpm
737 rpm
Drive
Frequency
Output
1.34 sec
860 rpm
1780 rpm
737 rpm
Motor
Speed
Search Starts
Reconnect
Return to Speed
Once enabled, the flying start feature remains on until you set Fstart
Select to 0. If flying start is on when you perform a start from zero, it
adds time to the start.
NOTE: The Flying Start Feature is only necessary for a drive in the
sensorless mode. If an encoder is present, Flying Start is inherent.
Flying Start from Last Known Speed
Important: It is not recommended that you start the flying start
search from the last known speed if your drive is operating in torque
mode.
To start the flying start from the last known speed, you need to:
1. Set Fstart Select (parameter 216) to 1.
2. Start the drive.
Important: The following conditions reset the last known speed to
zero: cycling drive power, resetting the drive, clearing a hardware
fault (IOC, BOV, DESAT, or Ground fault).
Flying Start from Selected Speed
To start the flying start from a speed that you set, you need to:
1. Set Fstart Select (parameter 216) to 2.
2. Set Fstart Speed (parameter 217) to the speed at which you want
to begin the search.
3. Start the drive.
Important: To maximize performance, set Fstart Speed slightly
greater than the speed at which you expect to reconnect to the motor.
NOTE: The Forward and Reverse Speed Limit MUST be set to the
same magnitude to prevent Absolute Overspeed Fault.
9-16
Applications
Speed Profiling Introduction
This feature provides a series of 16 programmable steps that allow
you to program a sequence of speed command transitions. Each step
can be activated based on time, digital inputs, or encoder counts. The
profile can be used as a single sequence with a return to a “home”, or
as a continuous loop, returning to an initial step value each time. This
feature can be used for simple positioning requirements on
applications such as turntables, hemmers, gantries, run-out tables,
transfer shuttles and station gates.
NOTE: The Speed Profile feature is not intended to be used in
conjunction with certain other features in the drive. These include
Function Blocks, Process Trim or Bus Regulation. Using these
features in combination with Speed Profiling may result in
inconsistent operation that cannot be guaranteed.
The Speed Profile is configured using a command word, and end
action parameters. Each available step is configured with three
parameters, which define the speed (in RPM) to operate during the
step and when to end the step. The amount of travel for each step is
controlled by the type of trigger which ends or terminates the step and
is based on time, encoder count, or digital input. In addition,
parameters for monitoring and status information are available.
The Profile Enable Parameter (P235) enables the profile, defines the
“home” position, begins the actual sequence, and allows for a profile
“Hold” (Refer to page 9-21). In addition, it defines how to transition
between each profile step. An enable bit sets the “Home” position,
and must be set to 1 for the profile feature to operate. “Home”
position is redefined any time this bit is toggled to a 1. A run
Sequence bit, is used to actually begin the sequence operation, once a
start command has been given to the drive. An Encoder Velocity
Blend bit defines if the drive will come to zero speed between each
step, or “blend” the step value, and make a smooth transition from
one step speed to another. An example of this is shown below.
RPM
Encoder Step Profile
"Unblended" Operation
RPM
1000
Normal
500
1000
1
2
3
Normal
0
1000
with
Hold
500
500
1
2
3
0
1000
1
2
with
Hold
0
Hold
Input
Time Step/TB Input Step or
Blended Encoder Step Profile
500
0
Hold
Input
1
2
3
Applications
Speed Profiling Operation
9-17
Each step is defined by three configuration parametersA - The Speed in rpm during the step [Step Speed ]
B - The Step Value [Step Value ]
C - The Type of Step to perform (time based, digital input activated,
or encoder count based) [Step Type]
Parameter No.
#249
SPEED
#250
VALUE
#251
TYPE
The Profile control will output the selected Step Speed until the
conditions of the Step Type and Value are met.
Each step transition can be turned off or be one of three active
types.
If a STEP TYPE parameter:
= 0, the step is turned Off
= 1, the step is time based
= 2, Tb3 input based
= 3, Encoder Count based
The Step Type is determined by the third parameter in each parameter
group. The value of the Step Type parameter will change the meaning
of the Step Value parameter (P#250).
In our first example, we will make the first step time based by
entering a value of 1 in the Step Type parameter. Changing the value
of the Step Type parameter #251from a 0 to a 1, turns the step on, and
tells the control to interpret the step value in units of seconds.
Enter 400 rpm in the Step 1 Speed parameter #249.
Enter 10 seconds in the Step Value parameter #250.
EXAMPLE 1 (First Step)
P249 [Step 1Speed ] = +400 rpm
P250 [Step 1 Value] = 10 seconds
P251 [Step 1 Type] = 1 Time Step
To program a second step, we would setup the parameters #252
through #254.
Enter 1700 in Step Speed parameter #252. Turn the step on by
entering a value of 1 in the Step Type parameter #254. Enter 10
seconds in the Step Value parameter #253.
EXAMPLE 1 (Second Step)
P252 [Step 2 Speed ] = +1700 rpm
P253 [Step 2 Value] = 10 seconds
P254 [Step 2 Type] = 1 Time Step
9-18
Applications
Description of Operation (Second Step) - In example #1, the Speed
profile would command 400 rpm for 10 seconds based on the
information in Step 1. The Speed Profile would then proceed to Step
#2 and command 1700 rpm for another 10 seconds. The control will
then proceed to the next step. Since Step #3 is not configured, the
profile will end and command zero speed.
End Actions - When the profile control is at the end of a sequence a
variety of actions can be taken. These are called End Actions. The
end actions are selected by parameter #238 [End Action Select] and
are configured via the End Action (EA) parameters #239 through
#243.
The kinds of End Actions available are:
If Parameter 238 (End Action Select)
= 0, Command zero speed.
= 1, Goto EA - Goto step indicated by parameter #240.
= 2, Input EA - End action speed (P #239) until TB3 input
transitions and then commands zero speed.
= 3, Compare EA - Command EA speed (P#239) until
compare parameter (P#242) equals compare value
(P#243).
= 4, Home EA - Command EA speed (P#239) until motor
returns to home position.
To cause the first profile to continually loop from step #2 back to step
#1, you would use the Goto end action.
Enter a value of 1 in the End Action (EA) select parameter. Then
select the target step by entering a value of 1 in the EA Goto
parameter #240.
When enabled, the profile will continually sequence between the Step
1 speed of 400 rpm, and the Step 2 speed of 1700 rpm in 10 second
intervals. This will continue until the profile is turned off via the
Profile Enable Parameter #235 (clearing bit 0).
The other End Action options (TB3 input, Compare and Home End),
will be discussed in more detail in a later section.
Speed Profile Start Up
Configuration
There are a variety of functions that must be configured before a
Speed Profile can be used with a drive. For this reason, additional
functionality was added to the Start Up procedure to simplify this
configuration.
If you have not entered the motor parameters or tuned the motor yet,
please use the Quick Tune procedure of the Start Up sequence at this
time.
If you are not familiar with the Start Up and Quick Motor Tune
features of the IMPACT, please review section 6-8 through 6-11 in this
manual.
When the motor tune is complete, bypass the Digital section and the
Analog Reference section of start up to reach Speed Profile
Configuration.
Applications
9-19
Speed Profile Configuration
1. Enter a YES to the “Configure Speed Prof?” question.
2. Say YES to the Encoder operation for the drive question.
3. Set counts per unit (Parameter 245) for the encoder 4 x PPR
(P8). For a 1024 encoder enter 4096.
4. Set Value Tolerance parameter #244. For now it can be left at
its default value of 20 counts.
5. Select a Stop End Action (Parameter 238 [End Action Sel]).
Five possible end actions are available as detailed in P 238.
6. We have already activated 2 steps in the Speed Profile
Introduction, so you can enter a NO to activating further steps.
However, if you want to add more steps to your profile, reply
YES and follow the steps in A thru C.
A. Set required Step Speed parameters (Param 255, 258 etc. etc.) An
RPM value will be entered in these parameters.
B. Set the Step Type parameters (Param 257, 260 etc. etc.)
1. Entering a value of 1 in a Step Type Parameter selects a Time
Step (value outputted in seconds).
2. Entering a value of 2 selects a TB3 Input Step. (This option
can only be used with an L Option Card). The speed will be
outputted until the selected TB3 terminal transitions from low
to high input.
3. Entering a value of 3 selects an Encoder Step (Value outputted
in units).
4. Entering a value of 0 selects Not Used, which forces an End
Action.
C. Set required Step Value parameters (Param 256, 259 etc. etc). This
value will be in seconds, encoder counts or TB3 inputs depending
on the selection made in the corresponding Step Type parameter.
For Example: Entering a value of 1 in Parameter 257 will require
a time in seconds entry in Parameter 256.
Initial Setup Requirements
As mentioned previously, a number of parameters were adjusted to
configure Speed Profiling. These modifications were performed
automatically when the Speed Profile Configuration option was
selected from the Startup menu.
In the following section we will identify all the automatic changes
that were made. An explanation of operation is provided to allow you
to make a decision on whether each step should be manually modified
to meet your desired setup.
Accel/Decel Rates
Parameter #42 [Accel Rate 1] and Parameter #44 [Decel Rate 1]
were both be set to .8 seconds.
The acceleration and deceleration control is part of the speed PI
regulator. It is important that the rate limits set in the PI regulator
do not interfere with the speed profile regulator.
9-20
Applications
For Example: If the deceleration rate in the speed PI regulator is
set too long, the control of the speed profile loop will not be
followed. The result will be an overshoot of the programmed
travel distance. If the decel rate is lowered, then the overall cycle
of the speed profile is increased.
Profile Speed Command
Profile Speed Command outputs were linked into Speed Ref 1. The
32 bit command is used for fine positioning in encoder mode.
A. Parameter #247 (Profile CMD Frac) linked to Parameter #28
(Speed Ref 1 Frac).
B. Parameter #248 (Profile CMD) linked to Parameter #29
(Speed Ref 1).
Bipolar Signal Reference
Parameter 17 {Logic Options] bit 11 “Bipolar Sref” must be set to 1
to enable bipolar reference for speed and direction control.
If this is not set for bipolar operation, a reverse speed command
(which is a negative value) cannot occur. As a result, the profile
will “lock-up” when the first negative speed step is encountered.
Bus Regulation Turned Off
Bus Regulation is turned OFF when parameter 13 bit 10 is cleared (bit
10 set to “0”). This is so the speed profile control will NOT be
overidden by the bus regulator when bit 10 is set to zero.
NOTE: Using bus voltage regulation with the speed profile
feature is Not Recommended.
If bus regulation is enabled, the motor may not reach commanded
speed and could cause an over-travel condition on the speed
profile steps.
Relay Output Configuration
When Speed Profiling is enabled, parameter 191[Relay 4 Config] is
set to 39 “@ Profile Pos”.
This relay will energize when each “encoder step” reaches the
step position within the set tolerance (p 244).
Motor Current Limits
Parameter #73 Negative Motor Current is set to -200%.
If the drive runs into a current or torque limit during a timed step,
the programmed travel time will be increased. For TB3 input and
encoder steps, the time to travel a given distance will be increased
if this situation occurs.
Torque Mode
Set Parameter #68 [Torque Mode] to a value of 1.
TB Input Mode
Parameter # 116 should be set to a value of 31.
Feedback device is Encoder:
Parameter #64 [Fdbk Device Type] is set to a value of 2.
Applications
Profile Command & Control
9-21
Once a profile is properly configured, a command sequence is
initiated by setting the first two bits of the Profile Enable parameter
#235.
[Profile Enable]
Bit 7
Bit 6
Parameter Number 235
Parameter Type Read/Write
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Enable
Run Sequence
Hold
Enc VelBlend
Reserved
Reserved
Reserved
Reserved
Bit #0 (the first bit) sets the Home position and initializes the Profile
sequence.
The home position is required only for the Home End Action and
proper display of the Units Traveled parameter output #246. The
Home End Action will be discussed in further detail in the Encoder
section.
Transitioning - Bit #1 (the second bit), actually initiates the profile
sequence.
Both bits 0 & 1 must be set to initiate a sequence.
Setting the Run Sequence bit 1 will not start the profile if the
Enable bit 0 is clear. Setting the Enable bit will initialize speed
profiling and set the Home position, but the sequence of steps will
not begin until the Run Sequence bit 0 (first bit) is set.
IMPORTANT: Parameter 235 (Profile Enable) is independent of the
Drive Start/Stop control.
Bit 1 (Run Sequence) of parameter #235 must be toggled in addition
to issuing a Drive Start command for Speed Profiling to operate.
Setting the Hold Bit (bit #2) will prevent a sequence from
incrementing to the next step.
9-22
Applications
Sequence State Status
Once the sequence has been initiated the state of the sequence will be
reflected in the Profile Status parameter #236.
The lower 5 bits will tell us which state the control is
commanding. You will observe bit 0 set for 10 seconds in Step 1.
It will then clear and bit #1(second bit) will be set for 10 seconds,
indicating Step #2.
[Profile Status]
Parameter Number 236
Parameter Type Read
Bit 7
Bit 5
Bit 6
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Step
Step
Step
Step
Step
Enabled
Run Sequence
Hold
Active Step
If there were more steps, the first five bits (bits 0-4) of parameter 236
would reflect the present commanded step as a binary value.
Bits #5 and #6 of the status word, reflect the present state of the
profile Enable bit #0 and the Run Sequence bit #1 of the command
word (Profile Enable P235).
The Run Sequence bit is latched while the Enable bit is Not.
This means that once a sequence has begun, and the Run
Sequence bit 1 (of P235) has been set, clearing of the Sequence
bit will be ignored because it is latched.
Beginning a Sequence
At this point, the system should be ready to run the Speed Profile
program. To begin Profile Execution;
1. Set the Enable bit #0 (1st bit) of parameter #235.
2. Press the Green Button (On HIM or GPT terminal) to start the
drive.
3. Set the Run Cycle bit #1 of the Profile Enable parameter #235
to execute profile control.
Applications
Using the TB3 Inputs
9-23
The digital inputs of the L Option Card can be used with the speed
profile control. Two input modes were added specifically for this
purpose, modes #31 and 32.
Mode #31 makes six inputs available for controlling transition from
one speed profile step to another.
Mode #32 duplicates some of the command functions of the Profile
Enable parameter #235.
These L Option input modes can be selected by adjusting the value of
parameter #116. Anytime the value of parameter #116 is changed the
system should be reset, or the power to the control board should be
cycled.
Figure 9.10
L Option Modes for Profiling
N
N
N
N
Step Transitions
Entering a value of 2 into any given Step Type parameter, defines the
step as a TB3 input step.
When a step is defined as an input step, its Step Value parameter will
associate a particular input terminal with that step.
In mode #31 six inputs are available for step transitions.
When the Step Value parameter;
= 0,TB3 Terminal #22 is selected
= 1,TB3 Terminal #23 is selected
= 2,TB3 Terminal #19 is selected
= 3,TB3 Terminal #26 is selected
= 4,TB3 Terminal #27 is selected
= 5,TB3 Terminal #28 is selected
9-24
Applications
In mode #32, only two inputs are available for step transitions.
When the Step Value parameter;
= 0,TB3 terminal #22 is selected
= 1,TB3 terminal #23 is selected
When an input step is executed it will command the Step Speed until
the associated TB3 input is true.
When the associated input goes high, the Control will move to the
next step.
Figure 9.11- Input Step Transitions
Motor Speed P81
Step 2
Speed
1600 RPM
RPM
1600
Step 3
Speed
1200 RPM
1200
800
Step 1
Speed
400 RPM
Step 4
Speed
800 RPM
Step 5
Speed
400 RPM
Step 6
Speed
0 RPM
400
0
Step 7
Speed
-400 RPM
-400
Step 1
Begin
Sequence
Step 2
TB3-19
Step 3
TB3-22
Step 4
TB3-23
Step 5
TB3-26
Step 6
TB3-27
Step 7
TB3-28
Done
TB3-19
The example in Figure 9.11 shows a profile sequence utilizing Input
Mode #31 to control transitions from one step speed to the next.
Since there are 16 steps and a maximum of 6 inputs available for use,
multiple steps can reference the same digital inputs.
Note: When two steps reference the same input you must make
certain they are not adjacent to each other. Note that step 1 and step 7
are both utilizing the same input terminal #19.
For Example: If Step 1 and Step 2 referenced the same input, the
profile control would command Step 1 speed until it saw the input go
true. Upon entering Step 2, it would see the same input high and
immediately (12.5 ms) go to Step 3.
Using Mode #32
Digital input mode #32 duplicates the function of the first three bits of
the Profile Enable command parameter #235 to determine the
command state of the Profile Control. It is best to clear the Profile
Enable command parameter #235 when controlling Profile
operation via input mode 32 to avoid unwanted interactions.
The three profile control TB3 inputs are or’ed with the Profile Enable
command parameter #235 to determine the command state of the
Profile Control.
Applications
9-25
Setting the Profile Enable input terminal (TB3-#26) will initialize
the profile control, and set the current motor position as the Home
position. This setting of the Profile Enable bit will be reflected in the
Profile status parameter (P236 bit #5).
Setting the Start input terminal TB3- #19 will start the drive. This is
the same as pressing the green start button on a HIM terminal.
Setting the Run Cycle input terminal TB3- #27 will initiate a Profile
Sequence and will be reflected in the Status parameter P236 bit #6.
When the profile has completed an entire step sequence this input
(Run Sequence #27) will have to be cleared and toggled high
again to begin another sequence.
Input Step Hold
Setting the Step hold input terminal TB3-#28 will prevent the profile
from continuing to the next step. When the hold input is released
(cleared) it will continue to the next state.
Two input terminals, #22 and #23 are available for controlling step
transitions if desired.
Input End Actions
When an input End Action is selected, the profile Control will
command the End Action speed (P239) until the selected TB3 input
goes high. The control will then command zero speed.
An Input End Action is selected by entering a value of 2 in the End
Action parameter #238. The input terminal used to trigger the zero
speed command is selected by parameter #241.
The step trigger inputs are the only valid choices for signaling the end
of the Profile Sequence. Remember, six inputs are available in Mode
#31, but only two inputs are valid in Mode #32.
Encoder Steps
Setting a Step Type parameter to a value of 3, defines it as an
Encoder Step.
Adjustable Encoder Step Units
Adjustment of the Counts Per Unit parameter allows you to define
the Units for Encoder Steps in increments that are meaningful for a
particular application.
For Example: An application translates four motor shaft revolutions
via gearing, into one linear foot of movement. The Counts Per Unit
parameter could be adjusted so that the Encoder Step Value
parameters are entered in units equating to one foot.
Encoder Units and the Counts Per Unit Parameter
The rotational distance of each encoder step unit is determined by
Counts Per Unit parameter #245.
When determining the value of the Counts Per Unit parameter, it is
important to understand that a typical encoder produces a value that is
4 times greater than the encoder PPR rating.
This is because the drives are designed to utilize quadrature
encoders. With a quadrature encoder, the counter will increment on
the rising edge of each of the four input signals (A, A, B, B).
9-26
Applications
This can be verified by resetting the drive or cycling power to clear
the encoder position feedback parameters #227 & #228. Rotate the
shaft one revolution and observe the value of parameter #227. This
should be four times greater than the value of the encoder PPR
parameter #8.
Step Rotation Distance In Motor Shaft Revolutions
To define all encoder Step Value parameter units as graduated in
whole revolutions, set the Count Per Unit parameter (CPU) equal to 4
x the PPR parameter #8.
For Example: For a single revolution in a drive with a 1024 PPR
encoder;
CPU (P245) = 4 x 1024 (P8) = 4096
With the CPU parameter set, entering a value of 100 in the Step 1
Value parameter #250, will cause the profile control to command the
Step 1 Speed until the motor has turned 100 revolutions.
P249 Step 1 Speed = 1726
P250 Step 1 Value = 100.0 units (revs)
P251 Step 1 Type = 3 (Encoder)
To have one encoder unit equal two motor revolutions:
CPU (P245) = 2 revs x (4 PPR) = 8 x PPR (P8)
To have one value parameter unit equal 1/2 revolution;
CPU (P245) = 1/2 x (4 PPR(P8)) = 2 x PPR (P8)
Step Value parameters can be entered in 1/10th unit increments.
Applications
9-27
Figure 9.12
Example: Single Encoder Step1
Step 1
Speed
Speed
Approximate Decel
Rate P44
Accel Rate
P42
+/- Value Tolerance
P244
Time
Target Position
100 Revs
Determining the End of an Encoder Step
The Value Tolerance parameter #244 is used as a hysteresis band for
determining the End of Step position.
The motor shaft must be at the target position within the +/- value
tolerance (P244) counts for eleven consecutive update cycles (Approx
138 ms) before control will continue to the next step.
Should the motor overshoot the target, the profile command will
adjust in the opposite direction, causing the shaft to back up.
If this overshoot is unacceptable, the Error Trim Gain (P237) can be
set to a lower value (less than 2.0) to eliminate this. The Error Trim
Gain parameter is discussed in detail later in this chapter.
“At Encoder Position” Output Relay #4 signal
The #4 Output relay is reserved for identification of the encoder step
position.
When the shaft has remained within the target position tolerance for
approximately 50 ms, the control will set the Output Relay #4 to
identify the motor shaft as being at the programmed Step Target
position.
If the next step is an Encoder step, the output will be cleared when
beginning this next step. If the next step is not an encoder step, the
relay will be left set.
Step Hold in Encoder Mode
The Hold bit can be set either by writing the third bit of the Profile
Enable parameter, or by setting the L10 TB3 input terminal #28 in
Mode 32.
When the hold bit is set, the Profile Control will continue to the step
target. With the Step Hold bit set, the control will not proceed to the
next step. The control will remain active and maintain the target
position until the hold bit is cleared. When released (hold bit cleared)
it will continue to the next step.
Decelerating to Position and the Error Trim Gain
The Error trim parameter is actually a Dynamic Gain Limit, for those
familiar with position control. This gain comes into play only when
the shaft is nearing the target. As the Error gets very small, the gain
increases to allow fine adjustment.
9-28
Applications
When the Trim Gain parameter is above a value of 2.0, the profile
control will decelerate as it approaches the target at approximately the
programmed Decel rate (P44).
If the shaft overshoots the target area it will back up. If this is
unacceptable, the Error Trim Gain parameter can be lowered to
eliminate this overtravel.
As the value of this parameter is lowered it will begin to “round off”
the end of the decel ramp (Fig. 9.13). The end of the target approach
can be made as “smooth” as desired using this method.
Figure 9.13
Example: Encoder Step Trim
Step 1
Speed
Speed
Approximate Decel
Rate P44
Accel Rate
P42
Rounding
+/- Value Tolerance
P244
Time
Target Position
100 Revs
Continuing to lower the trim gain value will cause this rounding to
begin earlier in the Decel ramp. This will also cause the time to target
position to extend longer.
Step Position Error
The control will position the motor within the tolerance on each step
before proceeding to the next step. The actual rotor position may be
slightly forward or behind the exact target and still be within range.
Increasing the tolerance parameter value will enlarge this range.
When the next step calculates a target, it uses the actual position the
new step begins at.
Repeating Profile Sequences
If a Goto End Action is selected the position error will continue to
accumulate over multiple sequences. Over time the accrued error
could be significant.
If a Home End Action is selected, the error of a single sequence will
Not accumulate over multiple sequences. The rotor will return to the
same position it was in when the Profile enable bit was first set. As
long as the enable bit is set, the control will retain this as its home
position. Additional sequences can be started by toggling the Run
Sequence bit.
Velocity Blend Mode
Encoder mode applications which don’t require great precision can
utilize the Velocity Blend mode to switch from one step velocity to
another. In this blend mode, control will not demand that the motor
rest at zero speed for eleven update intervals before continuing to the
next step as illustrated in Figure 9.14.
Applications
9-29
This is useful when using the encoder to replace limit switches for
controlling the commanded speed. Keeping the commanded velocity
from going to zero speed for fine positioning, will reduce the time
between encoder steps. This subsequently reduces the overall cycle
time.
The blend mode will reduce the position accuracy since the drive may
be moving at a relatively fast rate. The encoder sample interval is
fixed at 12.5 ms.
The control will not backup to maintain a position. It will
automatically continue to the next step when the position is at or
beyond the target. Any errors would accumulate throughout the
sequence.
Figure 9.14
Velocity Blend Mode Example
Step Example Without
Velocity Blend
[Profile Enable] xxxx0011
Notice that each step is a precise movement and the control brings the motor to zero
speed at the end of each step. When the step is within tolerance value, the relay output
activates. Once the next step is initiated, the relay opens (out of tolerance).
Step Example Using
Velocity Blend Mode
[Profile Enable] xxxx1011
Notice that the step velocities are “blended” together in this mode. The position
accuracy at each step is limited, but with an encoder home end action, the starting posit
is very accurate.
9-30
Notes
Applications
Chapter
10
Using the Function Block
Chapter Objectives
Chapter 10 provides information for helping you to use the function
block that is included with the 1336 IMPACT drive.
This topic:
What is a Function Block?
Starts on page:
An overview of function blocks
10-1
Evaluating the inputs
10-4
Using the timer delay function
10-5
Using the state machine function
10-8
Using the add/subtract function
10-10
Using the maximum/minimum function
10-12
Using the up/down counter function
10-14
Using the multiply/divide function
10-18
Using the scale function
10-20
Using the hysteresis function
10-23
Using the band function
10-26
Using the logical add/subtract function
10-26
Using the logical multiply/divide function
10-27
A function block is a group of parameters that work together to add
flexibility to the 1336 IMPACT drive. The function block that is
provided with the 1336 IMPACT drive lets you set up a timer delay,
state machine, multiply/divide, add/subtract, scale, an up/down
counter, or a maximum/minimum function by using a combination of
17 parameters. Because these functions use the same parameters, you
can only use one of the function blocks (such as the timer delay) in
your application.
Figure 10.1 provides an overview of the function block.
10-2
Using the Function Block
Figure 10.1
Function Block Overview
Function Sel
212
Timer Delay
0
1
2
3
4
5
In4
In5
Func 1 Eval Sel
Function In1
Func 1 Mask/Val
Off Time
On Time
6
7
In4
In5
Off Time
On Time
If:
Then:
True In6—>Out 1
False In7—>Out 1
Off Time
On Time
State Machine
I
199
V
0 – 17
In1
8
If In2 is:
False
False
True
True
203
I
Function In2
201
Func 2 Mask/Val
202
V
0 – 17
Func 3 Eval Sel
Function
Output 1
213
Out1
Add/Subtract
In1 + In2 = Out1
Function
Output 2
214
204
205
Then this
output is used:
In3
In6
In7
In8
206
I
V
And In1
Timer is:
False
True
False
True
In2
9
Func 3 Mask/Val
In4
In5
(In1 Timer Or In2) And In3
(In1 Timer And In2) Or In3
In1
200
198
Func 2 Eval Sel
Function In3
In1 Or In2
In1 Nor In2
In1 And In2
In1 Nand In2
(In1 Or In2) And In3
(In1 And In2) Or In3
0 – 17
Function In4
207
Function In5
208
Function In6
209
Function In7
210
Function In8
211
Function In9
232
Function In10
233
In3
In4
10 In1, In2 > [max]Out1
In1, In2 < [min]Out1
In3:
If:
Then:
False min —> Out1
True max —> Out1
Maximum/Minimum
In5
Up/Down Counter
In6
In7
In8
In9
11 In1
In2
In3
In4
In5
In6
In10
Count up (rising edge)
Count down (rising edge)
Load counter with 0
Up increment
Down increment
If:
Then:
False Word —> Out1
True Double word —> Out1, Out2
Multiply/Divide
12 (In1 x In2)/In3 = Out1, Out2
In4
If:
Then:
False Per unit math is used.
True Standard math is used.
False = Value of 0
True = Value other than 0
13
In1
In
In2
In3
Out
In4, In5 Out1, Out2
In6, In7
Function Block
Continued on Next Page
Scale
Out2
Using the Function Block
10-3
Continued from Previous Page
Hysteresis
14 In4 – Hi
In5 – Lo
In2 – (In1 > In4) —> Out1
In3 – (In1 < In5) —> Out1
(In5 < In1 < In4) —> Out1 no change
Band
15 In4 – Hi
In5 – Lo
In2 – (In5 <= In1 <= In4) —> Out1
In3 – not(In5 <= In1 <= In4) —> Out
Logical Add/Subtract
16
17
18
19
20
21
In1 Or In2
In1 Nor In2
In1 And In2
In1 Nand In2
(In1 Or In2) And In3
(In1 And In2) Or In3
If:
Then:
False In5 + In6 = Out1
True In8 + In9 = Out2
Logical Multiply/Divide
22
23
24
25
26
27
In1 Or In2
In1 Nor In2
In1 And In2
In1 Nand In2
(In1 Or In2) And In3
(In1 And In2) Or In3
If:
Then:
False (In5 x In6)/In7 = Out1, Out2
True (In8 x In9)/In10 = Out1, Out2
In4
False = Value of 0
True = Value other than 0
If:
Then:
False Per unit math is used.
True Standard math is used.
Function Block
10-4
Using the Function Block
Evaluating the Inputs
Func 1 Eval Sel (parameter 200), Func 2 Eval Sel (parameter 203),
and Func 3 Eval Sel (parameter 206) let you select how you want to
evaluate the corresponding input. You have the following options:
To:
Value:
Pass the value directly through to the function block
0
Mask the value (logical AND the input value with a value)
1
Send a true value when all bits that are set in the mask are on in the input
value
2
Send a true value when all bits that are set in the mask are off in the input
value
3
Send a true value when any bit that is set in the mask is on in the input
value
4
Send a true value when any bit that is set in the mask is off in the input
value
5
Send a true value when the input value is equal to the value of Func x
Mask/Val (parameter 199, 202, or 205)
6
Send a true value when the input value is not equal to the value of Func x
Mask/Val (parameter 199, 202, or 205)
7
Send a true value when the signed input value is less than the value of Func
x Mask/Val (parameter 199, 202, or 205)
8
Send a true value when the signed input value is less than or equal to the
value of Func x Mask/Val (parameter 199, 202, or 205)
9
Send a true value when the signed input value is greater than the value of
Func x Mask/Val (parameter 199, 202, or 205)
10
Send a true value when the signed input value is greater than or equal to
the value of Func x Mask/Val (parameter 199, 202, or 205)
11
Send a true value when the unsigned input value is less than the value of
Func x Mask/Val (parameter 199, 202, or 205)
12
Send a true value when the unsigned input value is less than or equal to the
value of Func x Mask/Val (parameter 199, 202, or 205)
13
Send a true value when the unsigned input value is greater than the value of
Func x Mask/Val (parameter 199, 202, or 205)
14
Send a true value when the unsigned input value is greater than or equal to
the value of Func x Mask/Val (parameter 199, 202, or 205)
15
Send an inverted value through to the function block
16
Send an absolute value through to the function block
17
ti
You should set up Func 1 Eval Sel, Func 2 Eval Sel, and Func 3 Eval
Sel before setting up the other parameters. This adjusts the units
used for the Function In x and Func x Mask/Val parameters.
Using the Function Block
10-5
Figure 10.2 shows how the input parameters for function input 1
work together. The input parameters for function inputs 2 and 3 work
in the same manner.
Figure 10.2
Input 1 Parameters for the Function Block
Func 1 Eval Sel
200
Function In1
I
198
Func 1 Mask/Val
199
V
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
None
Mask
All Bits On
All Bits Off
Any Bit On
Any Bit Off
I=V
I Not = V
Signed I<V
Signed I<=V
Signed I>V
Signed I>=V
Unsign I<V
Unsign I<=V
Unsign I>V
Unsign I>=V
Inverse
Absolute
In1
Function Block
For example, if Function In1 (parameter 198) is 10001001.0001000,
Func 1 Mask/Val (parameter 199) is 10001101.0001001, and Func 1
Eval Sel (parameter 200) is set to 5 (any bit off), then a value of true is
passed to the function block. If Func 1 Eval Sel is set to 3 (all bits
off), then a value of false is passed to the function block. Figure 10.3
shows how this works.
Figure 10.3
Example of Function Input 1 Parameters
Func 1 Eval Sel
200
Func 1 Mask/Val 199
10001101.0001001
If parameter 200 = 5 (any bit off),
then result is True.
The drive looks at only the bits
that are set in Func 1 Mask/Val if
modes 2, 3, 4, or 5 are selected
in Func 1 Eval Sel.
Function In1
198
Function Block
10001001.0001000
If parameter 200 = 3 (all bits off),
then the result is False.
These two bits are different.
If you want to pass the value of Function In1 directly to the function
block without evaluating it, set Func 1 Eval Sel to 0.
Function In4 (parameter 207), Function In5 (parameter 208),
Function In6 (parameter 209), Function In7 (parameter 210), and
Function In8 (parameter 211) provide additional input values.
Using the Timer Delay Function
You can use the function block to set up a timer delay. You can choose
how to evaluate the inputs and when you want to apply the timer by
using Function Sel.
10-6
Using the Function Block
Regardless of the option you choose, the timer off event cannot
happen until after your timer on event occurs.
Figure 10.4 shows the parameters that are used for the timer delay
function and how these parameters are evaluated.
Figure 10.4
Timer Delay Function Block
Func 1 Eval Sel
200
212
I
Function In1
198
Func 1 Mask/Val
199
V
0 – 17
Func 2 Eval Sel
Function In2
Func 2 Mask/Val
Function Sel
In1
203
201
202
V
0
1
2
3
4
5
In1
I
0 – 17
In2
In2
In3
Func 3 Eval Sel
Function In3
Func 3 Mask/Val
In1 Or In2
In1 Nor In2
In1 And In2
In1 Nand In2
(In1 Or In2) And In3
(In1 And In2) Or In3
In4
In5
Off Time
On Time
Function
Output 1
206
I
213
204
205
V
0 – 17
Function In4
207
Function In5
208
Function In6
209
Function In7
210
In3
In4
In5
If:
Then:
True In6—>Out 1
False In7—>Out 1
In3
In1
In4
In5
In2
Off Time
On Time
6
7
(In1 Timer Or In2) And In3
(In1 Timer And In2) Or In3
In6
In7
Timer Delay Function Block
As an example, you could use the timer delay function to set up a
delayed start with a ramp up to speed function. When the L Option
receives start input, there is a delay before the start command is sent
to the motor. This delay is specified in Function In5 (parameter 208)
as a time in minutes. For this example, Function In5 is set to 0.25
minutes, which is 15 seconds. When the time expires, the motor speed
ramps up to the specified speed. When the start is removed or a stop
command is issued, the stop command is sent to the drive and the
ramp is disabled, causing a current limit stop to zero speed.
This example is shown in Figure 10.5.
Using the Function Block
10-7
Figure 10.5
Delayed Start with a Ramp to Speed Example
Signal
Event
Occurred
0
Time
0
Speed
Timer On
0
Time
0
To set up this application, you need to enter the values shown in
Figure 10.6.
Figure 10.6
Timer Delay Function Block
Func 1 Eval Sel Function Sel
200
212
117
L Option In Sts
Enter: 00000001
198
Function In1
2
199
Func 1 Mask/Val
Func 2 Eval Sel
0
In1 Or In2
In4
In5
0 minutes
0.25 minutes
203
Enter: 0
Enter: 0 This value is not used.
201
Function In2
0
202
Func 2 Mask/Val
Enter: 0
207
Function In4
Enter: 0.25 minutes (15 seconds)
208
Function In5
Enter: 00000000.00000010
209
Function In6
Enter: 00000010.00000001
210
Function In7
If:
Then:
True In6 00000000.00000010—>Out 1
False In7 00000001.00000001—>Out 1
Timer Delay Function Block
Enter 0 for Function In3 (parameter 204), Func 3
Mask/Val (parameter 205), Func 3 Eval Sel
(parameter 206) and Function In8 (parameter 211) as
these parameters are not used for this function block.
This works as shown in Figure 10.7.
Function
Output 1
213
Out1
197
Logic Cmd Input
10-8
Using the Function Block
Figure 10.7
Delayed Start with a Ramp to Speed Example
Signal
Start Is
Issued
0
Time
0
Speed
Timer On = 15 seconds
0
Time
0
In addition, Start/Jog Mask (parameter 126) should be set to
11111110.11111111.
Using the State Machine
Function
The state machine function lets you use a decision table to select
which value to use for the output based on the values of In2 and a
timer on In1. Figure 10.8 shows the state machine function block.
Figure 10.8
State Machine Function Block
Func 1 Eval Sel
200
Function Sel
212
I
Function In1
198
Func 1 Mask/Val
199
V
0 – 17
In1
In4
In5
Func 2 Eval Sel
Off Time
On Time
203
I
Function In2
201
Func 2 Mask/Val
202
V
0 – 17
In2
8
Func 3 Eval Sel
206
I
Function In3
204
Func 3 Mask/Val
205
V
0 – 17
Function In4
207
Function In5
208
Function In6
209
Function In7
210
Function In8
211
In3
If In2 is:
False
False
True
True
And In1
Timer is:
False
True
False
True
Then this
output is used:
In3
In6
In7
In8
Function
Output 1
213
In4
In5
In6
In7
In8
State Machine Function Block
As an example, you could use the state machine function block to set
up a speed profiler such as the one shown in Figure 10.9.
Using the Function Block
10-9
Figure 10.9
Speed Profiler Using the State Machine Function Block
Speed
(rpm)
4000
1024
0
0
1
2
3
4
Time (seconds)
To set up the function block for this application, you would need to
enter the values shown in Figure 10.10.
Figure 10.10
State Machine Function Block
Func 1 Eval Sel
200
Function Sel
212
198
81
Motor Speed
10
Function In1
In1 is true if
Motor Speed > 4000
In4 Off Time
=0
In5 On Time
= 100
199
Enter: 4000
Func 1 Mask/Val
Func 2 Eval Sel
203
201
81
Motor Speed
Enter: 1024
10
Function In2
In2 is true if
Motor Speed > 1024
202
Func 2 Mask/Val
Func 3 Eval Sel
206
Enter: 0
204
Function In3
Enter: 0 This value is not used.
8
0
In3 = 0
205
If In2 is:
False
False
True
True
And In1
Timer is:
False
True
False
True
Then this
output is used:
In3 — 0
In6 — Not used
In7 — Ramp Disable
In8 — Ramp Disable Stop
Func 3 Mask/Val
Enter: 0
207
208
Function In5
Enter: 0 This value is not used.
209
Function In6
Enter: 00000010.00000000
210
Function In7
Enter: 00000010.00000001
213
197
Logic Cmd
Input
Function In4
Enter: 0.17 minutes (10 seconds)
Function
Output 1
211
Function In8
State Machine Function Block
This works as shown in Figure 10.11.
10-10
Using the Function Block
Figure 10.11
Speed Profiler Using the State Machine Function Block
At point A, a start command has been received and the motor speed can
begin to follow the specified acceleration ramp.
Speed
At point B, the motor speed has reached 1024 internal units. Because
(internal
In2 (Motor Speed (parameter 81) > 1024) becomes true while In1
units)
(Motor Speed > 4096) is still false, the state machine uses In7 (Ramp
Disable) as the output sent to Function Output1 (parameter 213) which is
4000
linked to Logic Cmd Input (parameter 197). The motor speed increases
using the current limit.
At point C, In1 (Motor Speed > 4096) becomes true and the timer on
function runs for 10 seconds (D) as specified by In5. After 10 seconds,
1024
the stop command becomes true, and the motor speed decreases using
the current limit.
At point E, Motor Speed is less than 4096 so the drive is again using In7
0
(Ramp Disable). The stop is removed.
At point F, Motor Speed is less than 1024 and with both In1 and In2
being false, In3, which is 0, is used for Function Output1. The motor
continues decelerating using the specified deceleration ramp.
D
C
E
F
B
G
A
0
1
2
3
4
Time (seconds)
In addition, you need to set three other parameters for this example to
work. Speed Ref 1 (parameter 29) needs to be set to the base motor
speed (4096 internal units). Accel Time 1 (parameter 42) and Decel
Time 1 (parameter 44) both need to be set to 2 seconds.
Using the Add/Subtract
Function
The add/subtract function adds the value of function input 1 to the
value of function input 2 and places the result in Function Output1
(parameter 213). Figure 10.12 shows the add/subtract function block.
Figure 10.12
Add/Subtract Function Block
Func 1 Eval Sel
200
Function Sel
212
I
Function In1
198
Func 1 Mask/Val
199
V
Func 2 Eval Sel
0 – 17
In1
203
9
In1 + In2
213
I
Function In2
201
Func 2 Mask/Val
202
V
Function Output 1
0 – 17
In2
Add/Subtract
Function Block
Using the Function Block
10-11
As an example, you could set up the add/subtract function block to
provide fine and coarse adjustment to the speed reference as shown in
Figure 10.13.
Figure 10.13
Examples of Fine and Coarse Adjustments in Speed
Example 2
Example 1
Speed
Speed
Coarse
Adjustment
(Provided at In1)
0
Time
0
± Speed
± Speed
Speed
Speed
Time
Actual Motor
Speed
0
0
Time
Time
Speed
Speed
Fine
Adjustment
(Provided at In2)
0
± Speed
Time
0
Time
± Speed
For this example to work, link the analog input 1 parameters to
Function In1 (parameter 198) and the analog input 2 parameters to
Function In2 (parameter 201) as shown in Figure 10.14.
10-12
Using the Function Block
Figure 10.14
Example of an Add/Subtract Function Block
Coarse
Adjustment
+10V Pot
Func 1 Eval Sel
200
Function Sel
An In 1 Offset
An In 1 Scale
An In 1 Value
98
97
96
=0
=2.000
Function In1
198
212
0
Enter: 0 This value is not used.
Function
Output 1
199
Func 1 Mask/Val
+10V
9
+4096
+2048
In1 + In2
213
29
Func 2 Eval Sel
+409
+10V Pot
Speed
Ref 1
203
An In 2 Scale
An In 2 Value
Function In2
100
101
99
201
=0
=0.200
An In 2 Offset
Fine
Adjustment
0
Enter: 0 This value is not used.
202
Func 2 Mask/Val
Add/Subtract
Function Block
Enter 0 for parameters 204 through 211
as these parameters are not used for this
function block.
An In 1 Value (parameter 96) receives input from a ±10V pot. An In 1
Offset (parameter 98) is set to 0 because no offset is needed. The
±10V input is converted to ±2048 internal drive units. An In 1 Scale
(parameter 97) is set to 2 to scale the value to ±4096, which is ±base
motor speed. This input is passed to Function In1 to use as the coarse
adjustment.
An In 2 Value (parameter 99) receives input from a 10V pot.An In 2
Offset (parameter 100) is set to 0 because no offset is needed. The
10V input is converted to 2048 internal drive units. An In 2 Scale
(parameter 101) is set to 0.2 to scale the value to 409. This input is
passed to Function In2 to use as the fine speed adjustment.
In addition, you need to set bit 11, Bipolar Sref, in Logic Options
(parameter 17).
Using the Maximum/Minimum
Function
The maximum/minimum function lets you select either the larger of
two values or the smaller of two values. The maximum/minimum
function block is shown in Figure 10.15.
Using the Function Block
10-13
Figure 10.15
Maximum/Minimum Function Block
Func 1 Eval Sel
198
Func 1 Mask/Val
199
212
V
0 – 17
Func 2 Eval Sel
In1
203
10
I
Function In2
201
Func 2 Mask/Val
202
V
0 – 17
Func 3 Eval Sel
Func 3 Mask/Val
Function Sel
I
Function In1
Function In3
200
In2
I
V
In3:
If:
False
True
Function Output 1
Out1
213
Then:
min —> Out1
max —> Out1
206
204
205
In1, In2 > [max] Out1
In1, In2 < [min] Out1
0 – 17
In3
Maximum/Minimum
Function Block
In1 is compared to In2. The value passed to Function Output 1
(parameter 213) depends on In3.
If In3 is:
Then this value is passed to Function Output 1:
False
The smaller value
True
The larger value
As an example, you could use the maximum/minimum function block
to make sure that the speed in a mixing process does not exceed a
specified limit. Figure 10.16 shows this application.
Figure 10.16
Example of a Mixing Process
..
.
Maximum Speed
This function block is
set up to select the
minimum of two values.
Smaller Value
PLC
User Speed
Minimum/Maximum
Function Block
User±Controlled Pot
For this example, the PLC is used to monitor the mixing process. The
user can control the speed of the mixing process, up to the maximum
speed specified by the PLC. The maximum/minimum function block
is used to select whichever value is smaller (the minimum): the speed
specified by the PLC or the speed specified by the pot.
To set up the function block for this application, you would need to
enter the values shown in Figure 10.17.
10-14
Using the Function Block
Figure 10.17
Maximum/Minimum Function Block
..
Func 1 Eval Sel
Gateway
+4096
SP An
In2 Sel
136
=6
SP An
In2 Scale
138
=1
200
SP An In2 Value
137
Function Sel
198
212
0
+4096
Function In1
199
Enter: 0 This value is not used.
In1
Func 1 Mask/Val
Func 2 Eval Sel
203
0–10V
An In 1 Offset
An In 1 Scale
An In 1 Value
98
97
96
=0
=2
+4096
10
201
=0
0
In3: 0: min —> Out1
Function In2
Enter: 0 This value is not used.
Out1
213
29
In2
202
Function
Output 1
In1, In2 < [min] Out1
Speed
Ref 1
Func 2 Mask/Val
Func 3 Eval Sel
Enter 0 for parameters 207 through 211
as these parameters are not used for this
function block.
206
Enter: 0
204
Function In3
Enter: 0 This value is not used.
205
0
In3
Maximum/Minimum
Function Block
Func 3 Mask/Val
Using the Up/Down Counter
Function
The up/down counter function lets you increment or decrement a
value. The up/down counter function block is shown in Figure 10.18.
Using the Function Block
10-15
Figure 10.18
Up/Down Counter Function Block
Func 1 Eval Sel
200
Function In1
198
Func 1 Mask/Val
199
212
V
203
I
Function In2
201
Func 2 Mask/Val
202
V
In2
0 – 17
Func 3 Eval Sel
Func 3 Mask/Val
In1
0 – 17
Func 2 Eval Sel
Function In3
Function Sel
I
206
I
204
205
V
0 – 17
In3
Function In4
207
Function In5
208
Function In6
209
Function In7
210
Function Output 1
11
In1 – Count up (rising edge)
In2 – Count down (rising edge)
In3 – Load counter with 0
In4 – Up increment
In5 – Down increment
In6 –
If:
Then Output is:
False A word
True A double word
213
Function Output 2
214
(For the double word
for Input 6)
In4
In7
Clr Value
In5
In6
In7
Up/Down Counter
Function Block
When a rising edge occurs, on In1, the output is incremented by the
value in In4, and on In2, the output is decremented by the value in
In5. The output can be either a word or a double word.
If In6 is:
Then the output is:
False
A word value passed to Function Output 1.
True
A double word value with the high word passed to Function Output 1
and the low word passed to Function Output 2.
To clear the counter, set In3, which loads the counter with the In7
value. As long as In3 is set, the counter remains at the In7 value, even
if In1 or In2 is toggling.
As an example of the up/down counter function block, you could
create a shuttle. When you press the start button, a start forward
command is sent to the drive, the shuttle begins to move from A to H,
and the drive follows the first preset speed. As the shuttle passes each
switch, the value of In1 is incremented and a new speed reference is
used. The speed references are set using Speed Ref 1 (parameter 29)
through Speed Ref 7 (parameter 36).
When the shuttle reaches relay H, then a stop command is issued and
the value of In1 is decremented. When you press the start button
again, a start reverse command is sent to the drive and the shuttle
moves from H to A following the preset speeds as they are
incremented by each switch.
Figure 10.19 shows an example of a shuttle.
10-16
Using the Function Block
Figure 10.19
Example of a Simple Shuttle
A
Speed Ref 1
25 rpm
B
inc
Speed Ref 2
50 rpm
C
inc
Speed Ref 3
100 rpm
D
inc
Speed Ref 4
500 rpm
E
inc
Speed Ref 5
250 rpm
F
inc
Speed Ref 6
125 rpm
G
H
inc
Speed Ref 7
40 rpm
Speed
500
400
300
200
100
0
A
B
inc
Speed Ref 7
40 rpm
C
inc
Speed Ref 6
125 rpm
D
inc
Speed Ref 5
250 rpm
E
inc
Speed Ref 4
500 rpm
F
inc
Speed Ref 3
100 rpm
G
inc
Speed Ref 2
50 rpm
H
Speed Ref 1
25 rpm
Speed
500
400
300
200
100
0
To set up the function block for this example, you would need to enter
the values shown in Figure 10.20.
Using the Function Block
10-17
Figure 10.20
Up/Down Counter Function Block
Func 1 Eval Sel
200
117
198
L Option In Sts Function In1
Enter: 00000000.10000000
199
2
Function Sel
212
In1 is true if
TB3–28 is closed
In1
Func 1 Mask/Val
Func 2 Eval Sel
203
Enter: 0 This value is not used.
Enter: 0 This value is not used.
11
201
Function In2
0
202
In2
Func 2 Mask/Val
Function
Output 1
Func 3 Eval Sel
In1 – Count up (rising edge)
In2 – Count down (rising edge)
In3 – Load counter with 0
In4 – Up increment
In5 – Down increment
In6 – 0: Output is a word
In7 – Reserved. Must be 0.
206
14
204
Logic Input Sts Function In3
Enter: 01110000.00000000
205
2
In3
Func 3 Mask/Val
Set:
Function In8 (par. 211): 0 rpm
Speed Ref 1 (par. 29): 25 rpm
Speed Ref 2 (par. 31): 50 rpm
Speed Ref 3 (par. 32): 100 rpm
Speed Ref 4 (par. 33): 500 rpm
Speed Ref 5 (par. 34): 250 rpm
Speed Ref 6 (par. 35): 125 rpm
Speed Ref 7 (par. 36): 40 rpm
L Option Mode (par. 116): 8
Dir/Ref Mask (par. 125): 01111111.01111110
Enter: 4096, which is 1000H
207
Function In4
Enter: 0
208
Function In5
Enter: 0
209
Function In6
Enter: 0
210
Function In7
Up/Down Counter
Function Block
This works as shown in Figure 10.21.
213
197
Logic Cmd
Input
10-18
Using the Function Block
Figure 10.21
Example of a Shuttle
A
B
C
D
E
F
G
H
TB3±28 (inc)
TB3±23 (fwd)
TB3±22 (rev)
TB3±19 (start)
TB3±20 (stop)
24 volts
TB3±21 (common)
Shuttle moves from A to H:
Shuttle is closing switch A; forward direction and stop commanded
User presses and holds start button until switch A opens: increment (Speed
Ref 1) and start commanded
Shuttle closes switch B; increment (Speed Ref 2) is commanded
Shuttle closes switch C; increment (Speed Ref 3) is commanded
Shuttle closes switch D; increment (Speed Ref 4) is commanded
Shuttle closes switch E; increment (Speed Ref 5) is commanded
Shuttle closes switch F; increment (Speed Ref 6) is commanded
Shuttle closes switch G; increment (Speed Ref 7) is commanded, counter set
to zero (speed ref no change)
Shuttle closes switch H; reverse direction and stop commanded
Using the Multiply/Divide
Function
Shuttle moves from H to A:
Shuttle closes switch H; reverse direction and stop commanded
User presses and holds start button until switch H opens; increment (Speed
Ref 1) and start commanded
Shuttle closes switch G; increment (Speed Ref 2) is commanded
Shuttle closes switch F; increment (Speed Ref 3) is commanded
Shuttle closes switch E; increment (Speed Ref 4) is commanded
Shuttle closes switch D; increment (Speed Ref 5) is commanded
Shuttle closes switch C; increment (Speed Ref 6) is commanded
Shuttle closes switch B; increment (Speed Ref 7) is commanded, counter set to
zero (speed ref no change)
Shuttle closes switch A; forward direction and stop commanded
The multiply/divide function block multiplies the value of In1 with
the value of In2 and then divides the result by the value of In3. The
multiply/divide function block is shown in Figure 10.22.
Figure 10.22
Multiply/Divide Function Block
Func 1 Eval Sel
Function In1
Func 1 Mask/Val
200
Function Sel
212
I
198
199
V
0 – 17
Func 2 Eval Sel
In1
203
12
Function In2
Func 2 Mask/Val
201
202
V
0 – 17
Func 3 Eval Sel
Function In3
Func 3 Mask/Val
(In1 x In2)/In3
I
In2
In4: If:
Then:
False Use per unit math.
True Use standard math.
Function Output 2
I
205
213
206
204
V
Function Output 1
0 – 17
Function In4
207
214
In3
In4
Multiply/Divide
Function Block
Using the Function Block
10-19
The multiply/divide function can be performed as either standard
math or per unit math. Per unit math lets you multiply/divide internal
drive units on a per unit basis, where 4096 is equal to one unit. With
per unit math, 4096 x 4096 = 4096, because you actually multiply 1
unit by 1 unit to get 1 unit. The equation used for per unit math is as
follows:
In1 x In2 x 65536 = 32 bit Out
IN3
Example:
(IN1)
(IN2)
199 x 8192 x 65536
= 1,068,373,115 (decimal)
100 (IN3)
Output:
Whole: Fract:
1,068,373,115 (dec) = 3FAE 147B Hex
MSW
LSW
STD Math
Output: 213
3FAE (hex) = 16,302 (dec)
PU Math
P213
LSW = 0
Whl = 16302 dec
P214
MSW = 16302
Fract = 5243 dec
Output: 214
147B (hex) = 5,243 (dec)
In this example, the drive controlling the smaller spindle follows the
speed of the drive controlling the larger spindle. This example is
shown in Figure 10.23.
Figure 10.23
Example of a Drive Ratio
D2
Func In 1
An In 1 Value
D1
198
96
29
Speed Ref 1
105
An Out 1 Value
Hardwired Connection
Between Drives
The smaller D2 will spin approximately 4.096 times faster than the
D1 Drive. This Ratio is set by the IN2 and IN3 parameters.
IN2 = 16777 = 4.096 PU D2
IN3
4096
1 PU D1
If the current command speed of D1 Speed Ref P29 was 25% of its
base speed, its value would be 1024.
.25 x 4096 (1PU Base Speed) = 1024
IN1 = 1024
IN2 = 16777
IN3 = 4096
10-20
Using the Function Block
(32 bit out)
1024 (IN1) x 16777 (IN2) x 65536 = 274,874,368 (dec)
4096 (IN3)
= 1062 4000 Hex
WHL Fract
P213 P214
The previous example assumes that both D1 & D2 have motor speeds
of equal rating. Applications where motor speeds differ provide an
even greater example of the flexibility of this function block.
To set up this application, you need to enter the values shown in
Figure 10.24.
Figure 10.24
Multiply/Divide Function Block
Func 1 Eval Sel
200
Function Sel
Speed Ref 1
29
An In 1 Value
96
105
An Out 1 Value
Enter: 0 This value is not used.
Function In1
198
199
Func 1 Mask/Val
212
0
Func 2 Eval Sel
203
Lead Drive
Enter: D1/D2; where D1 is the diameter of the lead drive's spindle
and D2 is the diameter of the smaller spindle.
Enter: 0 This value is not used.
Function In2
201
12
(An In 1 Value x (D1/D2))/4096
(In1 x In2)/In3
29
In4: Use per unit math.
202
Func 2 Mask/Val
Function
Output 2
214
Function In3
204
28
Speed Ref
1 Frac
0
Enter: 0 This value is not used.
205
Func 3 Mask/Val
Enter: 0
Enter 0 for parameters 208 through 211
as these parameters are not used.
Speed Ref 1
0
Func 3 Eval Sel
206
Enter: 4096
Function
Output 1
213
207
Function In4
Multiply/Divide
Function Block
In this example, per unit math is used because the value coming in
through An In 1 Value (parameter 96) is in internal units. The output
value is also in internal units.
Using the Scale Function
You can use the function block to set up a scale function. With this
function block, you enter the input range and the output range, and
the scale function block scales the input so that it stays within those
ranges. The scale function block is shown in Figure 10.25.
Using the Function Block
10-21
Figure 10.25
Scale Function Block
Func 1 Eval Sel
200
Function In1
198
Func 1 Mask/Val
199
212
V
0 – 17
Func 2 Eval Sel
Function In2
Func 2 Mask/Val
Func 3 Mask/Val
In1
203
I
201
V
202
0 – 17
Func 3 Eval Sel
Function In3
Function Sel
I
In2
13
Input
Range
Output
Range
In2
In4, In5
In3
In6, In7
Function Output 1
In1
213
206
Function Output 2
I
204
205
V
0 – 17
Function In4
207
Function In5
208
Function In6
209
Function In7
210
214
In3
In4
In5
In6
Scale Function Block
In7
In1 is the input value. In2 and In3 specify the range that you want to
use for the maximum and minimum values for In1. In4 and In5
represent a double word that corresponds to the output value that you
want to use when In1 is equal to In2. In4 is the high word and In5 is
the low word. Likewise, In6 and In7 represent a double word that
corresponds to the output value that you want to use when In1 is equal
to In3. Therefore, it does not matter which value, In2 or In3, you use
for either the maximum or minimum. The following are some
examples.
Input
Range
Output
Range
Input
Range
Output
Range
Input
Range
Output
Range
In2
10
In4, In5
100, 0
In2
±10
In4, In5
100, 0
In2
10
In4, In5
5, 0
In3
±10
In6, In7
10, 32767
In1 = ±10
In1 = 10
In3
5
In6, In7
1, 0
In2 represents the maximum input value, and
In3 represents the minimum input value.
In1 = 10
In3
20
In6, In7
1, 0
In2 represents the minimum input value, and
In3 represents the maximum input value.
100,0
10
±10
100, 0
20
1, 0
In2 represents the maximum input value, and
In3 represents the minimum input value.
Notice that the In4, In5 combination is smaller
than the In6, In7 combination. This is valid,
and if In1 is equal to In2, the output will still be
In4, In5.
In1 = ±10
In1 = 10
5
1, 0
The output is also specified as a double word, with the high word in
Function Output 1 and the low word in Function Output 2.
10-22
Using the Function Block
As an example of the scale function block, you could ensure that the
speed reference is kept to within a 10% range. To do this, you need to
enter the values shown in Figure 10.26.
Figure 10.26
Example of the Scale Function Block
Func 1 Eval Sel
Enter: 10
200
Function Sel
212
198
Function In1
0
10
Enter: 0 This value is not used.
199
Func 1 Mask/Val
Func 2 Eval Sel
10
201
Function In2
203
0
4096
13
Enter: 0 This value is not used.
202
Func 2 Mask/Val
Func 3 Eval Sel
5
In1
10
Input
Range
Output
Range
In2
10
In4, In5
100, 0
Function Output 1
213
In3
5
In6, In7
1, 0
206
Function Output 2
204
Function In3
0
0
214
Enter: 0 This value is not used.
205
Func 3 Mask/Val
Enter: 100
207
In4
Function In4
Enter: 0
208
In5
Function In5
Enter 0 for parameter 211 as
this parameter is not used.
Enter: 1
209
In6
Function In6
Enter: 0
210
In7
Scale Function Block
Function In7
Converting Between Drive Units and RPM
This section is provided to help you convert between drive units and
rpm. The formula for the conversion is:
( Speed Ref 1 × 65536 + Speed Ref 1 Frac ) × ( Base motor speed ⁄ ( 4096 × 65536 ) )
= y rpm
Using the Function Block
10-23
As an example the following table shows several drive unit values
converted to rpm. A base speed of 1755 is used for this table.
Speed Reference
RPM
Whole
Fraction
32767
65535
14039.99999346
4096
0
1755.00000000
1
0
0.42846680
0
65535
0.42846026
0
32767
0.21422686
0
1
0.00000654
-4
32711
-1.50000645
-4096
0
-1755.00000000
The formula for converting from rpm to internal units is as follows:
y rpm
---------------------------------------------------------------------------------------( base motor speed ⁄ ( 4096 × 65536 ) )
---------------------------------------------------------------------------------------------- = Whole, Fractional (remainder)
65536
The following table shows several values in rpm converted to drive
units. Again, a base speed of 1755 is used.
RPM
1755
Using the Hysteresis Function
Speed Reference
Whole
Fraction
4096
0
0.4284668
1
0
0.42846026
0
65535
0.9
2
6587
-1755
-4096
0
-1.5
-4
32711
2000
4667
52839
0.5
1
10941
The hysteresis function lets you select a value based on whether
Input 1 is greater than Input 4 or less than Input 5. If Input 1 is
between Input 4 and Input 5, then the value does not change.
Figure 10.27 shows the parameters that are used for the hysteresis
function and how these parameters are evaluated.
10-24
Using the Function Block
Figure 10.27
Hysteresis Function Block
Func 1 Eval Sel
200
212
I
Function In1
198
Func 1 Mask/Val
199
V
203
14
I
Function In2
201
Func 2 Mask/Val
202
V
In2
0 – 17
Func 3 Eval Sel
Func 3 Mask/Val
In1
0 – 17
Func 2 Eval Sel
Function In3
Function Sel
206
If:
In1 > In4
In1 < In5
In5 < In1 < In4
I
204
205
V
0 – 17
In3
Function In4
207
Function In5
208
Then:
In2 —> Out 1
In3 —> Out 1
No change
Function
Output 1
213
In4
In5
Hysteresis Function Block
The hysteresis function provides a band in which the output value
does not change. For example, if an input value is greater than
Input 4, the output value is Input 2. As the input value decrease, the
output value remains Input 2 until the input value is less than Input 5.
Refer to Figure 10.28.
Figure 10.28
Hysteresis
Output Values
In 2
In 2
In 3
In 2
In 4
Hysteresis
Band
(No Change)
In 5
In 3
In 3
Using the Function Block
10-25
As an example, you could use the hysteresis function to fine tune the
speed regulator across a broad speed range and ensure that the drive
does not oscillate between the two configurations at any particular
speed. To ensure that the speed regulator is finely tuned at both the
low and the high speed in the range, the drive is tuned for each speed,
and the two values of Spd Desired BW (parameter 161) are noted. The
drive uses the low value when it is at low speed. It uses the high value
when it is at high speed. When it is between the high speed and low
speed, it uses the last specified value. This example is shown in
Figure 10.29.
Figure 10.29
Example of Hysteresis
High
Speed
Low
High value is used
Stop
Start
Time
To set up the function block for this application, you would need to
enter the values shown in Figure 10.30.
Figure 10.30
Hysteresis Function Block
Func 1 Eval Sel
200
Motor Speed
81
Enter: 0 This value is not used.
212
198
Function In1
199
Func 1 Mask/Val
Enter: Value of bandwidth for high speed
Enter: 0 This value is not used.
Enter: Value of bandwidth for low speed
Function Sel
0
Func 2 Eval Sel
203
201
Function In2
14
0
202
Func 2 Mask/Val
Func 3 Eval Sel
206
If:
In1 > In4
In1 < In5
In5 < In1 < In4
Then:
In2 —> Out 1
In3 —> Out 1
No change
204
Function In3
0
205
Func 3 Mask/Val
Function In4
207
Enter: Value for high speed
Enter: 0 This value is not used.
Enter: Value for low speed
Function In5
208
Hysteresis Function Block
Function
Output 1
213
Spd
Desired
BW
161
10-26
Using the Function Block
Using the Band Function
The band function lets you select a value based on whether Input 1 is
within a range or outside of a range. Figure 10.31 shows the
parameters that are used for the band function and how these
parameters are evaluated.
Figure 10.31
Band Function Block
Func 1 Eval Sel
200
212
I
Function In1
198
Func 1 Mask/Val
199
V
0 – 17
Func 2 Eval Sel
Function In2
Func 2 Mask/Val
Func 3 Mask/Val
In1
203
15
I
In5 <= In1 <= In4
201
202
V
0 – 17
Func 3 Eval Sel
Function In3
Function Sel
In2
If:
Then:
True In2 —> Out 1
False In3 —> Out 1
206
I
204
205
V
0 – 17
Function In4
207
Function In5
208
Function
Output 1
213
In3
In4
In5
Band Function Block
Using the Logical Add/Subtract
Function
The logical add/subtract function lets you use a logical operator to
determine whether to add Input 5 and Input 6 or Input 8 and Input 9.
Figure 10.32 shows the parameters that are used for the logical
add/subtract function and how these parameters are evaluated.
Using the Function Block
10-27
Figure 10.32
Logical Add/Subtract Function Block
Func 1 Eval Sel
200
Function Sel
212
I
Function In1
198
Func 1 Mask/Val
199
V
0 – 17
Func 2 Eval Sel
In1
203
In1
I
Function In2
201
Func 2 Mask/Val
202
V
0 – 17
In2
In2
In3
Func 3 Eval Sel
In1 Or In2
In1 Nor In2
In1 And In2
In1 Nand In2
(In1 Or In2) And In3
(In1 And In2) Or In3
206
I
Function In3
204
Func 3 Mask/Val
205
Using the Logical
Multiply/Divide Function
16
17
18
19
20
21
V
0 – 17
Function In5
208
Function In6
209
Function In8
211
Function In9
232
In3
In5
If:
Then:
True In5 + In6 —> Out1
False In8 + In9 —> Out 1
Function
Output 1
213
In6
In8
In9
Logical Add/Subtract Function Block
The logical multiply/divide function lets you use a logical operator to
determine whether to multiply the value of Input 5 with the value of
Input 6 and then divide the result by the value of Input 7 or multiply
the value of Input 8 with the value of Input 9 and then divide the
result by the value of Input 10. Figure 10.33 shows the parameters
that are used for the logical multiply/divide function and how these
parameters are evaluated.
10-28
Using the Function Block
Figure 10.33
Logical Multiply/Divide Function Block
Func 1 Eval Sel
200
Function Sel
212
I
Function In1
198
Func 1 Mask/Val
199
V
0 – 17
Func 2 Eval Sel
In1
203
Function In2
201
Func 2 Mask/Val
202
22
23
24
25
26
27
In1
I
V
0 – 17
In2
In2
In3
Func 3 Eval Sel
In1 Or In2
In1 Nor In2
In1 And In2
In1 Nand In2
(In1 Or In2) And In3
(In1 And In2) Or In3
206
213
I
Function In3
204
Func 3 Mask/Val
205
V
Function
Output 1
0 – 17
Function In4
207
Function In5
208
Function In6
209
Function In7
210
Function In8
211
Function In9
232
Function In10
233
If:
Then:
False (In5 x In6)/In7 —> Out1
True (In8 x In9)/In10 —> Out 1
In3
In4
In5
In6
Function
Output 2
214
In4:
If:
Then:
False Use per unit math.
True Use standard math.
In7
In8
In9
In10
Logical Multiply/Divide Function Block
The logical multiply/divide function can be performed as either
standard math or per unit math. Per unit math lets you multiply/divide
internal drive units on a per unit basis, where 4096 is equal to one
unit. With per unit math, 4096 x 4096 = 4096, because you actually
multiply 1 unit by 1 unit to get 1 unit. The equation used for per unit
math is as follows:
In1   In2 
 ----------- × ------------ × 65536
 4096  4096
Out1, 2
--------------------------------------------------------------- =  ------------------
 4096 
In3
 ------------
 4096
Out1 = Whole Value
Out2 = Fractional Value
Chapter
11
Parameters
Chapter Objectives
Chapter 11 provides the information about the parameters that you
can use to program the 1336 IMPACT drive.
This topic:
Starts on page:
The parameter files and groups
11-1
A numerical listing of the parameters
11-5
An alphabetical listing of the parameters
11-7
The conventions used to describe the parameters
11-9
Descriptions of the parameters
11-9
Important: When you change the value of a parameter, the value is
automatically stored.
Understanding the Parameter
Files and Groups
Parameters are divided into seven files to help ease programming and
operator access. These files are divided into groups, and each
parameter is an element in a specific group. Parameters may be used
as elements in more than one group.
You can also view the parameters in a linear mode. This lets you view
the entire parameter table in numerical order. You can access the
linear mode from the bottom of any group.
The following tables list the parameters that are available in each file
and group.
11-2
Parameters
Program
Monitor
Motor Status
Motor Speed (par 81)
Motor Frequency (par 89)
Motor Current (par 83)
Motor Voltage (par 85)
Motor Voltage % (par 234)
Motor Torque % (par 86)
Motor Flux % (par 88)
Motor Power % (par 90)
Int Torque Ref (par 229)
Enc Pos Fdbk High (par 228)
Enc Pos Fdbk Low (par 227)
Drive/Inv Status
DC Bus Voltage (par 84)
Logic Input Sts (par 14)
Drive/Inv Status (par 15)
Drive/Inv Sts 2 (par 196)
Run Inhibit Sts (par 16)
Command Spd Sts (par 82)
Torque Limit Sts (par 87)
Spd Reg Output (par 225)
Spd Error (par 226)
Control
Fault Setup
Drive Logic Select
Fault Config
Logic Options (par 17)
Stop Dwell Time (par 18)
Zero Speed Tol (par 19)
Start Dwell Spd (par 193)
Start Dwell Time (par 194)
Fault Select 1 (par 20)
Warning Select 1 (par 21)
Fault Select 2 (par 22)
Warning Select 2 (par 23)
Fault Limits
Control Limits
Rev Speed Limit (par 40)
Fwd Speed Limit (par 41)
Pos Mtr Cur Lim (par 72)
Neg Mtr Cur Lim (par 73)
Pos Torque Limit (par 74)
Neg Torque Limit (par 75)
Regen Power Lim (par 76)
Current Rate Lim (par 77)
Max Mtr Current (par 195)
Min Speed Limit (par 215)
Absolute Overspd (par 24)
Motor Stall Time (par 25)
Motor Overload % (par 26)
Line Undervolts (par 27)
Testpoints
Test Data 1 (par 92)
Test Select 1 (par 93)
Test Data 2 (par 94)
Test Select 2 (par 95)
Speed/Torq Mode
Spd/Trq Mode Sel (par 68)
Speed Reference
SCANport Status
Dir/Ref Owner (par 128)
Start/Stop Owner (par 129)
Jog1/Jog2 Owner (par 130)
Ramp/ClFlt Owner (par 131)
Flux/Trim Owner (par 132)
Speed Ref 1 (par 29)
Speed Scale 1 (par 30)
Speed Ref 2 (par 31)
Speed Ref 3 (par 32)
Speed Ref 4 (par 33)
Speed Ref 5 (par 34)
Speed Ref 6 (par 35)
Speed Ref 7 (par 36)
Speed Scale 7 (par 37)
Jog Speed 1 (par 38)
Jog Speed 2 (par 39)
Fault Status
PwrUp Flt Status (par 219)
Ncfg Flt Status (par 220)
Fault Status 1 (par 221)
Fault Status 2 (par 222)
Warning Status 1 (par 223)
Warning Status 2 (par 224)
Accel/Decel
Accel Time 1 (par 42)
Accel Time 2 (par 43)
Decel Time 1 (par 44)
Decel Time 2 (par 45)
S-Curve Percent (par 47)
Torque Reference
Speed Feedback
Scaled Spd Fdbk (par 63)
Fdbk Filter Sel (par 65)
Fdbk Filter Gain (par 66)
Fdbk Filter BW (par 67)
Notch Filtr Freq (par 185)
Notch Filtr Q (par 186)
Torque Ref 1 (par 69)
Slave Torque % (par 70)
Speed Regulator
Feedback Device
Fdbk Device Type (par 64)
Encoder PPR (par 8)
Total Inertia (par 157)
Spd Desired BW (par 161)
Ki Speed Loop (par 158)
Kp Speed Loop (par 159)
Kf Speed Loop (par 160)
Error Filtr BW (par 162)
Droop Percent (par 46)
Parameters
Interface/Comm
Digital Config
L Option Mode (par 116)
L Option In Sts (par 117)
Relay Config 1 (par 114)
Relay Setpoint 1 (par 115)
Relay Config 2 (par 187)
Relay Setpoint 2 (par 188)
Relay Config 3 (par 189)
Relay Setpoint 3 (par 190)
Relay Config 4 (par 191)
Relay Setpoint 4 (par 192)
Mop Increment (par 118)
Mop Value (par 119)
Pulse In PPR (par 120)
Pulse In Scale (par 121)
Pulse In Offset (par 122)
Pulse In Value (par 123)
Analog Inputs
An In 1 Value (par 96)
An In 1 Offset (par 97)
An In 1 Scale (par 98)
An In 1 Filter (par 182)
An In 2 Value (par 99)
An In 2 Offset (par 100)
An In 2 Scale (par 101)
An In 2 Filter (par 183)
mA In Value (par 102)
mA In Offset (par 103)
mA In Scale (par 104)
mA Input Filter (par 184)
Analog Outputs
An Out 1 Value (par 105)
An Out 1 Offset (par 106)
An Out 1 Scale (par 107)
An Out 2 Value (par 108)
An Out 2 Offset (par 109)
An Out 2 Scale (par 110)
mA Out Value (par 111)
mA Out Offset (par 112)
mA Out Scale (par 113)
SCANport Config
SP 2 Wire Enable (par 181)
SP Enable Mask (par 124)
Dir/Ref Mask (par 125)
Start/Jog Mask (par 126)
Clr Flt/Res Mask (par 127)
SCANport Status
Dir/Ref Owner (par 128)
Start/Stop Owner (par 129)
Jog1/Jog2 Owner (par 130)
Ramp/ClFlt Owner (par 131)
Flux/Trim Owner (par 132)
Motor/Inverter
SCANport Analog
Motor Nameplate
SP An In1 Select (par 133)
SP An In1 Value (par 134)
SP An In1 Scale (par 135)
SP An In2 Select (par 136)
SP An In2 Value (par 137)
SP An In2 Scale (par 138)
SP An Output (par 139)
Nameplate HP (par 2)
Nameplate RPM (par 3)
Nameplate Amps (par 4)
Nameplate Volts (par 5)
Nameplate Hz (par 6)
Motor Poles (par 7)
Service Factor (par 9)
Gateway Data In
Data In A1 (par 140)
Data In A2 (par 141)
Data In B1 (par 142)
Data In B2 (par 143)
Data In C1 (par 144)
Data In C2 (par 145)
Data In D1 (par 146)
Data In D2 (par 147)
Encoder Data
Encoder PPR (par 8)
Inverter
PWM Frequency (par 10)
Inverter Amps (par 11)
Inverter Volts (par 12)
Motor Constants
Gateway Data Out
Data Out A1 (par 148)
Data Out A2 (par 149)
Data Out B1 (par 150)
Data Out B2 (par 151)
Data Out C1 (par 152)
Data Out C2 (par 153)
Data Out D1 (par 154)
Data Out D2 (par 155)
Stator Resistnce (par 166)
Leak Inductance (par 167)
Flux Current (par 168)
Slip Gain (par 169)
Motor Poles (par 7)
11-3
11-4
Parameters
Autotune
Application
Flux Braking
Bus/Brake Option (par 13)
DC Braking/Hold
Bus/Brake Option (par 13)
DC Brake Current (par 79)
DC Brake Time (par 80)
400% Mtr Current
Max Mtr Current (par 195)
Fast Flux Up
Bus/Brake Option (par 13)
Fast Flux Level (par 78)
Process Trim
Profile Step Data
Autotune Setup
PTrim Output (par 48)
PTrim Reference (par 49)
PTrim Feedback (par 50)
PTrim Select (par 51)
PTrim Filter BW (par 52)
PTrim Preload (par 53)
PTrim Ki (par 54)
PTrim Kp (par 55)
PTrim Lo Limit (par 58)
PTrim Hi Limit (par 59)
PTrim Out Gain (par 60)
Max Rev Spd Trim (par 61)
Max Fwd Spd Trim (par 62)
Step 1 Speed (par 249)
Step 1 Value (par 250)
Step 1 Type (par 251)
Step 2 Speed (par 252)
Step 2 Value (par 253)
Step 2 Type (par 254)
Step 3 Speed (par 255)
Step 3 Value (par 256)
Step 3 Type (par 257)
Step 4 Speed (par 258)
Step 4 Value (par 259)
Step 4 Type (par 260)
Step 5 Speed (par 261)
Step 5 Value (par 262)
Step 5 Type (par 263)
Step 6 Speed (par 264)
Step 6 Value (par 265)
Step 6 Type (par 266)
Step 7 Freq (par 267)
Step 7 Value (268)
Step 7 Type (269)
Step 8 Freq (270)
Step 8 Value (271)
Step 8 Type (272)
Step 9 Speed (273)
Step 9 Value (274)
Step 9 Type (275)
Step 10 Speed (276)
Step 10 Value (277)
Step 10 Type (278)
Step 11 Speed (279)
Step 11 Value (280)
Step 11 Type (281)
Step 12 Speed (282)
Step 12 Value (283)
Step 12 Type (284)
Step 13 Speed (285)
Step 13 Value (286)
Step 13 Type (287)
Step 14 Speed (288)
Step 14 Value (289)
Step 14 Type (290)
Step 15 Speed (291)
Step 15 Value (292)
Step 15 Type (293)
Step 16 Speed (294)
Step 16 Value (295)
Step 16 Type (296)
Autotune/Dgn Sel (par 173)
Trans Dgn Config (par 172)
Autotune Torque (par 164)
Autotune Speed (par 165)
Flying Start
Start Dwell
Start Dwell Spd (par 193)
Start Dwell Time (par 194)
FStart Select (par 216)
FStart Speed (par 217)
Prog Function
Profile Command
Function In1 (par 198)
Func 1 Mask/Val (par 199)
Func 1 Eval Sel (par 200)
Function In2 (par 201)
Func 2 Mask/Val (par 202)
Func 2 Eval Sel (par 203)
Function In3 (par 204)
Func 3 Mask/Val (par 205)
Func 3 Eval Sel (par 206)
Function In4 (par 207)
Function In5 (par 208)
Function In6 (par 209)
Function In7 (par 210)
Function In8 (par 211)
Function In9 (par 232)
Function In10 (par 233)
Function Sel (par 212)
Function Output 1 (par 213)
Function Output 2 (par 214)
Profile Enable (par 235)
Profile Status (par 236)
Profile Units (par 246)
Error Trim Gain (par 237)
Profile CMD Frac (par 247)
Profile CMD MSW (par 248)
Units Traveled (par 245)
Value Tolerance (par 244)
Bus Reg/Control
Bus/Brake Option (par 13)
Profile End Actions
End Action Sel (par 238)
End Action Speed (par 239)
End Action Go To (par 240)
End Action Input (par 241)
End Action Comp (par 242)
End Action Value (par 243)
Autotune Status
Autotune Status (par 156)
Inverter Dgn1 (par 174)
Inverter Dgn2 (par 175)
Autotune Errors (par 176)
Autotune Results
Stator Resistnce (par 166)
Leak Inductance (par 167)
Flux Current (par 168)
Slip Gain (par 169)
Total Inertia (par 157)
Spd Desired BW (par 161)
Parameters
Numerical Parameter Listing
No.
Name
11-5
The following table lists the parameters in numerical order
Page
No.
Page
No.
1
Language Select
11-10
48
PTrim Output
Name
11-21
95
Test Select 2
Name
11-32
Page
2
Nameplate HP
11-10
49
PTrim Reference
11-21
96
An In 1 Value
11-33
3
Nameplate RPM
11-10
50
PTrim Feedback
11-21
97
An In 1 Offset
11-33
4
Nameplate Amps
11-10
51
PTrim Select
11-22
98
An In 1 Scale
11-33
5
Nameplate Volts
11-10
52
PTrim Filter BW
11-22
99
An In 2 Value
11-33
6
Nameplate Hz
11-10
53
PTrim Preload
11-22
100
An In 2 Offset
11-34
7
Motor Poles
11-11
54
PTrim Ki
11-23
101
An In 2 Scale
11-34
8
Encoder PPR
11-11
55
PTrim Kp
11-22
102
mA Input Value
11-34
9
Service Factor
11-11
56
Reserved
11-22
103
mA Input Offset
11-34
10
PWM Frequency
11-11
57
Reserved
11-23
104
mA Input Scale
11-34
11
Inverter Amps
11-11
58
PTrim Lo Limit
11-23
105
An Out 1 Value
11-34
12
Inverter Volts
11-11
59
PTrim Hi Limit
11-23
106
An Out 1 Offset
11-35
13
Bus/Brake Opts
11-12
60
PTrim Out Gain
11-24
107
An Out 1 Scale
11-35
14
Logic Input Sts
11-13
61
Max Rev Spd Trim
11-24
108
An Out 2 Value
11-35
15
Drive/Inv Status
11-13
62
Max Fwd Spd Trim
11-24
109
An Out 2 Offset
11-35
16
Run Inhibit Sts
11-14
63
Scaled Spd Fdbk
11-24
110
An Out 2 Scale
11-35
17
Logic Options
11-14
64
Fdbk Device Type
11-24
111
mA Out Value
11-35
18
Stop Dwell Time
11-14
65
Fdbk Filter Sel
11-25
112
mA Out Offset
11-36
19
Zero Speed Tol
11-15
66
Fdbk Filter Gain
11-25
113
mA Out Scale
11-36
20
Fault Select 1
11-15
67
Fdbk Filter BW
11-25
114
Relay Config 1
11-36
21
Warning Select 1
11-16
68
Spd/Trq Mode Sel
11-26
115
Relay Setpoint 1
11-37
22
Fault Select 2
11-16
69
Torque Ref 1
11-26
116
L Option Mode
11-37
23
Warning Select 2
11-17
70
Slave Torque %
11-26
117
L Option In Sts
11-38
24
Absolute Overspd
11-17
71
Min Flux Level
11-26
118
Mop Increment
11-38
25
Motor Stall Time
11-17
72
Pos Mtr Cur Lim
11-27
119
Mop Value
11-38
26
Motor Overload %
11-17
73
Neg Mtr Cur Lim
11-27
120
Pulse In PPR
11-38
27
Line Undervolts
11-17
74
Pos Torque Lim
11-27
121
Pulse In Scale
11-38
28
Speed Ref 1 Frac
11-18
75
Neg Torque Lim
11-27
122
Pulse In Offset
11-39
29
Speed Ref 1
11-18
76
Regen Power Lim
11-27
123
Pulse In Value
11-39
30
Speed Scale 1
11-18
77
Current Rate Lim
11-28
124
SP Enable Mask
11-39
31
Speed Ref 2
11-18
78
Fast Flux Level
11-28
125
Dir/Ref Mask
11-40
32
Speed Ref 3
11-18
79
DC Brake Current
11-28
126
Start/Jog Mask
11-40
33
Speed Ref 4
11-18
80
DC Brake Time
11-28
127
Clr Flt/Res Mask
11-41
34
Speed Ref 5
11-19
81
Motor Speed
11-28
128
Dir/Ref Owner
11-41
35
Speed Ref 6
11-19
82
Command Spd Sts
11-28
129
Start/Stop Owner
11-42
36
Speed Ref 7
11-19
83
Motor Current
11-29
130
Jog1/Jog2 Owner
11-42
37
Speed Scale 7
11-19
84
DC Bus Voltage
11-29
131
Ramp/ClFlt Owner
11-43
38
Jog Speed 1
11-19
85
Motor Voltage
11-29
132
Flux/Trim Owner
11-43
39
Jog Speed 2
11-19
86
Motor Torque %
11-29
133
SP An In1 Select
11-44
40
Rev Speed Limit
11-20
87
Torque Limit Sts
11-30
134
SP An In1 Value
11-44
41
Fwd Speed Limit
11-20
88
Motor Flux %
11-30
135
SP An In1 Scale
11-44
42
Accel Time 1
11-20
89
Motor Frequency
11-30
136
SP An In2 Select
11-44
43
Accel Time 2
11-20
90
Motor Power %
11-30
137
SP An In2 Value
11-44
44
Decel Time 1
11-20
91
Iq%
11-31
138
SP An In2 Scale
11-45
45
Decel Time 2
11-20
92
Test Data 1
11-31
139
SP An Output
11-45
46
Droop Percent
11-21
93
Test Select 1
11-31
140
Data In A1
11-45
47
S-Curve Percent
11-21
94
Test Data 2
11-31
141
Data In A2
11-45
11-6
No.
Parameters
Page
No.
142 Data In B1
Name
11-45
194
Start Dwell Time
Name
Page
No.
Name
Page
11-59
246
Units Traveled
11-76
143 Data In B2
11-45
195
Max Mtr Current
11-59
144 Data In C1
11-46
196
Drive/Inv Sts 2
11-60
247
Profile CMD Frac
11-76
248
Profile CMD
145 Data In C2
11-46
197
Logic Cmd Input
11-60
249
Step 1 Speed
11-76
11-76
146 Data In D1
11-46
198
Function In1
11-61
250
Step 1 Value
11-76
147 Data In D2
11-46
199
Func 1 Mask/Val
11-61
251
Step 1 Type
11-76
148 Data Out A1
11-46
200
Func 1 Eval Sel
11-62
252
Step 2 Speed
11-77
149 Data Out A2
11-46
201
Function In2
11-62
253
Step 2 Value
11-77
150 Data Out B1
11-47
202
Func 2 Mask/Val
11-63
254
Step 2 Type
11-77
151 Data Out B2
11-47
203
Func 2 Eval Sel
2-63
255
Step 3 Speed
11-77
152 Data Out C1
11-47
204
Function In3
2-64
256
Step 3 Value
11-77
153 Data Out C2
11-47
205
Func 3 Mask/Val
2-64
257
Step 3 Type
11-77
154 Data Out D1
11-47
206
Func 3 Eval Sel
2-65
258
Step 4 Speed
11-78
155 Data Out D2
11-47
207
Function In4
2-65
259
Step 4 Value
11-78
156 Autotune Status
11-48
208
Function In5
2-66
260
Step 4 Type
11-78
157 Total Inertia
11-48
209
Function In6
2-66
261
Step 5 Speed
11-78
158 Ki Speed Loop
11-48
210
Function In7
2-66
262
Step 5 Value
11-78
159 Kp Speed Loop
11-48
211
Function In8
2-67
263
Step 5 Type
11-78
160 Kf Speed Loop
11-49
212
Function Sel
2-68
264
Step 6 Speed
11-79
161 Spd Desired BW
11-49
213
Function Output1
2-69
265
Step 6 Value
11-79
162 Error Filtr BW
11-49
214
Function Output2
2-69
266
Step 6 Type
11-79
163 Reserved
11-49
215
Min Speed Limit
2-69
267
Step 7 Speed
11-79
164 Autotune Torque
11-49
216
FStart Select
11-69
268
Step 7 Value
11-79
165 Autotune Speed
11-50
217
FStart Speed
11-70
269
Step 7 Type
11-79
166 Stator Resistnce
11-50
218
Reserved
11-70
270
Step 8 Speed
11-80
167 Leak Inductance
11-50
219
PwrUp Flt Status
11-70
271
Step 8 Value
11-80
168 Flux Current
11-50
220
Ncfg Flt Status
11-70
272
Step 8 Type
11-80
169 Slip Gain
11-50
221
Fault Status 1
11-71
273
Step 9 Speed
11-80
170 Vd Max
11-51
222
Fault Status 2
11-71
274
Step 9 Type
11-80
171 Vq Max
11-51
223
Warning Status 1
11-71
275
Step 9 Value
11-80
172 Trans Dgn Config
11-51
224
Warning Status 2
11-72
276
Step 10 Speed
11-81
11-81
173 Autotune/Dgn Sel
11-51
225
Spd Reg Output
11-72
277
Step 10 Type
174 Inverter Dgn1
11-52
226
Spd Error
11-72
278
Step 10 Value
11-81
175 Inverter Dgn2
11-52
227
Enc Pos Fdbk Low
11-72
279
Step 11 Speed
11-81
176 Autotune Errors
11-53
228
Enc Pos fdbk Hi
11-72
280
Step 11 Type
11-81
177 Ki Freq Reg
11-53
229
Int Torque Ref
11-73
281
Step 11 Value
11-81
178 Kp Freq Reg
11-53
230
Iq Offset
11-73
282
Step 12 Speed
11-82
179 Kf Freq Reg
11-53
231
Id Offset
11-73
283
Step 12 Value
11-82
180 Freq Track Filtr
11-54
232
Function In9
11-73
284
Step 12 Type
11-82
181 SP 2 Wire Enable
11-54
233
Function In10
11-73
285
Step 13 Speed
11-82
182 An In1 Filter BW
11-54
234
Motor Voltage %
11-73
286
Step 13 Value
11-82
183 An In2 Filter BW
11-54
235
Profile Enable
11-74
287
Step 13 Type
11-82
184 mA In Filter BW
11-54
236
Profile Status
11-74
288
Step 14 Speed
11-83
185 Notch Filtr Freq
11-55
237
Error Trim Gain
11-74
289
Step 14 Value
11-83
186 Notch Filtr Q
11-55
238
End Action Sel
11-74
290
Step 14 Type
11-83
187 Relay Config 2
11-56
239
End Action Speed
11-74
291
Step 15 Speed
11-83
188 Relay Setpoint 2
11-56
240
End Action Go To
11-75
292
Step 15 Value
11-83
11-83
189 Relay Config 3
11-57
241
End Action Input
11-75
293
Step 15 Type
190 Relay Setpoint 3
11-57
242
End Action Comp
11-75
294
Step 16 Speed
11-84
191 Relay Config 4
11-58
243
End Action Val
11-75
295
Step 16 Value
11-84
296
Step 16 Type
11-84
192 Relay Setpoint 4
11-58
244
Value Tolerance
11-75
193 Start Dwell Spd
11-59
245
Counts per unit
11-75
Parameters
Alphabetical Parameter Listing
Name
11-7
The following is an alphabetical listing of the parameters.
No.
Page
No.
Page
Name
No.
Page
Absolute Overspd
24
11-10
Drive/Inv Status
Name
15
11-13
Inverter Amps
11
11-11
Accel Time 1
42
11-20
Drive/Inv Sts 2
196
11-60
Inverter Dgn1
174
11-52
Accel Time 2
43
11-20
Droop Percent
46
11-21
Inverter Dgn2
175
11-52
An In 1 Offset
97
11-33
Enc Pos fdbk Hi
228
11-72
Inverter Volts
12
11-11
An In 1 Scale
98
11-33
Enc Pos Fdbk Low
227
11-72
Iq Offset
230
11-73
An In 1 Value
96
11-33
Encoder PPR
8
11-11
Iq%
91
11-31
An In 2 Offset
100
11-34
End Action Sel
238
11-74
Jog Speed 1
38
11-19
An In 2 Scale
101
11-34
End Action Speed
239
11-74
Jog Speed 2
39
11-19
An In 2 Value
99
11-33
End Action Go To
240
11-74
Jog1/Jog2 Owner
130
11-42
An In1 Filter BW
182
11-54
End Action Input
241
11-75
Kf Freq Reg
179
11-53
An In2 Filter BW
183
11-54
End Action Comp
242
11-75
Kf Speed Loop
160
11-49
An Out 1 Offset
106
11-35
End Action Value
243
11-75
Ki Freq Reg
177
11-53
An Out 1 Scale
107
11-35
Error Filtr BW
162
11-49
Ki Speed Loop
158
11-48
An Out 1 Value
105
11-34
Error Trim Gain
237
11-74
Kp Freq Reg
178
11-53
An Out 2 Offset
109
11-35
Fast Flux Level
78
11-28
Kp Speed Loop
159
11-48
An Out 2 Scale
110
11-35
Fault Select 1
20
11-15
L Option In Sts
117
11-38
An Out 2 Value
108
11-35
Fault Select 2
22
11-16
L Option Mode
116
11-37
Autotune Errors
176
11-53
Fault Status 1
221
11-71
Language Select
1
11-10
Autotune Speed
165
11-50
Fault Status 2
222
11-71
Leak Inductance
167
11-50
Autotune Status
156
11-48
Fdbk Device Type
64
11-24
Line Undervolts
27
11-17
Autotune Torque
164
11-49
Fdbk Filter BW
67
11-25
Logic Cmd Input
197
11-60
Autotune/Dgn Sel
173
11-51
Fdbk Filter Gain
66
11-25
Logic Input Sts
14
11-13
Bus/Brake Opts
13
11-12
Fdbk Filter Sel
65
11-25
Logic Options
17
11-14
Clr Flt/Res Mask
127
11-41
Flux Current
168
11-50
mA In Filter BW
184
11-54
Command Spd Sts
82
11-28
Flux/Trim Owner
132
11-43
mA Input Offset
103
11-34
Counts Per Unit
245
11-75
Freq Track Filtr
180
11-54
mA Input Scale
104
11-34
Current Rate Lim
77
11-28
FStart Select
216
11-69
mA Input Value
102
11-34
Data In A1
140
11-45
FStart Speed
217
11-70
mA Out Offset
112
11-36
Data In A2
141
11-45
Func 1 Eval Sel
200
11-62
mA Out Scale
113
11-36
Data In B1
142
11-45
Func 1 Mask/Val
199
11-61
mA Out Value
111
11-35
Data In B2
143
11-45
Func 2 Eval Sel
203
11-63
Max Fwd Spd Trim
62
11-24
Data In C1
144
11-46
Func 2 Mask/Val
202
11-63
Max Mtr Current
195
11-59
Data In C2
145
11-46
Func 3 Eval Sel
206
11-65
Max Rev Spd Trim
61
11-24
Data In D1
146
11-46
Func 3 Mask/Val
205
11-64
Min Flux Level
71
11-26
Data In D2
147
11-46
Function In1
198
11-61
Min Speed Limit
215
11-69
Data Out A1
148
11-46
Function In10
233
11-73
Mop Increment
118
11-38
Data Out A2
149
11-46
Function In2
201
11-62
Mop Value
119
11-38
Data Out B1
150
11-47
Function In3
204
11-64
Motor Current
83
11-29
Data Out B2
151
11-47
Function In4
207
11-65
Motor Flux %
88
11-30
Data Out C1
152
11-47
Function In5
208
11-66
Motor Frequency
89
11-30
Data Out C2
153
11-47
Function In6
209
11-66
Motor Overload %
26
11-17
Data Out D1
154
11-47
Function In7
210
11-67
Motor Poles
7
11-11
Data Out D2
155
11-47
Function In8
211
11-67
Motor Power %
90
11-30
DC Brake Current
79
11-28
Function In9
232
11-73
Motor Speed
81
11-28
DC Brake Time
80
11-28
Function Output1
213
11-69
Motor Stall Time
25
11-17
DC Bus Voltage
84
11-29
Function Output2
214
11-69
Motor Torque %
86
11-29
Decel Time 1
44
11-20
Function Sel
212
11-68
Motor Voltage
85
11-29
Decel Time 2
45
11-20
Fwd Speed Limit
41
11-20
Motor Voltage %
234
11-73
Dir/Ref Mask
125
11-40
Id Offset
231
11-73
Nameplate Amps
4
11-10
Dir/Ref Owner
128
11-41
Int Torque Ref
229
11-73
Nameplate HP
2
11-10
11-8
Parameters
No.
Page
Nameplate Hz
Name
6
11-10
Slave Torque %
Name
No.
Page
70
11-26
Name
Nameplate RPM
3
11-10
Slip Gain
169
11-50
Step 7 Value
268
11-79
Nameplate Volts
5
11-10
SP 2 Wire Enable
181
11-26
Step 7 Type
269
11-80
Ncfg Flt Status
220
11-70
SP An In1 Scale
135
11-50
Step 8 Speed
270
11-80
Neg Mtr Cur Lim
73
11-27
SP An In1 Select
133
11-54
Step 8 Value
271
11-80
Neg Torque Lim
75
11-27
SP An In1 Value
134
11-44
Step 8 Type
272
11-80
Notch Filtr Freq
185
11-55
SP An In2 Scale
138
11-44
Step 9 Speed
273
11-80
Notch Filtr Q
186
11-55
SP An In2 Select
136
11-44
Step 9 Value
274
11-80
Pos Mtr Cur Lim
72
11-27
SP An In2 Value
137
11-45
Step 9 Type
275
11-80
Pos Torque Lim
74
11-27
SP An Output
139
11-44
Step 10 Speed
276
11-81
Profile Enable
235
2-72
SP Enable Mask
124
11-44
Step 10 Value
277
11-81
Profile Status
236
2-72
Spd Desired BW
161
11-45
Step 10 Type
278
11-81
11-81
Step 7 Speed
No.
Page
267
11-79
PTrim Feedback
50
11-21
Spd Error
226
11-39
Step 11 Speed
279
PTrim Filter BW
52
11-22
Spd Reg Output
225
11-49
Step 11 Value
280
11-81
PTrim Hi Limit
59
11-23
Spd/Trq Mode Sel
68
11-72
Step 11 Type
281
11-81
PTrim Ki
54
11-22
Speed Ref 1
29
11-72
Step 12 Speed
282
11-82
PTrim Kp
55
11-23
Speed Ref 1 Frac
28
11-26
Step 12 Value
283
11-82
PTrim Lo Limit
58
11-23
Speed Ref 2
31
11-18
Step 12 Type
284
11-82
PTrim Out Gain
60
11-24
Speed Ref 3
32
11-18
Step 13 Speed
285
11-82
PTrim Output
48
11-21
Speed Ref 4
33
11-18
Step 13 Value
286
11-82
PTrim Preload
53
11-22
Speed Ref 5
34
11-18
Step 13 Type
287
11-82
PTrim Reference
49
11-21
Speed Ref 6
35
11-18
Step 14 Speed
288
11-83
PTrim Select
51
11-22
Speed Ref 7
36
11-19
Step 14 Value
289
11-83
Pulse In Offset
122
11-39
Speed Scale 1
30
11-19
Step 14 Type
290
11-83
Pulse In PPR
120
11-38
Speed Scale 7
37
11-19
Step 15 Speed
291
11-83
Pulse In Scale
121
11-38
Start Dwell Spd
193
11-18
Step 15 Value
292
11-83
Pulse In Value
123
11-39
Start Dwell Time
194
11-19
Step 15 Type
293
11-83
PWM Frequency
10
11-11
Start/Jog Mask
126
11-59
Step 16 Speed
294
11-84
PwrUp Flt Status
219
11-70
Start/Stop Owner
129
11-59
Step 16 Value
295
11-84
Ramp/ClFlt Owner
131
11-43
Stator Resistnce
166
11-40
Step 16 Type
296
11-84
Regen Power Lim
76
11-27
Step 1 Speed
249
11-42
Stop Dwell Time
18
11-14
Relay Config 1
114
11-36
Step 1 Value
250
11-50
Test Data 1
92
11-31
Relay Config 2
187
11-56
Step 1 Type
251
11-76
Test Data 2
94
11-31
Relay Config 3
189
11-57
Step 2 Speed
252
11-77
Test Select 1
93
11-31
Relay Config 4
191
11-58
Step 2 Value
253
11-77
Test Select 2
95
11-32
Relay Setpoint 1
115
11-37
Step 2 Type
254
11-77
Torque Limit Sts
87
11-30
Relay Setpoint 2
188
11-56
Step 3 Speed
255
11-77
Torque Ref 1
69
11-26
Relay Setpoint 3
190
11-57
Step 3 Value
256
11-77
Total Inertia
157
11-48
Relay Setpoint 4
192
11-58
Step 3 Type
257
11-77
Trans Dgn Config
172
11-51
Reserved
163
11-49
Step 4 Speed
258
11-77
Units Traveled
246
11-76
Reserved
56
11-23
Step 4 Value
259
11-77
Value Tolerance
244
11-75
Reserved
57
11-23
Step 4 Type
260
11-70
Vd Max
170
11-51
Reserved
218
11-70
Step 5 Speed
261
11-78
Vq Max
171
11-51
11-16
Rev Speed Limit
40
11-20
Step 5 Value
262
11-78
Warning Select 1
21
Run Inhibit Sts
16
11-14
Step 5 Type
263
11-78
Warning Select 2
23
11-17
S-Curve Percent
47
11-21
Step 6 Speed
264
11-79
Warning Status 1
223
11-71
Scaled Spd Fdbk
63
11-24
Step 6 Value
265
11-79
Warning Status 2
224
11-72
Service Factor
9
11-11
Step 6 Type
266
11-79
Zero Speed Tol
19
11-15
Parameters
Parameter Conventions
Par# Parameter Name
Parameter Description
11-9
The remainder of this chapter describes the parameters available for
the 1336 IMPACT drive. Parameter descriptions follow these
conventions.
Parameter Number
1
File: group
2
Parameter type
3
Display
4
Factory default
5
Minimum Value
6
Maximum value
7
Conversion
8
Enums
9
#
file and group
destination or source
user units
drive factory setting
minimum value acceptable
maximum value acceptabe
drive units = display units
values
1 Parameter number: Each parameter is assigned a unique number. The number is used to read or write information to and from that parameter.
2 File:group: This lists the file and group where the parameter is located. A parameter may be listed in more than one file and group. Other
parameters may not be listed in any file or group and must be accessed through the linear list.
3 Parameter type: Three types of parameters are available:
source: The value is changed only by the drive and is used to monitor values.
destination: The value is changed through programming. Destinations are constant values.
linkable destination: This value can be either links to another parameter or a constant value.
4 Display: These are the units that you see on the HIM display, such as bits, Hz, seconds, volts, etc.
5 Factory default: This is the value assigned to each parameter at the factory. The factory default for source parameters is listed as not applicable
because source parameters receive their values from other parameters.
6 Minimum value: This is the lowest setting possible for the parameter.
7 Maximum value: This is the highest setting possible for the parameter.
8 Conversion: These are internal units used to communicate through the serial port and to scale values properly when reading or writing to the
drive.
9 Enums: These are the textual descriptions that are associated with individual bits.
In the following descriptions, base motor speed is equal to the value
of Nameplate RPM (parameter 3).
11-10
1
Parameters
Language Select
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
1
none
linkable destination
x
0
0
1
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
2
Motor/Inverter:Motor Nameplate
destination
x .x hp
30.0 hp
0.2 hp
2000.0 hp
10 = 1.0
3
Parameter number
File:group
Nameplate RPM contains the value of the motor speed that you Parameter type
entered during the start up routine. This value is typically located Display
on the motor nameplate. This value should not be the
Factory default
synchronous speed of the motor.
Minimum value
Maximum value
Conversion
3
Motor/Inverter:Motor Nameplate
destination
x rpm
1750 rpm
1 rpm
15000 rpm
1=1
4
Nameplate Amps
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
4
Motor/Inverter:Motor Nameplate
destination
x.x amps
0.2 amps
0.1 amps
calculated
10 = 1.0
5
Parameter number
File:group
Nameplate Volts contains the voltage rating of the motor that you Parameter type
entered during the start up routine. This value is typically located Display
Factory default
on the motor nameplate.
Minimum value
Maximum value
Conversion
5
Motor/Inverter:Motor Nameplate
destination
x volt
460 volts
75 volts
575 volts
1=1
6
Nameplate Hz
6
Motor/Inverter:Motor Nameplate
destination
x.x Hz
60.0 Hz
1.0 Hz
250.0 Hz
10 = 1.0
Use Language Select to choose between a primary language
and an alternate language. Select:
• 0 to choose the primary language
• 1 to choose the alternate language
2
Nameplate HP
Nameplate HP contains the value of the motor horsepower that
you entered during the start up routine. This value is typically
located on the motor nameplate.
Nameplate RPM
Nameplate Amps contains the value of the current rating of the
motor that you entered during the start up routine. This value is
typically located on the motor nameplate. The drive uses this
information to properly tune to the motor.
Nameplate Volts
Nameplate Hz contains the value of the frequency rating of the
motor that you entered during the start up routine. This value is
typically located on the motor nameplate.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Parameters
7
Motor Poles
Motor Poles contains the number of motor poles. The drive
calculates this value during the Quick Motor Tune portion of the
start up routine.
Note: Encoder PPR Must be greater than 64
# of Motor Poles
8
Encoder PPR
Encoder PPR contains the pulse per revolution rating of the
feedback device when you use an encoder to determine motor
speed.
Note: Encoder PPR Must be greater than 64
# of Motor Poles
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Service Factor
11-11
7
Motor/Inverter:Motor Nameplate
Motor/Inverter:Motor Constants
destination
x poles
4 poles
2 poles
40 poles
1=1
8
Motor/Inverter:Encoder Data
Control:Feedback Device
destination
x ppr
1024 ppr
calculated
20000 ppr
1=1
9
Parameter number
File:group
Enter the minimum level of current that causes a motor overload Parameter type
(I2T) trip under continuous operation. Current levels below this
Display
value never result in an overload trip. For example, a service
Factory default
factor of 1.15 implies continuous operation up to 115% of
Minimum value
nameplate motor current.
Maximum value
Conversion
10
PWM Frequency
Parameter number
File:group
Enter the drive carrier frequency in Hz. The drive carrier
Parameter type
frequency depends on your application and drive size. The drive Display
carrier frequency affects the audible noise level of your motor.
Factory default
Minimum value
Maximum value
Conversion
10
Motor/Inverter:Inverter
destination
x Hz
4000 Hz
1000 Hz
from the drive type
1=1
11
Inverter Amps
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
11
Motor/Inverter:Inverter
source
x.x amps
not applicable
0.1 amps
from drive type
10 = 1.0
Parameter number
File:group
Inverter Volts is the drive nameplate voltage rating of the inverter. Parameter type
The drive automatically sets Inverter Volts at power up.
Display
Factory default
Minimum value
Maximum value
Conversion
12
Motor/Inverter:Inverter
source
x volts
not applicable
75 volts
575 volts
1=1
Inverter Amps provides the current rating of the inverter. The
drive automatically sets Inverter Amps at power up.
12
Inverter Volts
9
Motor/Inverter:Motor Nameplate
destination
x.xx
1.15
1.00
2.00
4096 = 1.00
11-12
13
Parameters
Bus/Brake Opts
Bus/Brake Opts lets you choose options for the bus filter
reference, precharge/ridethrough conditions, and braking.
Use bits 0 through 4 to set the slew rate for the bus voltage
tracker. The bus voltage tracker slowly tracks changes in the
actual bus voltage. If the actual bus voltage drops 150 volts or
more below the current value of the bus voltage tracker, the drive
automatically disables modulation and enters precharge. Bits 0
through 4 select the sensitivity of the bus voltage tracker to
changes in the actual bus voltage. If none of the bits (0 through
4) are set, the slew rate is 0.05V/second.
The precharge function of the drive limits the current to the bus
capacitors when power is initially applied to the drive. The
precharge function is completed after a minimum 300 millisecond
time delay and bus voltage at least 30 volts greater than the
undervoltage setpoint and a stable bus voltage. Ridethrough
provides extended logic operating time if the power lines drop out
while the drive is running. If the precharge function is enabled,
ridethrough also provides inrush current protection by starting a
precharge, in case the incoming power returns.
The bits are defined as follows:
Bit
0
1
2
3
4
5
6
7
Description
Slew Rate 1
Set to choose a slew rate of 10V/second.
Slew Rate 2
Set to choose a slew rate of 5V/second.
Slew Rate 3
Set to choose a slew rate of 0.5V/second.
Slew Rate 4
Set to choose a slew rate of 0.05V/second.
Slew Rate 5
Set to choose a slew rate of 0.005V/second.
Bus High Lim
Set this bit only when bit 10 is set and the brake used
on the drive is undersized. Refer to Chapter 9,
Applications.
Flux Braking
Set to use an increase in the motor flux current to
increase the motor losses and allow a faster
deceleration time when there is no chopper brake or
regenerative capability.
DC Hold
Set to enable DC hold. This applies DC current to the
motor to attempt to hold zero speed in encoderless
operation when the drive is stopped.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
13
Application:Flux Braking
Application:DC Braking/Hold
Application:Fast Flux Up
Application:Bus Reg/Control
linkable destination
bits
00000000.00000000
00000000.00000000
11111111.11111111
1=1
For additional information about Bus/Brake Opts, refer to
Chapter 9, Applications and Chapter 12, Troubleshooting.
Important: If you add a dynamic brake after completing the drive
start up, you must run start up again or manually adjust Regen
Power Lim (parameter 76) to the proper value. If you do not, the
drive will be limited to 25% regen.
Bit
8
9
10
11
12
13
14
15
Description
Fast Fluxup
Set to enable fast flux up. Fast Flux Level
(parameter 78) set the level of current used to build flux
in the motor.
DC Braking
Set to apply DC current to the motor when a stop is
commanded. DC Brake Current (parameter 79) sets the
level, and DC Brake Time (parameter 80) sets the time
Brake/Regen
Set to indicate that a chopper brake, common bus, or
regenerative capability is present.
0 = The bus voltage controller is on.
1 = The bus voltage controller is off unless bit 5 is set
(1). Refer to Chapter 9, Applications.
Prech Exit
Set to force an exit from precharge after the precharge
timeout.
En Comm Bus
Set to enable common bus precharge. External fault
input is used as precharge enable.
Dis Prech Tm
Set to disable bus precharge and undervoltage faults
while the drive is disabled.
Dis Mult Pre
Set to disable all precharges after the first power up.
Dis Ridethru
Set to disable all ridethroughs.
Parameters
14
Logic Input Sts
Parameter number
File:group
Use Logic Input Sts to view drive logic operation. If a bit is set (1), Parameter type
that function is enabled. If a bit is clear (0), that function is
Display
disabled (not active).
Factory default
Minimum value
Maximum value
The bits are defined as follows:
Conversion
Bit
0
1
2
3
4
15
Description
Normal Stop
A ramp stop is selected.
Start
A start is in progress.
Jog 1
A jog 1 is in progress.
Clear Fault
A clear fault is in progress.
Forward
A forward was commanded.
Bit
5
6
7
8
9
Description
Reverse
A reverse was commanded.
Jog 2
A jog 2 is in progress.
Cur Lim Stop
A current limit stop is
selected.
Coast Stop
A coast stop is selected.
Spd Ramp Dis
Ramps are disabled.
Drive/Inv Status
Use Drive/Inv Status to view the status/conditions within the
drive. When a bit is set (1), the corresponding condition in the
drive is true.
The bits are defined as follows:
Bit
0
1
2
3
Description
Run Ready
The drive is ready to run. No
bits are set in Run Inhibit Sts
(parameter 16)
Running
The drive is following a
speed/torque reference
Command Dir
Shows which direction has
been requested; 1 is forward,
and 0 is reverse.
Rotating Dir
Shows the direction that the
motor is currently rotating; 1
is forward, and 0 is reverse.
Bit
4
5
6
7
8
9
Bit
10
11
12
13
14
15
Bit
10
11
12
13
14
15
1 If a warning has occurred, check the warning queue for more information.
2 If a fault has occurred, check the fault queue for more information.
14
Monitor:Drive/Inv Status
source
bits
not applicable
00000000.00000000
11111111.11111111
1=1
Description
Flux Enable
Flux is enabled.
Process Trim
Process trim is enabled.
Speed Ref A
Speed Ref B
Speed Ref C
Reset Drive
The drive has been
commanded to reset.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Description
Accelerating
If 1, the motor is accelerating.
Decelerating
If 1, the motor is decelerating.
Warning
If 1, a warning has occurred.1
Faulted
If 1, a fault has occurred.2
At Set Speed
The motor is at the requested
speed.
Enable LED
The drive is enabled.
11-13
C
0
0
0
0
1
1
1
1
B A
0 0 No Change
0 1 Speed Ref 1
1 0 Speed Ref 2
1 1 Speed Ref 3
0 0 Speed Ref 4
0 1 Speed Ref 5
1 0 Speed Ref 6
1 1 Speed Ref 7
15
Monitor:Drive/Inv Status
source
bits
not applicable
00000000.00000000
11111111.11111111
1=1
Description
Stopped
If 1, the drive is stopped.
Stopping
If 1, the drive is stopping.
At Zero Spd
Corresponds to Zero Speed
Tol (parameter 19).
C
Speed Ref A
0
Speed Ref B
0
Speed Ref C
0
0
1
1
1
1
B A
0 0 No Change
0 1 Speed Ref 1
1 0 Speed Ref 2
1 1 Speed Ref 3
0 0 Speed Ref 4
0 1 Speed Ref 5
1 0 Speed Ref 6
1 1 Speed Ref 7
11-14
16
Parameters
Run Inhibit Sts
View Run Inhibit Sts to determine what condition is actively
preventing the drive from starting or running. If all bits are clear
(0), the drive should start. If the drive is running and this word
becomes non-zero, the drive will stop.
The bits are defined as follows:
Bit
0
1
2
3
4
17
Description
Atune Mode
The drive is currently in
auto-tune.
Precharge
The drive stopped & is in bus
precharge.
Coast Stop
Coast stop input (discrete or
software).
Extern Fault
External input open.
Coast Fault
A coast fault condition occurred.
Bit
5
6
7
8
9
10
Description
No Enable
No hardware drive enable input.
Flux Loss
The drive dropped the drive
enable acknowledgement.
Reserved
Leave 0.
Hrdware Stop
Any hardware stop input.
Sftware Stop
Any software stop input.
Start/Jog
Start and/or jog is set.
16
Monitor:Drive/Inv Status
source
bits
not applicable
00000000.00000000
11111111.11111111
1=1
Bit
11
12
13
14
15
Logic Options
Parameter number
File:group
Use Logic Options to select the options for logic operation of the Parameter type
drive.
Display
If you set bits 1, 2, and 3, the drive performs a coast to stop. For Factory default
additional information about the stop types and priorities, refer to Minimum value
Appendix B, Control Block Diagrams.
Maximum value
The bits are defined as follows:
Conversion
Bit
0
1
2
3
4–5
6
Description
Reserved
Leave 0.
Coast Stop 1
Set to use a coast to stop.
CurLim Stop 1
Set to use a current limit to stop.
Ramp Stop 1
Set to use a ramp to stop.
Reserved
Leave 0.
Jog Ramp En
Set to enable the jog ramp.
Bit
7
8
9
10
11
18
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Description
Jog Coast
1 selects jog coast.
0 selects regen stop.
Start Diag
Do diagnostics each time the
drive is started.
Pwr Up Start
Set to enable the auto start
feature on power up if a start is
valid.
Reserved
Leave 0.
Bipolar Sref
1 selects bipolar reference.
0 selects unipolar reference.
Stop Dwell Time
Use Stop Dwell Time to set an adjustable delay time before the
drive disables speed and torque regulators when a stop has
been initiated.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Description
Reserved
Leave 0.
EE Function
The drive stopped and an EE
function is active.
Atune Stop
Auto-tune stop.
Diag Stop
Drive diagnostic inhibit.
Drive Fault
Any fault condition.
17
Control:Drive Logic Select
linkable destination
bits
00010000.00001000
00000000.00000000
01111111.11111111
1=1
Bit
12
13
14
15
Description
Coast Stop 2
Set to use a coast to stop. Only
used when L Option Mode
(par. 116) is 3, 13, or 16.
CurLim Stop 2
Set to use a current limit to stop.
Only used when L Option Mode
(par. 116) is 3, 13, or 16.
Ramp Stop 2
Set to use a ramp to stop. Only
used when L Option Mode
(par. 116) is 3, 13, or 16.
Reserved
Leave 0.
18
Control:Drive Logic Select
linkable destination
x.x seconds
0.0 seconds
0.0 seconds
10.0 seconds
10 = 1.0
Parameters
19
Zero Speed Tol
Parameter number
File:group
Use Zero Speed Tol to establish a band around zero speed that Parameter type
is used to determine when the drive considers the motor to be at Display
zero speed. Bit 12 (At Zero Spd) in Drive/Inv Status
Factory default
(parameter 15) indicates this.
Minimum value
Maximum value
Conversion
20
Fault Select 1
19
Control:Drive Logic Select
linkable destination
x.x rpm
base motor speed/100 rpm
0.0 rpm
8 x base motor speed rpm
4096 = base motor speed
Parameter number
File:group
Use Fault Select 1 to specify how the drive should handle certain Parameter type
conditions. Each bit within this parameter matches the bit
Display
definitions of Warning Select 1 (parameter 21). If you set bit(s)
Factory default
to 1 in this parameter, the drive reports a fault when that
Minimum value
condition occurs. If you clear bit(s) to 0, the drive reports the
Maximum value
condition based on Warning Select 1.
Conversion
The bits are defined as follows:
Bit
0
1
2
3
4
5
Description
RidethruTime
A bus ridethrough timeout
occurred.
Prechrg Time
A bus precharge timeout
occurred.
Bus Drop
A bus drop of 150 volts occurred.
Bus Undervlt
A bus undervoltage occurred.
Bus Cycles>5
More than 5 ridethroughs
occurred in a row.
Open Circuit
Fast flux up current is <50%.
11-15
20
Fault Setup:Fault Config
linkable destination
bits
01111110.00100011
00000000.00000000
01111111.00111111
1=1
Refer to Chapter 12, Troubleshooting, for additional information.
Bit
6–7
8
9
10
11
Description
Reserved
Leave 0.
mA Input
A loss of input connection
occurred after it was established.
SP 1 Timeout
Loss of communication with
SCANport device 1 occurred.
SP 2 Timeout
Loss of communication with
SCANport device 2 occurred.
SP 3 Timeout
Loss of communication with
SCANport device 3 occurred.
Bit
12
13
14
15
Description
SP 4 Timeout
Loss of communication with
SCANport device 4 occurred.
SP 5 Timeout
Loss of communication with
SCANport device 5 occurred.
SP 6 Timeout
Loss of communication with
SCANport device 6 occurred.
SP Error
Too many errors on the
SCANport communication.
11-16
21
Parameters
Warning Select 1
Parameter number
21
File:group
Fault Setup:Fault Config
Use Warning Select 1 to specify how the drive should handle
Parameter type
linkable destination
certain conditions. Each bit within this parameter matches the bit Display
bits
definitions of Fault Select 1 (parameter 20). If you set a bit to 1
Factory default
00000000.00011100
and the corresponding bit in Fault Select 1 is clear (0), the drive Minimum value
00000000.00000000
reports a warning when that condition occurs. If both
Maximum value
01111111.00111111
corresponding bits in Fault Select 1 and Warning Select 1 are 0, Conversion
1=1
the drive ignores the condition when it occurs.
The bits are defined as follows:
Refer to Chapter 12, Troubleshooting, for additional information.
Bit
0
1
2
3
4
5
22
Description
RidethruTime
A bus ridethrough timeout
occurred.
Prechrg Time
A bus precharge timeout
occurred.
Bus Drop
A bus drop of 150 volts occurred.
Bus Undervlt
A bus undervoltage occurred.
Bus Cycles>5
More than 5 ridethroughs
occurred in a row.
Open Circuit
Fast flux up current is <50%.
Bit
6–7
8
9
10
11
Description
Reserved
Leave 0.
mA Input
A loss of input connection
occurred after it was established.
SP 1 Timeout
Loss of communication with
SCANport device 1 occurred.
SP 2 Timeout
Loss of communication with
SCANport device 2 occurred.
SP 3 Timeout
Loss of communication with
SCANport device 3 occurred.
Bit
12
13
14
15
Description
SP 4 Timeout
Loss of communication with
SCANport device 4 occurred.
SP 5 Timeout
Loss of communication with
SCANport device 5 occurred.
SP 6 Timeout
Loss of communication with
SCANport device 6 occurred.
SP Error
Too many errors on the
SCANport communication.
Fault Select 2
Parameter number
22
File:group
Fault Setup:Fault Config
Use Fault Select 2 to specify how the drive should handle certain Parameter type
linkable destination
conditions. Each bit matches the bit definitions of Warning
Display
bits
Select 2 (parameter 23). If you set a bit to 1, the drive reports a Factory default
10000000.00010001
fault when that condition occurs. If you clear a bit to 0, the drive Minimum value
00000000.00000000
reports the condition based on Warning Select 2.
Maximum value
11111111.11111111
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 12, Troubleshooting, for additional information.
Bit
0
1
2
3
4
Description
SpdFdbk Loss
A loss of feedback occurred.
InvOvtmp Pnd
An inverter overtemp is pending.
Reserved
Leave 0.
MtrOvld Pend
A motor overload is pending (I2T).
MtrOvld Trip
Motor overload trip (I2T)
Bit
5
6
7–8
9
10
Description
Mtr Stall
The motor stalled.
Ext Fault In
The ext input is open.
Reserved
Leave 0.
Param Limit
A parameter is out of limits
Math Limit
A math limit occurred.
Bit
Description
11 – 12 Reserved
Leave 0.
13
InvOvld Pend
An inverter overload is pending
(IT).
14
Reserved
Leave 0.
15
InvOvld Trip
Inverter overload trip (IT)
Parameters
23
Warning Select 2
Parameter number
23
File:group
Fault Setup:Fault Config
Use Warning Select 2 to specify how the drive should handle
Parameter type
linkable destination
certain conditions. Each bit matches the bit definitions of Fault
Display
bits
Select 2 (parameter 22). If you set a bit to 1 and the
Factory default
10100000.00001010
corresponding bit in Fault Select 2 is clear (0), the drive reports a Minimum value
00000000.00000000
warning when that condition occurs. If both corresponding bits in Maximum value
11111111.11111111
Fault Select 2 and Warning Select 2 are 0, the drive ignores the Conversion
1=1
condition when it occurs.
Refer to Chapter 12, Troubleshooting, for additional information.
The bits are defined as follows:
Bit
0
1
2
3
4
24
11-17
Description
SpdFdbk Loss
A loss of feedback occurred.
InvOvtmp Pnd
An inverter overtemp is pending.
Reserved
Leave 0.
MtrOvld Pend
A motor overload is pending (I2T).
MtrOvld Trip
Motor overload trip (I2T)
Bit
5
6
7–8
9
10
Description
Mtr Stall
The motor stalled.
Ext Fault In
The ext input is open.
Reserved
Leave 0.
Param Limit
A parameter is out of limits
Math Limit
A math limit occurred.
Absolute Overspd
Bit
Description
11 – 12 Reserved
Leave 0.
13
InvOvld Pend
An inverter overload is pending
(IT).
14
Reserved
Leave 0.
15
InvOvld Trip
Inverter overload trip (IT)
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
24
Fault Setup:Fault Limits
linkable destination
x.x rpm
base motor speed x 0.1 rpm
0.0 rpm
base motor speed rpm
4096 = 100% overspeed
25
Parameter number
File:group
Enter the length of time that the drive must be in current limit and Parameter type
at zero speed before the drive indicates a Mtr Stall fault (fault
Display
number 01053). You can use bit 5 of Fault Select 2
Factory default
(parameter 22) and Warning Select 2 (parameter 23) to configure Minimum value
how the drive should report a Mtr Stall fault.
Maximum value
Conversion
25
Fault Setup:Fault Limits
linkable destination
x.x seconds
1.0 seconds
0.1 seconds
3276.7 seconds
10 = 1.0
26
Motor Overload %
Parameter number
File:group
Enter the level of current that will cause a Motor Overld Trp fault Parameter type
(fault number 01052) after 60 seconds. You can use bit 4 of Fault Display
Select 2 (parameter 22) and Warning Select 2 (parameter 23) to Factory default
configure how the drive should report a Motor Overld Trp.
Minimum value
Maximum value
Conversion
27
Line Undervolts
Enter the incremental speed above Fwd Speed Limit
(parameter 41) or below Rev Speed Limit (parameter 40) that is
allowable before the drive indicates its speed is out of range, an
Absolute Overspd fault (fault number 03025).
Motor Stall Time
26
Fault Setup:Fault Limits
linkable destination
x.x%
200.0%
110.0%
400.0%
4096 = 100% Iq for 60 seconds
Parameter number
27
File:group
Fault Setup:Fault Limits
Enter the minimum threshold as a percentage of the line voltage Parameter type
linkable destination
that is compared with DC Bus Voltage (parameter 84) as a check Display
x.x%
for a bus undervoltage condition.
Factory default
61.5%
Minimum value
10.0%
Maximum value
90.0%
Conversion
1024 = 100.0%
Refer to Chapter 12, Troubleshooting, for additional information.
11-18
Parameters
28
Speed Ref 1 Frac
Parameter number
File:group
Use Speed Ref 1 Frac to supply the fractional part of the external Parameter type
speed reference 1 when speed reference is selected in Logic
Display
Input Sts (parameter 14).
Factory default
Minimum value
Maximum value
Conversion
29
Speed Ref 1
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 1 is selected in Logic Input Sts (parameter 14). Speed Display
Ref 1 supplies the whole number portion of the speed reference. Factory default
You can use Speed Ref 1 Frac (parameter 28) to specify the
Minimum value
fractional portion of the speed reference.
Maximum value
Conversion
30
Speed Scale 1
28
none
linkable destination
x
0
0
65535
1 = 1/2^28 base motor speed
29
Control:Speed Reference
linkable destination
±x.x rpm
0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
30
Control:Speed Reference
linkable destination
±x.xxxx
+1.0000
-3.9999
+3.9999
8192 = 1.0000
31
Speed Ref 2
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 2 is selected in Logic Input Sts (parameter 14).
Display
Factory default
Minimum value
Maximum value
Conversion
31
Control:Speed Reference
linkable destination
±x.x rpm
0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
32
Speed Ref 3
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 3 is selected in Logic Input Sts (parameter 14).
Display
Factory default
Minimum value
Maximum value
Conversion
32
Control:Speed Reference
linkable destination
±x.x rpm
+0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
33
Speed Ref 4
33
Control:Speed Reference
linkable destination
±x.x rpm
+0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
Enter the gain multiplier used to scale speed reference 1.
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 4 is selected in Logic Input Sts (parameter 14).
Display
Factory default
Minimum value
Maximum value
Conversion
Parameters
11-19
34
Speed Ref 5
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 5 is selected in Logic Input Sts (parameter 14).
Display
Factory default
Minimum value
Maximum value
Conversion
34
Control:Speed Reference
linkable destination
±x.x rpm
+0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
35
Speed Ref 6
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 6 is selected in Logic Input Sts (parameter 14).
Display
Factory default
Minimum value
Maximum value
Conversion
35
Control:Speed Reference
linkable destination
±x.x rpm
+0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
36
Speed Ref 7
Parameter number
File:group
Enter the speed reference that the drive should use when speed Parameter type
reference 7 is selected in Logic Input Sts (parameter 14).
Display
Factory default
Minimum value
Maximum value
Conversion
36
Control:Speed Reference
linkable destination
±x.x rpm
+0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
37
Speed Scale 7
Enter the gain multiplier used to scale Speed Ref 7
(parameter 36).
38
Jog Speed 1
Enter the speed reference that the drive should use when Jog 1
is selected in Logic Input Sts (parameter 14).
39
Jog Speed 2
Enter the speed reference that the drive should use when Jog 2
is selected in Logic Input Sts (parameter 14).
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
37
Control:Speed Reference
linkable destination
±x.xxxx
+1.0000
-3.9999
+3.9999
8192 = 1.0000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
38
Control:Speed Reference
linkable destination
±x.x rpm
+100.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
39
Control:Speed Reference
linkable destination
±x.x rpm
+0.0 rpm
-8 x base motor speed rpm
+8 x base motor speed rpm
4096 = base motor speed
11-20
40
Parameters
Rev Speed Limit
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
40
Control:Control Limits
destination
-x.x rpm
-base motor speed rpm
-6 x base motor speed rpm
0.0 rpm
-4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
41
Control:Control Limits
destination
x.x rpm
+base motor speed rpm
0.0 rpm
+6 x base motor speed rpm
+4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
42
Control:Accel/Decel
linkable destination
x.x seconds
5.0 seconds
0.0 seconds
6553.5 seconds
10 = 1.0
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
43
Control:Accel/Decel
linkable destination
x.x seconds
10.0 seconds
0.0 seconds
6553.5 seconds
10 = 1.0
44
Decel Time 1
Parameter number
File:group
Enter the length of time for the drive to ramp from base speed to Parameter type
0 rpm. This is used for a ramp stop.
Display
Factory default
Minimum value
Maximum value
Conversion
44
Control:Accel/Decel
linkable destination
x.x seconds
5.0 seconds
0.0 seconds
6553.5 seconds
10 = 1.0
45
Decel Time 2
45
Control:Accel/Decel
linkable destination
x.x seconds
10.0 seconds
0.0 seconds
6553.5 seconds
10 = 1.0
Use Rev Speed Limit to set a limit on speed in the negative
direction. Enter a negative value or zero.
41
Fwd Speed Limit
Use Fwd Speed Limit to set a limit on speed in the positive
direction. Enter a positive value or zero.
42
Accel Time 1
Enter the length of time for the drive to ramp from 0 rpm to the
base speed.
43
Accel Time 2
Enter the length of time for the drive to ramp from 0 rpm to the
base speed. Accel Time 2 is available only when the value of
L Option Mode (parameter 116) is 4, 11, or 14.
Parameter number
File:group
Enter the length of time for the drive to ramp from base speed to Parameter type
0 rpm. This is used for a ramp stop. Decel Time 2 is available
Display
only when the value of L Option Mode (parameter 116) is 4, 11, Factory default
or 14.
Minimum value
Maximum value
Conversion
Parameters
46
Droop Percent
Parameter number
File:group
Use Droop Percent to specify the percent of base speed that the Parameter type
speed reference is reduced when at full load torque. You can use Display
this feature to cause motor speed to droop with an increase in
Factory default
load.
Minimum value
Maximum value
Conversion
47
S-Curve Percent1
11-21
46
Control:Speed Regulator
linkable destination
x.x%
0.0%
0.0%
25.5%
10 = 1.0
Parameter number
47
File:group
Control:Accel/Decel
Use S-Curve Percent to create an adjustable S curve ramp.
Parameter type
linkable destination
S-Curve Percent controls the level of filtering that is applied to the Display
x.x%
output of the acceleration and deceleration ramp.
Factory default
0.0%
Minimum value
0.0%
Maximum value
100.0%
If S-Curve Percent is
Then the S-Curve is:
Conversion
10 = 1.0%
set to:
Refer to the Speed Reference Selection Overview in Appendix B,
0
Not used.
Control Block Diagrams, for more information.
50%
Applied for half of the ramp time.
100%
Applied for the entire ramp.
1 S-Curve Percent was added in Version 2.xx.
48
PTrim Output
Parameter number
48
File:group
Application:Process Trim
PTrim Output represents the scaled and limited output of the
Parameter type
source
process trim function. You can use PTrim Output as a parameter Display
±x.x%
source or to offset the speed or torque reference. To offset the
Factory default
not applicable
speed or torque reference, you need to select either bit 0 or bit 1 Minimum value
-800.0%
in PTrim Select (parameter 51).
Maximum value
+800.0%
Conversion
4096 = 100.0%
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
49
PTrim Reference
PTrim Reference is the reference input value for process trim.
PTrim Reference and PTrim Feedback (parameter 50) are
compared and used to update PTrim Output (parameter 48).
50
PTrim Feedback
PTrim Feedback is the feedback input value for process trim.
PTrim Feedback and PTrim Reference (parameter 49) are
compared and used to update PTrim Output (parameter 48).
Parameter number
49
File:group
Application:Process Trim
Parameter type
linkable destination
Display
±x.x%
Factory default
+0.0%
Minimum value
-800.0%
Maximum value
+800.0%
Conversion
4096 = 100.0%
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
Parameter number
50
File:group
Application:Process Trim
Parameter type
linkable destination
Display
±x.x%
Factory default
+0.0%
Minimum value
-800.0%
Maximum value
+800.0%
Conversion
4096 = 100.0%
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
11-22
51
Parameters
PTrim Select
Parameter number
51
File:group
Application:Process Trim
Use PTrim Select to select the options for the process trim
Parameter type
linkable destination
regulator. If bits 0 and 1 are either both set or both clear, both the Display
bits
speed and the torque references remain unaffected. If bits 3 and Factory default
00000000
4 are both set, bit 3 takes priority.
Minimum value
00000000
Maximum value
11111111
The bits are defined as follows:
Conversion
1=1
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
Bit
0
1
2
Description
Speed Trim
Set to trim the speed reference.
Torque Trim
Set to trim the torque reference.
Speed Input
Select the speed inputs.
Bit
3
4
5
Description
Set Output
Set the output option.
Preset Integ
Preset integrator option.
Trim Limiter
Force ON trim limit option.
Bit
6
7
Description
Trim Enable
Enable process trim. OR’d with
Process Trim bit 11 in Logic Input
Sts (parameter 14).
Encoder Trim
52
PTrim Filter BW
Parameter number
52
File:group
Application:Process Trim
Use PTrim Filter BW to set the bandwidth of a single pole filter
Parameter type
linkable destination
used with the error input for process trim. The input to the filter is Display
x.x radians/second
the difference between PTrim Reference (parameter 49) and
Factory default
0.0 radians/second
PTrim Feedback (parameter 50). The output of this filter is used Minimum value
0.0 radians/second
as the input to the process trim regulator.
Maximum value
240.0 radians/second
Conversion
10 = 1.0
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
53
PTrim Preload
Use PTrim Preload to preset the output of the process trim
regulator when you select either bit 3 (Set the output option) or
bit 4 (Preset integrator option) in PTrim Select (parameter 51).
54
PTrim Ki
Use PTrim Ki to control the integral gain of the process trim
regulator. If Ki process trim is 1.0, the process trim PI regulator
output equals 1 pu in 1 second for 1 pu process trim error.
Parameter number
53
File:group
Application:Process Trim
Parameter type
linkable destination
Display
±x.x%
Factory default
0.0%
Minimum value
-800.0%
Maximum value
+800.0%
Conversion
4096 = 100.0%
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
Parameter number
54
File:group
Application:Process Trim
Parameter type
linkable destination
Display
x.xxx
Factory default
1.000
Minimum value
0.000
Maximum value
16.000
Conversion
4096 = 1.000
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
Parameters
11-23
55
PTrim Kp
Parameter number
55
File:group
Application:Process Trim
Use PTrim Kp to control the proportional gain of the process trim Parameter type
linkable destination
regulator. If the Kp process trim is equal to 1.0, the process trim Display
x.xxx
PI regulator output equals 1 pu for 1 pu process trim error.
Factory default
1.000
Minimum value
0.000
Maximum value
16.000
Conversion
4096 = 1.000
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
56
Reserved
Leave this parameter set to 0.
57
Reserved
Leave this parameter set to 0.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
56
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
57
58
PTrim Lo Limit
Parameter number
58
File:group
Application:Process Trim
Use PTrim Lo Limit to specify the low limit of the process trim
Parameter type
linkable destination
regulator output value. The output of the process trim regulator is Display
±x.x%
limited by adjustable high and low limits.
Factory default
-100.0%
Minimum value
-800.0%
Maximum value
+800.0%
Conversion
4096 = 100.0%
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
59
PTrim Hi Limit
Parameter number
59
File:group
Application:Process Trim
Use PTrim Hi Limit to specify the high limit of the process trim
Parameter type
linkable destination
regulator output value. The output of the process trim regulator is Display
±x.x%
limited by adjustable high and low limits.
Factory default
+100.0%
Minimum value
-800.0%
Maximum value
+800.0%
Conversion
4096 = 100.0%
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
11-24
Parameters
60
PTrim Out Gain
Parameter number
60
File:group
Application:Process Trim
The output of the process trim regulator is scaled by a gain factor. Parameter type
linkable destination
This occurs just before the upper and lower limit. Use PTrim Out Display
±x.xxx
Gain to specify the gain value to use. A negative gain value
Factory default
+1.000
inverts the process trim output.
Minimum value
-8.000
Maximum value
+8.000
Conversion
4096 = +1.000
Refer to the Trim Control Overview section in Appendix B,
Control Block Diagrams, for more information.
61
Max Rev Spd Trim
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
61
Application:Process Trim
linkable destination
±x.x rpm
- base motor speed rpm
-6 x base motor speed rpm
0.0 rpm
-4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
62
Application:Process Trim
linkable destination
±x.x rpm
+ base motor speed rpm
0.0 rpm
+6 x base motor speed rpm
4096 = base motor speed
63
Parameter number
File:group
Scaled Spd Fdbk is a scaled version of speed feedback. The
Parameter type
inverse of either Speed Scale 1 (parameter 30) or Speed Scale 7 Display
(parameter 37) is used.
Factory default
Minimum value
Maximum value
Conversion
63
Control:Speed Feedback
source
±x
not applicable
-32767
+32767
1=1
64
Fdbk Device Type
Use Max Rev Spd Trim to limit the minimum value of the speed
reference after the process trim output and the external speed
trim has been added.
62
Max Fwd Spd Trim
Use Max Fwd Spd Trim to limit the maximum value of the speed
reference after the process trim.
Scaled Spd Fdbk
Use Fdbk Device Type to choose the source for motor speed
feedback from the following options:
Value Description
1
Encoderless
Use this mode if you do not have an encoder.
2
Encoder
Use this mode if you do have an encoder.
3
Simulator
Use this mode to simulate a motor.
4
Encoderless W/Deadband
Use this mode if you do not have an encoder and
operation below 1Hz is not required.
Whenever possible, you should use the start up procedure to
change the feedback device type because the start up procedure
automatically re-adjusts the speed loop gains when you change
between encoder and encoderless operation.
Parameter number
64
File:group
Control:Feedback Device
Parameter type
destination
Display
x
Factory default
1
Minimum value
1
Maximum value
3
Conversion
1=1
Refer to Chapter 9, Applications, for information about the
advantages and disadvantages of encoderless and encoder
modes.
1Hz
Deadband
Parameters
65
Fdbk Filter Sel
Use Fdbk Filter Sel to select the type of feedback filter. You can
choose among the following filters:
Value Description
0
No Filter
Use this option if you do not want to filter the feedback.
1
35/49 rad
Use a “light” 35/49 radian feedback filter.
2
20/40 rad
Use a “heavy” 20/40 radian feedback filter.
3
Lead/Lag
Use a single pole lead lag feedback filter. You need to set
up Fdbk Filter Gain (par. 66) and Fdbk Filter BW
(par. 67).
4
Notch
Use a notch filter. You need to set up Notch Filtr Freq
(par. 185) and Notch Filtr Q (par. 186).
66
Fdbk Filter Gain
Use Fdbk Filter Gain to specify the Kn term of the single pole
lead/lag feedback filter.
If KN is:
Then:
Greater than 1.0
A lead filter is produced.
Less than 1.0
A lag filter is produced.
Equal to 1.0
The feedback filter is disabled.
Equal to 0.0
A simple, low pass filter is produced.
11-25
Parameter number
65
File:group
Control:Speed Feedback
Parameter type
linkable destination
Display
x
Factory default
0
Minimum value
0
Maximum value
4
Conversion
1=1
Refer to Appendix B, Control Block Diagrams, for information
about Fdbk Filter Sel.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
66
Control:Speed Feedback
linkable destination
±x.xx
+1.00
-5.00
+5.00
256 = 1.00
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
67
Control:Speed Feedback
linkable destination
x.x radians/second
100.0 radians/second
0.2 radian/second
900.0 radians/second
10 = 1.0
You need to set this parameter if Fdbk Filter Sel (parameter 65) is
set to 3.
67
Fdbk Filter BW
Use Fdbk Filter BW to establish the breakpoint frequency (in
radians) for the speed feedback lead/lag filter. You need to set
this parameter if Fdbk Filter Sel (parameter 65) is set to 3.
11-26
68
Parameters
Spd/Trq Mode Sel
Parameter number
68
File:group
Control:Speed/Torq Mode
Use Spd/Trq Mode Sel to select the source for the drive torque
Parameter type
linkable destination
reference. Spd/Trq Mode Sel operates as a selector switch. The Display
bits
position of the selector determines the torque reference selection Factory default
1
as follows:
Minimum value
0
Maximum value
5
Conversion
1=1
For a more detailed description of these bits, refer to the Torque
Reference Overview section in Appendix B, Control Block
Diagrams.
Value Description
0
Zero Torque
Zero Torque
1
Speed Reg
Speed Regulate
2
Torque Reg
External Torque
Value Description
3
Min Trq/Spd
Selects the smallest value when
the torque reference and the
torque generated from the speed
are compared.
4
Max Trq/Spd
Selects the largest value when the
torque reference and the torque
generated from the speed are
compared.
Value Description
5
Sum Trq/Spd
Selects the sum of the torque
reference and
the torque generated from the
speed.
69
Torque Ref 1
Parameter number
File:group
Use Torque Ref 1 to supply an external motor torque reference to Parameter type
the drive. To select the external torque reference, set Spd/Trq
Display
Mode Sel (parameter 68) to a value of 2.
Factory default
Minimum value
Maximum value
Conversion
69
Control:Torque Reference
linkable destination
±x.x%
+0.0%
-800.0%
+800.0%
4096 = 100.0%
70
Slave Torque %
Parameter number
File:group
Use Slave Torque % to specify the gain value that is multiplied to Parameter type
Torque Ref 1 (parameter 69).
Display
Factory default
Minimum value
Maximum value
Conversion
70
Control:Torque Reference
linkable destination
±x.xx%
+100.00%
-200.00%
+200.00%
4096 = 1.00%
71
Min Flux Level
Parameter number
File:group
Use Min Flux Level to set the smallest level of flux used to
Parameter type
convert a torque to a current reference above base speed.
Display
Setting Min Flux Level to a value less than 100%, such as 25%, Factory default
will increase the speed regulator gains to compensate for the
Minimum value
loss of gain/bandwidth that occurs above base speed due to field Maximum value
weakening. Reducing Min Flux Level below 100% may result in Conversion
unstable operation above base speed when in encoderless
mode.
71
none
linkable destination
x.x%
100.0%
12.5%
100.0%
4096 = 100.0%
Parameters
72
Pos Mtr Cur Lim
11-27
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
72
Control:Control Limits
destination
x.x%
200.0%
0.0%
calculated
4096 = 100.0%
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
73
Control:Control Limits
destination
-x.x%
-200.0%
calculated
0.0%
-4096 = -100.0%
74
Pos Torque Lim
Parameter number
File:group
Enter the torque limit for positive torque reference values. The
Parameter type
positive motor torque reference will not be allowed to exceed this Display
value. Pos Mtr Cur Lim (parameter 72) affects the maximum
Factory default
value of Pos Torque Lim.
Minimum value
Maximum value
Conversion
74
Control:Control Limits
linkable destination
x.x%
200.0%
0.0%
calculated
4096 = 100.0%
75
Neg Torque Lim
Parameter number
File:group
Enter the the torque limit for the negative torque reference
Parameter type
values. The negative motor torque reference will not be allowed Display
to exceed this value. Neg Mtr Cur Lim (parameter 73) affects the Factory default
minimum value of Neg Torque Lim.
Minimum value
Maximum value
Conversion
75
Control:Control Limits
linkable destination
-x.x%
-200.0%
calculated
0.0%
-4096 = -100.0%
76
Regen Power Lim
76
Control:Control Limits
linkable destination
-x.x%
-200.0%
-800.0%
0.0%
-4096 = -100.0%
Enter the largest allowable positive motor stator current up to
200% or 400% as determined by Max Mtr Current
(parameter 195). Values over 150% of the inverter rated current
(or 135% for the 460V/800HP H frame) may not be attainable.
Bit 0 in Torque Limit Sts (parameter 87) indicates when Pos Mtr
Cur Lim is actively restricting current.
Changing Pos Mtr Cur Lim affects Pos Torque Lim
(parameter 74). If you lower Pos Mtr Cur Lim, you may also lower
the range of Pos Torque Lim. If you then raise Pos Mtr Cur Lim,
Pos Torque Lim may remain at the lower value due to the range
change.
You cannot change this value while the drive is running.
73
Neg Mtr Cur Lim
Enter the largest allowable negative motor stator current up to
200% or 400% as determined by Max Mtr Current
(parameter 195). Values over 150% of the inverter rated current
(or 135% for the 460V/800HP H frame) may not be attainable.
Bit 0 in Torque Limit Sts (parameter 87) indicates when Neg Mtr
Cur Lim is actively restricting current.
Changing Neg Mtr Cur Lim affects Neg Torque Lim
(parameter 75). If you lower Neg Mtr Cur Lim, you may also lower
the range of Neg Torque Lim. If you later raise Neg Mtr Cur Lim,
Neg Torque Lim may remain at the lower value due to the range
change.
You cannot change this value while the drive is running.
Parameter number
File:group
Enter the maximum power level that is transferred from the motor Parameter type
to the DC bus. If you are using an external dynamic brake, you
Display
should set Regen Power Limit to the default level of the drive.
Factory default
Minimum value
Maximum value
Conversion
11-28
77
Parameters
Current Rate Lim
Enter the largest allowable rate of change for the current
reference signal. This number is scaled in units of maximum per
unit current every two milliseconds.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
77
Control:Control Limits
linkable destination
x.x%
20.0%
calculated
200.0%
4096 = 100.0%
78
Fast Flux Level
Parameter number
78
File:group
Application:Fast Flux Up
Enter the percent of rated motor current to be used to flux up the Parameter type
destination
motor fast. The larger the value, the faster the motor reaches
Display
x.x%
rated flux. To enable the fast flux up feature, you must set bit 8 in Factory default
200.0%
Bus/Brake Option (parameter 13).
Minimum value
100.0%
Maximum value
calculated
Conversion
4096 = 100.0%
Refer to the Enabling Fast Flux Up section of Chapter 12,
Troubleshooting, for more information.
79
DC Brake Current1
80
DC Brake Time1
81
Motor Speed
Parameter number
79
File:group
Application:DC Braking/Hold
Enter the percent of motor current to be used for DC braking the Parameter type
linkable destination
motor. To enable DC braking, you need to set bit 9 in Bus/Brake Display
x.x%
Opts (parameter 13).
Factory default
50.0%
Minimum value
0.0%
1 DC Brake Current was added in Version 2.xx.
Maximum value
calculated
Conversion
4096 = 100.0% current
Refer to Chapter 9, Applications, for more information.
Parameter number
80
File:group
Application:DC Braking/Hold
Enter the period of time that the DC braking current should be
Parameter type
destination
applied after a stop has been commanded. To enable DC
Display
x.x seconds
braking, you need to set bit 9 in Bus/Brake Opts (parameter 13). Factory default
10.0 seconds
Minimum value
0.0 seconds
1 DC Brake Time was added in Version 2.xx.
Maximum value
6553.5 seconds
Conversion
10=1.0 seconds
Refer to Chapter 9, Applications, for more information.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
81
Monitor:Motor Status
source
±x.x rpm
not applicable
-8 x base motor speed
+8 x base motor speed
4096 = base motor speed
Parameter number
File:group
Command Spd Sts is the high word portion of a 32-bit speed
Parameter type
reference quantity. It is the input term for the Speed PI Regulator. Display
Factory default
Minimum value
Maximum value
Conversion
82
Monitor:Drive/Inv Status
source
±x.x rpm
not applicable
-8 x base motor speed
+8 x base motor speed
4096 = base motor speed
Motor Speed contains a filtered version of speed feedback. The
value displayed in Motor Speed is passed through a low pass
filter having a 125 millisecond time constant.
82
Command Spd Sts
Parameters
83
Motor Current
Parameter number
File:group
Use Motor Current to view the actual RMS value of the motor
Parameter type
current as determined from the LEM current sensors. This data is Display
averaged and updated every 50 milliseconds.
Factory default
Minimum value
Maximum value
Conversion
84
DC Bus Voltage
84
Monitor:Drive/Inv Status
source
x volts
not applicable
0 volts
1000 volts
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
85
Monitor:Motor Status
source
x volt
not applicable
0 volts
+3000 volts
1=1
Parameter number
File:group
Use Motor Torque % to view the calculated value of motor torque Parameter type
as determined by the drive. The actual value of the motor torque Display
is within 5% of this value. This data is updated every
Factory default
2 milliseconds.
Minimum value
Maximum value
Conversion
86
Monitor:Motor Status
source
±x.x% trq
not applicable
-800.0%
+800.0%
4096 = 100.0%
Motor Voltage
Use Motor Voltage to view the actual line-to-line fundamental
RMS value of motor voltage. This data is averaged and updated
every 50 milliseconds.
86
83
Monitor:Motor Status
source
x.x amp
not applicable
0.0 amps
6553.5 amps
4096 = rated inverter amps
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
DC Bus Voltage represents the actual bus voltage in volts as
read by the software from an analog input port.
85
11-29
Motor Torque %
11-30
87
Parameters
Torque Limit Sts
Use Torque Limit Sts to view a bit-coded summary of any
condition that may be limiting either the current or the torque
reference.
The bits are defined as follows:
Value Description
0
+Mtr Iq Lim
Positive motor current limit
1
+NTC Foldbak
Positive NTC inverter foldback
2
+IT Foldback
Positive IT inverter foldback
3
+Flux Brake
Iq limited due to flux braking.
4
+Torque Lim
Positive torque limit
5
+Trq Pwr Lim
Positive torque power limit
88
Value Description
6
+Atune Trq
Positive auto-tune torque
7
Reserved
Leave 0.
8
-Mtr Iq Lim
Negative motor current limit
9
-NTC Foldbak
Negative NTC inverter protection
foldback
10
-IT Foldback
IT inverter protection foldback
11
-Flux Brake
Iq limited due to flux braking.
Value Description
12
-Torque Lim
Negative torque limit
13
-Trq Pwr Lim
Negative torque power limit
14
-Atune Trq
Negative auto-tune torque limit
15
Reserved
Leave 0.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
88
Monitor:Motor Status
source
x.x%
not applicable
12.5%
100.0%
4096 = 100.0%
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
89
Monitor:Motor Status
source
x.xxx Hz
not applicable
-250.000 Hz
+250.000 Hz
128 = 1.000
Parameter number
File:group
Motor Power % is the calculated product of torque reference
Parameter type
times motor speed feedback. A 125 millisecond filter is applied to Display
this result. Positive values indicate motoring power; negative
Factory default
values indicate regenerative power.
Minimum value
Maximum value
Conversion
90
Monitor:Motor Status
source
±x.x% PWR
not applicable
-800.0%
+800.0%
4096 = 100.0%
Motor Flux %
Use Motor Flux % to view the level of motor field flux calculated
by the drive.
89
Motor Frequency
Use Motor Frequency to view the actual value of motor stator
frequency in Hz.
90
Parameter number
87
File:group
Monitor:Drive/Inv Status
Parameter type
source
Display
bits
Factory default
not applicable
Minimum value
00000000.00000000
Maximum value
01111111.11111111
Conversion
1=1
Refer to Appendix B, Control Block Diagrams, for more
information on the NTC and IT inverter foldbacks.
Motor Power %
Parameters
91
Iq %
Parameter number
File:group
Iq % shows the value of torque current reference that is present Parameter type
at the output of the current rate limiter. 100% is equal to 1 per unit Display
(pu) rated motor torque.
Factory default
Minimum value
Maximum value
Conversion
92
Test Data 1
Use Test Data 1 to view a data value that corresponds to the
value selected in Test Select 1 (parameter 93). Test Data 1 is a
diagnostic tool used to view internal drive parameters.
93
Test Select 1
Test Select 1 is a diagnostic tool that you can use to access
specific test points. The value you enter specifies which data
value should be displayed in Test Data 1 (parameter 92).
If you enter this value for Test Select 1
(parameter 93):
94
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
11-31
91
none
source
±x.x%
not applicable
-800.0%
+800.0%
4096 = 100.0%
92
Monitor:Testpoints
Fault Setup:Testpoints
source
±x
not applicable
-32768
+32767
1=1
93
Monitor:Testpoints
Fault Setup:Testpoints
linkable destination
x
0
0
65535
1=1
Then, the value in Test Data 1 (parameter 92) represents the:
12
Precharge status
86
Approximate fluxing time
Test Data 2
Use Test Data 2 to view a data value that corresponds to the
value selected in Test Select 2 (parameter 95). Test Data 2 is a
diagnostic tool used to view internal parameters.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
94
Monitor:Testpoints
Fault Setup:Testpoints
source
±x
not applicable
-32768
+32767
1=1
11-32
95
Parameters
Test Select 2
Test Select 2 is a diagnostic tool that you can use to access
specific testpoints. The value you enter specifies which data
values should be displayed in Test Data 2 (parameter 94). For
Test Select 2 values of 11100 through 11232, you need to first
enter a 111xx value to determine the number of hours since
power up, and then enter a 112xx value to determine the number
of minutes and seconds since power up.
If you enter this value for
Test Select 2 (parameter 95):
9728
9730
9987
9988
9990
9991
10000
10264
10503
10504
10505
10506
10507
10508
10509
hours minutes/seconds
11100 11200
11101 11201
11102 11202
11103 11203
11104 11204
11105 11205
11106 11206
11107 11207
11108 11208
11109 11209
11110 11210
11111 11211
11112 11212
11113 11213
11114 11214
11115 11215
11116 11216
11117 11217
11118 11218
11119 11219
11120 11220
11121 11221
11122 11222
11123 11223
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
95
Monitor:Testpoints
Fault Setup:Testpoints
linkable destination
x
0
0
65535
1=1
Then, the value in Test Data 2 (parameter 94) represents the:
Scaled version of Torque Ref 1 (parameter 69)
Sum of scaled Torque Ref 1 (parameter 69) and PTrim Output (parameter 48)
Upper current limit (4096 @ rated motor positive current)
Lower current limit (-4096 @ rated motor negative current)
Upper torque limit (4096 @ rated motor positive torque)
Lower torque limit (-4096 @ rated motor negative torque)
Motor Flux % (parameter 88) limited to Min Flux Level (parameter 71)
Value of Logic Input Status (par 14) at the time of the last stop event.
Parameter limit conditions
Parameter limit conditions
Speed reference math limits
Speed feedback math limits
Speed regulator math limits
Torque reference math limits
Process trim math limits
Realtime accumulated since power up
The time since power up that the fault in position 1 occurred
The time since power up that the fault in position 2 occurred
The time since power up that the fault in position 3 occurred
The time since power up that the fault in position 4 occurred
The time since power up that the fault in position 5 occurred
The time since power up that the fault in position 6 occurred
The time since power up that the fault in position 7 occurred
The time since power up that the fault in position 8 occurred
The time since power up that the fault in position 9 occurred
The time since power up that the fault in position 10 occurred
The time since power up that the fault in position 11 occurred
The time since power up that the fault in position 12 occurred
The time since power up that the fault in position 13 occurred
The time since power up that the fault in position 14 occurred
The time since power up that the fault in position 15 occurred
The time since power up that the fault in position 16 occurred
The time since power up that the fault in position 17 occurred
The time since power up that the fault in position 18 occurred
The time since power up that the fault in position 19 occurred
The time since power up that the fault in position 20 occurred
The time since power up that the fault in position 21 occurred
The time since power up that the fault in position 22 occurred
The time since power up that the fault in position 23 occurred
Parameters
If you enter this value for Test
Select 2 (parameter 95):
hours minutes/seconds
11124 11224
11125 11225
11126 11226
11127 11227
11128 11228
11129 11229
11130 11230
11131 11231
11132 11232
58144
58146
58220
58228
58230
58250
58296
11-33
Then, the value in Test Data 2 (parameter 94) represents the:
The time since power up that the fault in position 24 occurred
The time since power up that the fault in position 25 occurred
The time since power up that the fault in position 26 occurred
The time since power up that the fault in position 27 occurred
The time since power up that the fault in position 28 occurred
The time since power up that the fault in position 29 occurred
The time since power up that the fault in position 30 occurred
The time since power up that the fault in position 31 occurred
The time since power up that the fault in position 32 occurred
Drive software version (example: 101)
Drive power structure type
Speed regulator output
Speed error (reference — feedback)
Unfiltered speed feedback (4096 @ Nameplate RPM)
Internal torque reference (4096 @ rated motor torque)
Inverter temperature feedback (degrees Celsius)
96
An In 1 Value
Parameter number
File:group
Use An In 1 Value to view the converted analog value of the input Parameter type
at analog input 1.
Display
Factory default
Minimum value
Maximum value
Conversion
96
Interface/Comm:Analog Inputs
source
±x
not applicable
-32767
+32767
1=1
97
An In 1 Offset
Parameter number
File:group
Use An In 1 Offset to set the offset applied to the raw analog
Parameter type
value of the analog input 1 before the scale factor is applied. This Display
lets you shift the range of the analog input.
Factory default
Minimum value
Maximum value
Conversion
97
Interface/Comm:Analog Inputs
linkable destination
±x.xxx volts
0.000 volts
-19.980 volts
+19.980 volts
205 = 1.000
98
An In 1 Scale
Parameter number
File:group
Use An In 1 Scale to set the scale factor or gain for analog
Parameter type
input 1. The value of analog input 1 is converted to +2048 and
Display
then the scale is applied. This provides an effective digital range Factory default
of ±32767.
Minimum value
Maximum value
Conversion
98
Interface/Comm:Analog Inputs
linkable destination
±x.xxx
+2.000
-16.000
+16.000
2048 = 1.000
99
An In 2 Value
99
Interface/Comm:Analog Inputs
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Use An In 2 Value to view the converted analog value of the input Parameter type
at analog input 2.
Display
Factory default
Minimum value
Maximum value
Conversion
11-34
Parameters
100
An In 2 Offset
Parameter number
File:group
Use An In 2 Offset to set the offset applied to the raw analog
Parameter type
value of analog input 2 before the scale factor is applied. This lets Display
you shift the range of the analog input.
Factory default
Minimum value
Maximum value
Conversion
100
Interface/Comm:Analog Inputs
linkable destination
±x.xxx volts
0.000 volts
-19.980 volts
+19.980 volts
205 = 1.000
101
An In 2 Scale
Parameter number
File:group
Use An In 2 Scale to set the scale factor or gain for analog
Parameter type
input 2. The value of analog input 2 is converted to +2048 and
Display
then the scale is applied. This provides an effective digital range Factory default
of ±32767.
Minimum value
Maximum value
Conversion
101
Interface/Comm:Analog Inputs
linkable destination
±x.xxx
+2.000
-16.000
+16.000
2048 = 1.000
102
mA Input Value
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
102
Interface/Comm:Analog Inputs
source
±x
not applicable
-32767
+32767
1=1
103
mA Input Offset
Parameter number
File:group
Use mA Input Offset to set the offset applied to the raw analog
Parameter type
value of the milli amp input before the scale factor is applied. This Display
lets you shift the range of the analog input.
Factory default
Minimum value
Maximum value
Conversion
103
Interface/Comm:Analog Inputs
linkable destination
±x.xxx mA
+0.000 mA
-32.000 mA
+32.000 mA
128 = 1.000
104
mA Input Scale
Parameter number
File:group
Enter the scale factor or gain for the milli amp input. The milli amp Parameter type
input is converted to +2048 and then the scale is applied. This
Display
provides an effective digital range of ±32767.
Factory default
Minimum value
Maximum value
Conversion
104
Interface/Comm:Analog Inputs
linkable destination
±x.xxx
+2.000
-16.000
+16.000
2048 = 1.000
105
An Out 1 Value
Use mA Input Value to view the converted analog value of the
milli amp input.
Use An Out 1 Value to convert a +32767 digital value to a +10
volt output. This is the value of the analog output number 1.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
105
Interface/Comm:Analog Outputs
linkable destination
±x
+0
-32767
+32767
1=1
Parameters
106
An Out 1 Offset
Use An Out 1 Offset to set the offset applied to the raw analog
output 1. The offset is applied after the scale factor.
107
An Out 1 Scale
Use An Out 1 Scale to set the scale factor or gain for analog
output 1. A +32767 digital value is converted by the scale factor.
This allows an effective digital range of +2048 which is then
offset to provide a +10 volt range.
108
An Out 2 Value
Use An Out 2 Value to convert a +32767 digital value to a +10
volt output. This is the value of the analog output number 2.
109
An Out 2 Offset
Use An Out 2 Offset to set the offset applied to the raw analog
output 2. The offset is applied after the scale factor.
110
An Out 2 Scale
Use An Out 2 Scale to set the scale factor or gain for analog
output 2. A +32767 digital value is converted by the scale factor.
This allows an effective digital range of +2048 which is then
offset to provide a +10 volt range.
111
mA Out Value
Use mA Out Value to convert a +32767 digital value to a
4 – 20 mA output. This is the value of the mA output.
11-35
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
106
Interface/Comm:Analog Outputs
linkable destination
±x.xxx volts
+0.000 volts
-20.000 volts
+20.000 volts
205 = 1.000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
107
Interface/Comm:Analog Outputs
linkable destination
±x.xxx
+0.500
-1.000
+1.000
32767 = 1.000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
108
Interface/Comm:Analog Outputs
linkable destination
±x
+0
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
109
Interface/Comm:Analog Outputs
linkable destination
±x.xxx volts
+0.000 volts
-19.980 volts
+19.980 volts
205 = 1.000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
110
Interface/Comm:Analog Outputs
linkable destination
±x.xxx
+0.500
-1.000
+1.000
32767 = 1.000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
111
Interface/Comm:Analog Outputs
linkable destination
±x
+0
-32767
+32767
1=1
11-36
112
Parameters
mA Out Offset
Use mA Out Offset to set the offset applied to the raw milli amp
output. The offset is applied after the scale factor.
113
mA Out Scale
Use mA Out Scale to set the scale factor or gain for milli amp
output. A +32767 digital value is converted by the scale factor.
This allows an effective digital range of +2048 which is then
offset to provide a +20 mA range.
114
Relay Config 1
Use Relay Config 1 to select the function of terminal 1 on either
TB10 (for frames A1 – A4) or TB11 (for frames B – H) output.
Relay Config 1 may be any one of the following values:
Value Description
Value
0
Disabled
16
The relay is disabled.
1
Run Ready
17
The drive is ready to run.
2
Not Run Rdy
18
The drive is not ready to run.
3
Running
19
Commanded speed is not zero.
4
Not Running
20
Commanded speed is zero.
5
Stopping
21
The drive is stopping.
6
Not Stopping
22
The drive is not stopping.
7
Stopped
23
The drive is stopped.
8
Not Stopped
The drive is not stopped.
24
9
Accelerating
The motor is accelerating.
10
Not Accel
25
The motor is not accelerating.
11
Decelerating
The motor is decelerating.
26
12
Not Decel
The motor is not decelerating.
13
At Set Speed
27
The motor is at the requested
speed.
14
Not Set Sp
28
The motor is not at the requested
speed.
15
At Zero Spd
The motor is at zero speed.
1 Added for Version 2.xx.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
112
Interface/Comm:Analog Outputs
linkable destination
±x.xxx mA
+0.000 mA
-32.000 mA
+32.000 mA
128 = 1.000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
113
Interface/Comm:Analog Outputs
linkable destination
±x.xxx
+0.500
-1.000
+1.000
32767 = 1.000
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
114
Interface/Comm:Digital Config
destination
x
13
0
36
1=1
Description
Value
Not Zero Spd
29
The motor is not at zero speed.
Flux Ready
30
The motor is ready to be fluxed up.
Not Flux Rdy
31
The motor is not ready to be fluxed up.
Flux Up
32
The drive feels the motor is fluxed up.
Not Flux Up
33
The drive feels the motor is not fluxed up.
Jogging
The motor is jogging.
34
Not Jogging
The motor is not jogging.
At Limit
35
The motor is at the limit shown in Torque
Limit Sts (parameter 87).
Not At Lim
The motor is not at the limit shown in
Torque Limit Sts (parameter 87).
36
>= Speed
The motor speed is greater than or equal to
Relay Setpoint 1 (parameter 115).
< Speed
The motor speed is less than Relay
37
Setpoint 1 (parameter 115).
>=Current
The motor current is greater than or equal
to Relay Setpoint 1 (parameter 115).
38
<Current
The motor current is less than Relay
Setpoint 1 (parameter 115).
Description
Faulted1
A fault has occurred.
Not Faulted1
A fault has not occurred.
Warning1
A warning has occurred.
Not Warning1
A warning has not occurred.
Enable1
Power is being applied to the
motor.
Not Enable1
Power is not being applied to the
motor.
Function Val1
True when the value of Function
Output 1 (par. 213) and/or the
value of Function Output 2
(par. 214) are zero.
Not Function Val1
True when the values of both
Function Output 1 (par. 213) and
Function Output 2 (par. 214) are
zero.
Function T/F
True when timer or logical state of
add/sub or mult/div is true based
on the selected function block.
Not Function T/F
False when timer or logical state of
add/sub or mult/div is false based
on the selected function block.
Parameters
115
Relay Setpoint 1
Parameter number
File:group
Relay Setpoint 1 lets you specify the setpoint threshold for either Parameter type
speed or current. Relay Setpoint 1 is only active if Relay Config 1 Display
(parameter 114) is set to a value of 25, 26, 27, or 28.
Factory default
Minimum value
Maximum value
Conversion
116
L Option Mode
Use L Option Mode to select the functions of L Option inputs at
TB3. If you change the value of L Option Mode, you must cycle
power before the change will take effect.
The following is the mode information:
Mode
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
261
272
282
292
302
313
323
TB3-19
Status
Start
Start
Start
Start
Start
Start
Start
Start
Start
Start
Run Fwd
Run Fwd
Run Fwd
Run Fwd
Run Fwd
Start
Start
Start
Start
Start
Start
Run Fwd
Run Fwd
Run Fwd
Run Fwd
Start
Start
Start
Run Fwd
Step Trigger
Start
TB3-20
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Not Stop
Not Stop
1 Added for Version 2.01.
2 Added for Version 2.02
3 Added for Version 4.01
TB3-22
Status
Rev/Fwd
Rev/Fwd
Rev/Fwd
Rev/Fwd
Rev/Fwd
Rev
Rev
Pot Up
Rev
1st Accel
Run Rev
Run Rev
Run Rev
Run Rev
Run Rev
Rev/Fwd
Rev/Fwd
Spd/Trq 3
Spd/Trq 3
Rev
Spd/Trq 3
Run Rev
Run Rev
Run Rev
Run Rev
Rev/Fwd
Pot Up
Rev
Run Rev
Step Trigger
Step Trigger
TB3-23
Status
Jog
2/1Stop Type
2/1 Accel
Pot Up
Jog
Fwd
Fwd
Pot Dn
Fwd
2nd Accel
Loc/Rem
2/1 Stop Type
2/1 Accel
Pot Up
Loc/Rem
Proc Trim
Flux En
Spd/Trq 2
Spd/Trq 2
Fwd
Spd/Trq 2
Proc Trim
Flux En
Proc Trim
Jog
Pot Up
Pot Dn
Fwd
Pot Up
Step Trigger
Step Trigger
11-37
115
Interface/Comm:Digital Config
linkable destination
±x.x%
+0.0%
-800.0%
+800.0%
4096 = 100.0%
Parameter number
116
File:group
Interface/Comm:Digital Config
Parameter type
destination
Display
x
Factory default
1
Minimum value
1
Maximum value
32
Conversion
1=1
Refer to Chapter 5, Using the L Option, for additional information.
TB3-24
Status
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Ext Fault
Not Ext Flt
Not Ext Flt
TB3-26
Status
Spd 3
Spd 3
2/1 Decel
Pot Dn
Loc/Rem
Jog
Spd 3
Spd 3
Pot Up
1st Decel
Spd 3
Spd 3
2/1 Decel
Pot Dn
2/1 Stop Type
Ramp
Reset
Spd/Trq 1
Spd/Trq 1
Ramp
Spd/Trq 1
Reset
Reset
Ramp
Spd 3
Pot Dn
Spd 3
Pot Up
Pot Dn
Step Trigger
Profile Enable
TB3-27
TB3-28
Status
Status
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Pot Dn
Spd 1
2nd Decel
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Proc Trim
Spd 1
Flux En
Spd 1
Reset
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Spd 2
Spd 1
Pot Dn
Spd 1
Spd 2
Spd 1
Step Trigger Step Trigger
Run SequenceStep Hold
11-38
117
Parameters
L Option In Sts
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Use L Option In Sts to view the status of the L Option inputs.
Bit
0
1
2
Description
TB3-19
TB3-20
TB3-22
Bit
3
4
5
Description
TB3-23
TB3-24
TB3-26
Bit
6
7
8
Description
TB3-27
TB3-28
TB3-30 (enable)
117
Interface/Comm:Digital Config
source
bits
not applicable
00000000.00000000
00000001.11111111
1=1
Bit
Description
9 – 15 Reserved
Leave 0.
118
Mop Increment
Parameter number
118
File:group
Interface/Comm:Digital Config
Use Mop Increment to set the rate of increase or decrease to the Parameter type
linkable destination
Manually Operated Potentiometer (MOP) value based on
Display
x.x rpm (rpm/second)
rpm/second. Mop Increment is only used when the value of
Factory default
10% of base motor speed
L Option Mode (parameter 116) is 5, 9, 10, or 15.
Minimum value
0.0
Maximum value
base motor speed
Conversion
4096 = base motor speed
Refer to Chapter 9, Applications, for more information.
119
Mop Value
Parameter number
119
File:group
Interface/Comm:Digital Config
Use Mop Value to view the Manually Operated Potentiometer
Parameter type
source
(MOP) value. You need to link Mop Value to a reference, such as Display
±x.x rpm
Speed Ref 1 (parameter 29) for the drive to follow the Mop
Factory default
not applicable
command for speed.
Minimum value
0.0
Maximum value
base motor speed
Conversion
4096 = base motor speed
Refer to Chapter 9, Applications, for more information.
120
Pulse In PPR
Use Pulse In PPR to set the number of pulses per revolution.
121
Pulse In Scale
Enter the value to use to scale the pulse input. The scale is a
ratio. For example, you would enter 0.5 if you want to scale the
pulse input to half.
Parameter number
120
File:group
Interface/Comm:Digital Config
Parameter type
destination
Display
x PPR
Factory default
1024
Minimum value
500
Maximum value
20000
Conversion
1=1
Refer to Chapter 7, Setting Up the Input/Output, for more
information.
Parameter number
121
File:group
Interface/Comm:Digital Config
Parameter type
destination
Display
x.xx
Factory default
1.00
Minimum value
0.01
Maximum value
10.00
Conversion
100 = 1.00
Refer to Chapter 7, Setting Up the Input/Output, for more
information.
Parameters
122
Pulse In Offset
11-39
Parameter number
122
File:group
Interface/Comm:Digital Config
Parameter type
destination
Display
±x.x rpm
Factory default
+0.0
Minimum value
-base motor speed
Maximum value
+base motor speed
Conversion
4096 = base motor speed
Refer to Chapter 7, Setting Up the Input/Output, for more
information.
Enter the minimum speed the pulse input will go to.
123
Pulse In Value
Parameter number
123
File:group
Interface/Comm:Digital Config
Use Pulse In Value to view the pulse input value. You need to link Parameter type
source
Pulse In Value to a reference parameter.
Display
±x.x rpm
Factory default
not applicable
Minimum value
0.0
Maximum value
+8 x base motor speed
Conversion
4096 = base motor speed
Refer to Chapter 7, Setting Up the Input/Output, for more
information.
124
SP Enable Mask
Use SP Enable Mask to select which SCANport devices can
control the drive. You can choose between:
0 = Disable control
1 = Enable control
Stop is always active, even if you disable a device.
The bits are defined as follows:
Bit
0
1
2
Description
Enable L Opt
Enable the L Option board.
Enable SP 1
Enable SCANport device 1.
Enable SP 2
Enable SCANport device 2.
Bit
3
4
5
Parameter number
124
File:group
Interface/Comm:SCANport Config
Parameter type
linkable destination
Display
bits
Factory default
11111111
Minimum value
00000000
Maximum value
11111111
Conversion
1=1
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Description
Enable SP 3
Enable SCANport device 3.
Enable SP 4
Enable SCANport device 4.
Enable SP 5
Enable SCANport device 5.
Bit
6
7
Description
Enable SP 6
Enable SCANport device 6.
Enable P197
Enable Logic Cmd Input
(parameter 197).
11-40
125
Parameters
Dir/Ref Mask
You can use the lower byte of Dir/Ref Mask (bits 0 through 7) to
select which SCANport device can issue a reference command.
You can use the higher byte (bits 8 through 15) to select which
SCANport devices can issue a forward/reverse direction
command. You can choose between:
0 = Disable control
1 = Enable control
The bits are defined as follows:
Bit
0
1
2
3
4
5
126
Description
Refer L Opt
Let the L Option board control the
reference.
Refer SP 1
Let SCANport device 1 control
the reference.
Refer SP 2
Let SCANport device 2 control
the reference.
Refer SP 3
Let SCANport device 3 control
the reference.
Refer SP 4
Let SCANport device 4 control
the reference.
Refer SP 5
Let SCANport device 5 control
the reference.
Bit
6
7
8
9
10
11
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
125
Interface/Comm:SCANport Config
linkable destination
bits
11111111.11111111
00000000.00000000
11111111.11111111
1=1
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Description
Refer SP 6
Let SCANport device 6 control
the reference.
Refer P197
Let Logic Cmd Input
(parameter 197) control the
reference.
Direct L Opt
Let the L Option board control the
direction.
Direct SP 1
Let SCANport device 1 control
the direction.
Direct SP 2
Let SCANport device 2 control
the direction.
Direct SP 3
Let SCANport device 3 control
the direction.
Bit
12
13
14
15
Description
Direct SP 4
Let SCANport device 4 control
the direction.
Direct SP 5
Let SCANport device 5 control
the direction.
Direct SP 6
Let SCANport device 6 control
the direction.
Direct P197
Let Logic Cmd Input
(parameter 197) control the
direction.
Start/Jog Mask
Parameter number
126
File:group
Interface/Comm:SCANport Config
You can use the lower byte of Start/Jog Mask (bits 0 through 7) to Parameter type
linkable destination
select which SCANport devices can issue a jog reference
Display
bits
command. You can use the higher byte (bits 8 through 15) to
Factory default
11111111.11111111
select which SCANport devices can issue a start command. You Minimum value
00000000.00000000
can choose between:
Maximum value
11111111.11111111
0 = Disable control
Conversion
1=1
1 = Enable control
Refer to Chapter 8, Using the SCANport Capabilities, for more
The bits are defined as follows:
information.
Bit
0
1
2
3
4
5
Description
Jog L Opt
Let the L Option board control
jogs.
Jog SP 1
Let SCANport device 1 control
jogs.
Jog SP 2
Let SCANport device 2 control
jogs.
Jog SP 3
Let SCANport device 3 control
jogs.
Jog SP 4
Let SCANport device 4 control
jogs.
Jog SP 5
Let SCANport device 5 control
jogs.
Bit
6
7
8
9
10
11
Description
Jog SP 6
Let SCANport device 6 control
jogs.
Jog P197
Let Logic Cmd Input
(parameter 197) control jogs.
Start L Opt
Let the L Option board control
starts.
Start SP 1
Let SCANport device 1 control
starts.
Start SP 2
Let SCANport device 2 control
starts.
Start SP 3
Let SCANport device 3 control
starts.
Bit
12
13
14
15
Description
Start SP 4
Let SCANport device 4 control
starts.
Start SP 5
Let SCANport device 5 control
starts.
Start SP 6
Let SCANport device 6 control
starts.
Start P197
Let Logic Cmd Input
(parameter 197) control starts.
Parameters
127
Clr Flt/Res Mask
Parameter number
127
File:group
Interface/Comm:SCANport Config
You can use the lower byte of Clr Flt/Res Mask (bits 0 through 7) Parameter type
linkable destination
to select which SCANport devices can issue a Reset Drive
Display
bits
command. You can use the higher byte (bits 8 through 15) to
Factory default
11111111.11111111
select which SCANport devices can issue a Clear Faults
Minimum value
00000000.00000000
command. You can choose between:
Maximum value
11111111.11111111
0 = Disable control
Conversion
1=1
1 = Enable control
Refer to Chapter 8, Using the SCANport Capabilities, for more
The bits are defined as follows:
information.
Bit
0
1
2
3
4
5
128
11-41
Description
Reset L Opt
Let the L Option board control
resets.
Reset SP 1
Let SCANport device 1 control
resets.
Reset SP 2
Let SCANport device 2 control
resets.
Reset SP 3
Let SCANport device 3 control
resets.
Reset SP 4
Let SCANport device 4 control
resets.
Reset SP 5
Let SCANport device 5 control
resets.
Bit
6
7
8
9
10
11
Dir/Ref Owner
Description
Reset SP 6
Let SCANport device 6 control
resets.
Reset P197
Let Logic Cmd Input
(parameter 197) control resets.
ClrFlt L Opt
Let the L Option board control
clear fault commands.
ClrFlt SP 1
Let SCANport device 1 control
clear fault commands.
ClrFlt SP 2
Let SCANport device 2 control
clear fault commands.
ClrFlt SP 3
Let SCANport device 3 control
clear fault commands.
Bit
12
13
14
15
Description
ClrFlt SP 4
Let SCANport device 4 control
clear fault commands.
ClrFlt SP 5
Let SCANport device 5 control
clear fault commands.
ClrFlt SP 6
Let SCANport device 6 control
clear fault commands.
ClrFlt P197
Let Logic Cmd Input
(parameter 197) control clear
fault commands.
128
Monitor Status:SCANport Status
You can use the lower byte of Dir/Ref Owner (bits 0 through 7) to
Interface/Comm:SCANport Status
see which SCANport device currently has exclusive control of the Parameter type
source
reference changes. You can use the higher byte (bits 8 through Display
bits
15) to see which SCANport device currently has exclusive control Factory default
not applicable
of direction changes. You can choose between:
Minimum value
00000000.00000000
0 = Reference/direction input not present
Maximum value
11111111.11111111
1 = Reference/direction input present
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Bit
0
1
2
3
4
5
Description
Refer L Opt
The L Option board owns the
reference command.
Refer SP 1
SCANport device 1 owns the
reference command.
Refer SP 2
SCANport device 2 owns the
reference command.
Refer SP 3
SCANport device 3 owns the
reference command.
Refer SP 4
SCANport device 4 owns the
reference command.
Refer SP 5
SCANport device 5 owns the
reference command.
Parameter number
File:group
Bit
6
7
8
9
10
Description
Refer SP 6
SCANport device 6 owns the
reference command.
Refer P197
Logic Cmd Input (parameter 197)
owns the reference command.
Direct L Opt
The L Option board owns the
direct command.
Direct SP 1
SCANport device 1 owns the
direct command.
Direct SP 2
SCANport device 2 owns the
direct command.
Bit
11
12
13
14
15
Description
Direct SP 3
SCANport device 3 owns the
direct command.
Direct SP 4
SCANport device 4 owns the
direct command.
Direct SP 5
SCANport device 5 owns the
direct command.
Direct SP 6
SCANport device 6 owns the
direct command.
Direct P197
Logic Cmd Input (parameter 197)
owns the direct command.
11-42
129
Parameters
Start/Stop Owner
129
Monitor Status:SCANport Status
You can use the lower byte of Start/Stop Owner (bits 0 through 7)
Interface/Comm:SCANport Status
to see which SCANport device(s) are presently issuing a valid
Parameter type
source
stop command. You can use the higher byte (bits 8 through 15) to Display
bits
see which SCANport device(s) are presently issuing a valid start Factory default
not applicable
command. You can choose between:
Minimum value
00000000.00000000
0 = Stop/start input not present
Maximum value
11111111.11111111
1 = Stop/start input present
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Bit
0
1
2
3
4
5
130
Description
Stop L Opt
The L Option board owns the
stop.
Stop SP 1
SCANport device 1 owns the
stop.
Stop SP 2
SCANport device 2 owns the
stop.
Stop SP 3
SCANport device 3 owns the
stop.
Stop SP 4
SCANport device 4 owns the
stop.
Stop SP 5
SCANport device 5 owns the
stop.
Parameter number
File:group
Bit
6
7
8
9
10
Jog1/Jog2 Owner
Description
Stop SP 6
SCANport device 6 owns the
stop.
Stop P197
Logic Cmd Input (parameter 197)
owns the stop.
Start L Opt
The L Option owns the start.
Start SP 1
SCANport device 1 owns the
start.
Start SP 2
SCANport device 2 owns the
start.
Bit
11
12
13
14
15
Description
Start SP 3
SCANport device 3 owns the
start.
Start SP 4
SCANport device 4 owns the
start.
Start SP 5
SCANport device 5 owns the
start.
Start SP 6
SCANport device 6 owns the
start.
Start P197
Logic Cmd Input (parameter 197)
owns the start.
130
Monitor Status:SCANport Status
You can use the lower byte of Jog1/Jog2 Owner (bits 0 through 7)
Interface/Comm:SCANport Status
to see which SCANport device(s) are presently issuing a valid
Parameter type
source
jog 2 command. You can use the higher byte (bits 8 through 15) Display
bits
to see which SCANport device(s) are presently issuing a valid
Factory default
not applicable
jog 1 command. You can choose between:
Minimum value
00000000.00000000
0 = Jog 1/jog 2 input not present
Maximum value
11111111.11111111
1 = Jog 1/jog 2 input present
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Bit
0
1
2
3
4
5
Description
Jog2 L Opt
The L Option board owns the
Jog2.
Jog2 SP 1
SCANport device 1 owns the
Jog2.
Jog2 SP 2
SCANport device 2 owns the
Jog2.
Jog2 SP 3
SCANport device 3 owns the
Jog2.
Jog2 SP 4
SCANport device 4 owns the
Jog2.
Jog2 SP 5
SCANport device 5 owns the
Jog2.
Parameter number
File:group
Bit
6
7
8
9
10
Description
Jog2 SP 6
SCANport device 6 owns the
Jog2.
Jog2 P197
Logic Cmd Input (parameter 197)
owns the Jog2.
Jog1 L Opt
The L Option owns the Jog1.
Jog1 SP 1
SCANport device 1 owns the
Jog1.
Jog1 SP 2
SCANport device 2 owns the
Jog1.
Bit
11
12
13
14
15
Description
Jog1 SP 3
SCANport device 3 owns the
Jog1.
Jog1 SP 4
SCANport device 4 owns the
Jog1.
Jog1 SP 5
SCANport device 5 owns the
Jog1.
Jog1 SP 6
SCANport device 6 owns the
Jog1.
Jog1 P197
Logic Cmd Input (parameter 197)
owns the Jog1.
Parameters
131
Ramp/ClFlt Owner
131
Monitor Status:SCANport Status
You can use the lower byte of Ramp/ClFlt Owner (bits 0 through
Interface/Comm:SCANport Status
7) to see which SCANport device(s) are presently issuing a valid Parameter type
source
Clear Fault command. You can use the higher byte (bits 8
Display
bits
through 15) to see which SCANport device(s) are presently
Factory default
not applicable
issuing a valid ramp command. You can choose between:
Minimum value
00000000.00000000
0 = Ramp/clear fault input not present
Maximum value
11111111.11111111
1 = Ramp/clear fault input present
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Bit
0
1
2
3
4
132
11-43
Description
ClrFlt L Opt
The L Option board owns the
Clear Fault.
ClrFlt SP 1
SCANport device 1 owns the
Clear Fault.
ClrFlt SP 2
SCANport device 2 owns the
Clear Fault.
ClrFlt SP 3
SCANport device 3 owns the
Clear Fault.
ClrFlt SP 4
SCANport device 4 owns the
Clear Fault.
Parameter number
File:group
Bit
5
6
7
8
9
10
Flux/Trim Owner
Description
ClrFlt SP 5
SCANport device 5 owns the
Clear Fault.
ClrFlt SP 6
SCANport device 6 owns the
Clear Fault.
ClrFlt P197
Logic Cmd Input (parameter 197)
owns the Clear Fault.
Ramp L Opt
The L Option owns the Ramp.
Ramp SP 1
SCANport device 1 owns the
Ramp.
Ramp SP 2
SCANport device 2 owns the
Ramp.
Bit
11
12
13
14
15
Description
Ramp SP 3
SCANport device 3 owns the
Ramp.
Ramp SP 4
SCANport device 4 owns the
Ramp.
Ramp SP 5
SCANport device 5 owns the
Ramp.
Ramp SP 6
SCANport device 6 owns the
Ramp.
Ramp P197
Logic Cmd Input (parameter 197)
owns the Ramp.
132
Monitor Status:SCANport Status
You can use the lower byte of Flux/Trim Owner (bits 0 through 7)
Interface/Comm:SCANport Status
to see which SCANport device(s) are currently issuing a valid
Parameter type
source
process trim command. You can use the higher byte (bits 8
Display
bits
through 15) to see which SCANport device(s) are presently
Factory default
not applicable
issuing a valid flux command. You can choose between:
Minimum value
00000000.00000000
0 = Flux/trim input not present
Maximum value
11111111.11111111
1 = Flux/trim input present
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 8, Using the SCANport Capabilities, for more
information.
Bit
0
1
2
3
4
5
Description
Trim L Opt
The L Option board owns the
Trim.
Trim SP 1
SCANport device 1 owns the
Trim.
Trim SP 2
SCANport device 2 owns the
Trim.
Trim SP 3
SCANport device 3 owns the
Trim.
Trim SP 4
SCANport device 4 owns the
Trim.
Trim SP 5
SCANport device 5 owns the
Trim.
Parameter number
File:group
Bit
6
7
8
9
10
Description
Trim SP 6
SCANport device 6 owns the
Trim.
Trim P197
Logic Cmd Input (parameter 197)
owns the Trim.
Flux L Opt
The L Option owns the Flux.
Flux SP 1
SCANport device 1 owns the
Flux.
Flux SP 2
SCANport device 2 owns the
Flux.
Bit
11
12
13
14
15
Description
Flux SP 3
SCANport device 3 owns the
Flux.
Flux SP 4
SCANport device 4 owns the
Flux.
Flux SP 5
SCANport device 5 owns the
Flux.
Flux SP 6
SCANport device 6 owns the
Flux.
Flux P197
Logic Cmd Input (parameter 197)
owns the Flux.
11-44
133
Parameters
SP An In1 Select
Parameter number
File:group
Use SP An In1 Select to select which SCANport analog device is Parameter type
used in SP An In1 Value (parameter 134).
Display
Factory default
Minimum value
Maximum value
Conversion
Value Description
1
SP 1
Use SCANport device 1.
2
SP 2
Use SCANport device 2.
134
Value Description
3
SP 3
Use SCANport device 3.
4
SP 4
Use SCANport device 4.
SP An In1 Value
133
Interface/Comm:SCANport Analog
linkable destination
x
1
1
6
1=1
Value Description
5
SP 5
Use SCANport device 5.
6
SP 6
Use SCANport device 6.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
134
Interface/Comm:SCANport Analog
source
±x
not applicable
-32767
+32767
1=1
135
SP An In1 Scale
Parameter number
File:group
Use SP An In1 Scale to scale SP An In1 Value (parameter 134). Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
135
Interface/Comm:SCANport Analog
linkable destination
±x.xxx
+0.125
-1.000
+1.000
32767 = 1.000
136
SP An In2 Select
136
Interface/Comm:SCANport Analog
linkable destination
x
6
1
6
1=1
Use SP An In1 Value to view the analog value of the SCANport
device selected in SP An In1 Select (parameter 133). You need
to link SP An In1 Value to a parameter such as Speed Ref 1
(parameter 29).
Parameter number
File:group
Use SP An In2 Select to select which SCANport analog device is Parameter type
used in SP An In2 Value (parameter 137).
Display
Factory default
Minimum value
Maximum value
Conversion
Value Description
1
SP 1
Use SCANport device 1.
2
SP 2
Use SCANport device 2.
137
Value Description
3
SP 3
Use SCANport device 3.
4
SP 4
Use SCANport device 4.
SP An In2 Value
Use SP An In2 Value to view the analog value of the SCANport
device selected in SP An In2 Select (parameter 136). You need
to link SP An In2 Value to a parameter such as Speed Ref 1
(parameter 29).
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Value Description
5
SP 5
Use SCANport device 5.
6
SP 6
Use SCANport device 6.
137
Interface/Comm:SCANport Analog
source
±x
not applicable
-32767
+32767
1=1
Parameters
11-45
138
SP An In2 Scale
Parameter number
File:group
Use SP An In2 Scale to scale SP An In2 Value (parameter 137). Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
138
Interface/Comm:SCANport Analog
linkable destination
±x.xxx
+0.125
-1.000
+1.000
32767 = 1.000
139
SP An Output
Parameter number
File:group
Use SP An Output to view the analog value that is sent to all
Parameter type
SCANport devices.
Display
Note: If a link is made or changed, you may have to power cycle Factory default
the SCANport terminals to display the correct information.
Minimum value
Maximum value
Conversion
139
Interface/Comm:SCANport Analog
linkable destination
±x
+0
-32767
+32767
1=1
140
Data In A1
Use Data In A1 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
141
Data In A2
Use Data In A2 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
142
Data In B1
Use Data In B1 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
143
Data In B2
Use Data In B2 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
140
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
141
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
142
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
143
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
11-46
144
Parameters
Data In C1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
144
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
145
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
146
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
147
Interface/Comm:Gateway Data In
source
±x
not applicable
-32767
+32767
1=1
148
Data Out A1
Parameter number
File:group
Use Data Out A1 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
148
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
149
Data Out A2
149
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
Use Data In C1 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
145
Data In C2
Use Data In C2 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
146
Data In D1
Use Data In D1 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
147
Data In D2
Use Data In D2 to view the SCANport to drive image that is
received from some device on SCANport. This image may be
referred to as the SCANport I/O image or a datalink in the
manual for your communications module.
Parameter number
File:group
Use Data Out A2 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
Parameters
11-47
150
Data Out B1
Parameter number
File:group
Use Data Out B1 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
150
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
151
Data Out B2
Parameter number
File:group
Use Data Out B2 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
151
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
152
Data Out C1
Parameter number
File:group
Use Data Out C1 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
152
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
153
Data Out C2
Parameter number
File:group
Use Data Out C2 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
153
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
154
Data Out D1
Parameter number
File:group
Use Data Out D1 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
154
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
155
Data Out D2
155
Interface/Comm:Gateway Data Out
linkable destination
±x
+0
-32767
+32767
1=1
Parameter number
File:group
Use Data Out D2 to view the drive to SCANport image that is
Parameter type
sent to some device on SCANport. This image may be referred to Display
as the SCANport I/O image or a datalink in the manual for your Factory default
communications module.
Minimum value
Maximum value
Conversion
11-48
156
Parameters
Autotune Status
Autotune Status provides information about the auto-tune
procedure.
The bits are defined as follows:
Bit
0
1
2
3
157
Description
Executing
Auto-tune is currently executing.
Complete
Auto-tune has completed.
Fail
An error was encountered.
Abort
Auto-tune was aborted by a stop
command.
Bit
4
5
6
7
Parameter number
156
File:group
Autotune/Autotune Status
Parameter type
source
Display
bits
Factory default
not applicable
Minimum value
00000000.00000000
Maximum value
00110000.11111111
Conversion
1=1
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
Description
Flux Active
The motor has flux.
Not Ready
The drive is not ready to start
auto-tune.
Not Zero Spd
The drive cannot start auto-tune.
Running
The motor is running.
Total Inertia
Total Inertia represents the time, in seconds, for a motor coupled
to a load to accelerate from zero to base speed, at rated motor
torque. The drive calculates Total Inertia during the auto-tune
procedure when the auto-tune routines are run.
The 1336 IMPACT drive uses Total Inertia and Spd Desired BW
(parameter 161) to calculate the speed loop gains
(parameters 158 and 159). If you cannot run the auto-tune inertia
test, you should estimate Total Inertia and set it manually.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Bit
8 – 11
Description
Reserved
Leave 0.
12
Timeout
Auto-tune timed out. The inertia
test failed to accelerate the load.
13
No Trq Lim
The inertia test failed to reach the
torque limit.
14 – 15 Reserved
Leave 0.
157
Control:Speed Regulator
Autotune:Autotune Results
destination
x.xx second
2.00 second
0.01 second
655.00 second
100 = 1.00
158
Ki Speed Loop
Parameter number
File:group
Use Ki Speed Loop to control the integral error gain of the speed Parameter type
regulator.
Display
The 1336 IMPACT drive automatically adjusts Ki Speed Loop
Factory default
when you enter a non-zero value for Spd Desired BW
Minimum value
(parameter 161). Normally, you should adjust Spd Desired BW
Maximum value
and let the drive calculate the gains. If manual adjustment is
Conversion
needed (for example, if the inertia cannot be determined), the
drive sets Spd Desired BW to zero for you when this gain is
changed.
158
Control:Speed Regulator
linkable destination
x.x
8.0
0.0
4095.9
8 = 1.0
159
Kp Speed Loop
159
Control:Speed Regulator
linkable destination
x.x
8.0
0.0
200.0
8 = 1.0
Parameter number
File:group
Use Kp Speed Loop to control the proportional error gain of the Parameter type
speed regulator.
Display
The 1336 IMPACT drive automatically adjusts Kp Speed Loop
Factory default
when you enter a non-zero value for Spd Desired BW
Minimum value
(parameter 161). Normally, you should adjust Spd Desired BW
Maximum value
and let the drive calculate the gains. If manual gain adjustment is Conversion
needed (for example, if the inertia cannot be determined), the
drive sets Spd Desired BW to zero for you when this gain is
changed.
Parameters
160
Kf Speed Loop
Parameter number
File:group
Use Kf Speed Loop to control the feed forward gain of the speed Parameter type
regulator. Setting the Kf gain to less than one reduces speed
Display
feedback overshoot in response to a step change in speed
Factory default
reference.
Minimum value
Maximum value
Conversion
161
Spd Desired BW
Use Spd Desired BW to specify the speed loop bandwidth and to
determine the dynamic behavior of the speed loop. As you
increase the bandwidth, the speed loop becomes more
responsive and can track a faster changing speed reference.
As you adjust the bandwidth setting, the 1336 IMPACT drive
calculates and changes Ki Speed Loop (parameter 158) and Kp
Speed Loop (parameter 159) gains. A zero bandwidth setting lets
you adjust the speed loop gains independent of bandwidth for
custom tuning applications.
Note: You must have the correct Total Inertia (parameter 157)
entered before adjusting the speed loop bandwidth. Total Inertia
is measured by the autotune (startup) routine.
162
Error Filtr BW
Use Error Filtr BW to set the bandwidths of two cascaded low
pass filters in the Kf error path of the speed PI regulator.
163
Reserved
Leave this parameter set to 0.
164
Autotune Torque
Use Autotune Torque to specify the motor torque that is applied
to the motor during the flux current and inertia tests.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
11-49
160
Control:Speed Regulator
linkable destination
x.xxx
1.000
0.500
1.000
65535 = 1.0
161
Control:Speed Regulator
Autotune:Autotune Results
linkable destination
x.xx radians/second
5.00 radians/second
0.00 radians/second
calculated
100 = 1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
162
Control:Speed Regulator
linkable destination
x.x radians/second
500.0 radians/second
calculated
1500.0 radians/second
10 = 1.0
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
163
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
164
Autotune:Autotune Setup
destination
x.x%
50.0%
25.0%
100.0%
4096 = 100.0%
11-50
165
Parameters
Autotune Speed
Use Autotune Speed to set the maximum speed of the motor
during the flux current and inertia tests.
Parameter number
165
File:group
Autotune/Autotune Setup
Parameter type
destination
Display
±x.x rpm
Factory default
base motor speed x 0.85
Minimum value
base motor speed x 0.3
Maximum value
base motor speed
Conversion
4096 = base motor speed
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
166
Stator Resistnce
Parameter number
File:group
166
Motor/Inverter:Motor Constants
Enter the sum of the stator and cable resistances of the motor in
Autotune/Autotune Results
per unit (percent representation). The auto-tune procedure
Parameter type
destination
measures the stator resistance during the quick motor tune
Display
x.xx%
portion of start up.
Factory default
1.49%
Minimum value
0.00%
Maximum value
100.00%
Conversion
4096 = 100.00%
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
167
Leak Inductance
Parameter number
File:group
167
Motor/Inverter:Motor Constants
Enter the sum of the motor stator and rotor leakage inductances
Autotune:Autotune Results
and the motor cable inductance in per unit (percent
Parameter type
destination
representation). The auto-tune procedure measures the leakage Display
x.xx%
inductance during the quick motor tune portion of start up.
Factory default
17.99%
Minimum value
0.00%
Maximum value
100.00%
Conversion
4096 = 100.00%
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
168
Flux Current
Parameter number
File:group
Use Flux Current to specify the magnetizing current that
produces rated flux in the motor in a per unit (percent
representation). The auto-tune procedure measures the flux
current during the quick motor tune portion of start up.
169
Slip Gain
Use Slip Gain to fine tune the slip constant of the motor to
improve speed regulation in encoderless mode.
168
Motor/Inverter:Motor Constants
Autotune:Autotune Results
Parameter type
destination
Display
x.xx%
Factory default
30.00%
Minimum value
0.00%
Maximum value
75.00%
Conversion
4096 = 100.00%
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
Parameter number
File:group
169
Motor/Inverter:Motor Constants
Autotune:Autotune Results
Parameter type
destination
Display
x.x%
Factory default
100.0%
Minimum value
0.0%
Maximum value
400.0%
Conversion
1024 = 100.0%
Refer to Chapter 9, Applications, for more information.
Parameters
11-51
170
Vd Max
Parameter number
File:group
Use Vd Max to view the maximum D axis voltage allowed on the Parameter type
motor. The auto-tune routine calculates the value of Vd Max. You Display
should not change this value.
Factory default
Vd is short for flux axis voltage.
Minimum value
Maximum value
Conversion
170
none
destination
x.x volts
calculated
0.0 volts
468.8 volts
16 = 1.0
171
Vq Max
Parameter number
File:group
Use Vq Max to view the Q axis voltage at which the motor enters Parameter type
field weakening. The auto-tune routine calculates the value of Vq Display
Max. You should not change this value.
Factory default
Vq is short for torque axis voltage.
Minimum value
Maximum value
Conversion
171
none
destination
x.x volts
calculated
0.0 volts
468.8 volts
16 = 1.0
172
Trans Dgn Config
Use Trans Dgn Config to disable certain transistor diagnostic
tests.
The bits are defined as follows:
Bit
0
1
2
3
4
173
Disables:
Cur Fdbk U
I feedback phase U offset
Cur Fdbk W
I feedback phase W offset
Short Trans
Shorted transistor tests
Ground Fault
Ground fault tests
Open Tests
Open device tests
Bit
5
6
7
8
Disables:
Reserved
Leave 0.
Trans U Up
Power trans U upper for all tests
Trans U Lo
Power trans U lower for all tests
Trans V Up
Power trans V upper for all tests
Autotune/Dgn Sel
Use Autotune/Dgn Sel to select the drive diagnostic and
commissioning test.
The bits are defined as follows:
Bit
0
1
Selects:
Trans Diag
Inverter transistor
diagnostics
Mtr Phas Rot
Motor phase rotation
test
Bit
2
3
Parameter number
172
File:group
Autotune:Autotune Setup
Parameter type
linkable destination
Display
bits
Factory default
00000000.00000000
Minimum value
00000000.00000000
Maximum value
00001111.11011111
Conversion
1=1
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
Bit
9
Disables:
Trans V Lo
Power trans V lower for all tests
10
Trans W Up
Power trans W upper for all tests
11
Trans W Lo
Power trans W lower for all tests
12 – 15 Reserved
Leave 0.
Parameter number
173
File:group
Autotune:Autotune Setup
Parameter type
linkable destination
Display
bits
Factory default
00000000.00000000
Minimum value
00000000.00000000
Maximum value
00000000.00111111
Conversion
1=1
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
Selects:
Bit
Lo Measure
4
Leakage inductance
test
5
Rs Measure
Stator resistance tests
Selects:
Id Measure
Flux current measure
Inertia
Inertia tests
Bit
6 – 15
Selects:
Reserved
Leave 0.
11-52
174
Parameters
Inverter Dgn1
Parameter number
174
File:group
Autotune:Autotune Status
Inverter Dgn1 shows the results of the transistor diagnostic tests. Parameter type
source
If any of the bits are set, then a problem with the associated test Display
bits
is indicated.
Factory default
not applicable
Minimum value
00000000.00000000
Maximum value
00111111.11111111
Conversion
1=1
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
The bits are defined as follows:
for more information.
Bit
0
1
2
3
4
5
6
7
175
Description
Soft Fault
A software fault occurred.
No Mtr/Bfuse
No motor connected or an open bus fuse.
Short Ph U-W
Phase U and W shorted.
Short Ph U-V
Phase U and V shorted.
Short Ph V-W
Phase V and W shorted.
Short Module
Shorted modules.
Gnd Flt Mod
Ground fault.
PriorTst Flt
Fault before shorted module ran.
Bit
8
Description
Over Voltage
A hardware overvoltage fault occurred.
9
Desaturation
A hardware desaturation fault occurred.
10
Ground Fault
A hardware ground fault occurred.
11
Overcurrent
A hardware phase overcurrent fault occurred.
12
Open Transis
Open power transistor(s).
13
No Cur Fdbk
Current feedback fault(s).
14 – 15 Reserved
Leave 0.
Inverter Dgn2
Parameter number
175
File:group
Autotune:Autotune Status
Inverter Dgn2 shows the results of the transistor diagnostic tests. Parameter type
source
If any of the bits are set, then a problem with the associated test Display
bits
is indicated.
Factory default
not applicable
Minimum value
00000000.00000000
Maximum value
11111111.11111111
Conversion
1=1
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
The bits are defined as follows:
for more information.
Bit
0
1
2
3
4
5
Description
U Up Short
Transistor U upper shorted
U Lo Short
Transistor U lower shorted
V Up Short
Transistor V upper shorted
V Lo Short
Transistor V lower shorted
W Up Short
Transistor W upper shorted
W Lo Short
Transistor W lower shorted
Bit
6
7
8
9
10
Description
U Offset
Current fdbk ph U offset too big
W Offset
Current fdbk ph W offset too big
U Up Open
Transistor U upper open
U Lo Open
Transistor U lower open
V Up Open
Transistor V upper open
Bit
11
12
13
14
15
Description
V Lo Open
Transistor V lower open
W Up Open
Transistor W upper open
W Lo Open
Transistor W lower open
U Open
Current feedback phase U open
W Open
Current feedback phase W open
Parameters
176
11-53
Autotune Errors
Parameter number
176
File:group
Autotune:Autotune Status
Autotune Errors shows the results of the auto-tune tests. The test Parameter type
source
results are divided into four categories: slip calculations, leakage Display
bits
inductance tests, resistance tests, and flux current tests. If a fault Factory default
not applicable
occurred during the auto-tune tests, the appropriate bit is set in Minimum value
00000000.00000000
Autotune Errors. If no bits are set, the drive passed all of the
Maximum value
11111111.11111111
auto-tune tests.
Conversion
1=1
The bits are defined as follows:
Refer to Chapter 13, Understanding the Auto-tuning Procedure,
for more information.
Bit
0
Description
Slip <= 0
Slip is 0 or negative.
Inductance Tests
1
Ind- > 0 Spd
Not at zero speed.
2
Ind-Sign Err
Sign error or negative Lsigma.
3
Ind- 0 Cur
Zero current.
4
Ind-A/D Ovfl
A/D overflow at minimum gain.
5
Ind-En Drop
Enable dropout.
Bit Description
Resistance Tests
6
Res- > 0 Spd
Not at zero speed.
7
Res-Sign Err
Sign error.
8
Res- 0 Cur
Zero current.
9
Res-SW Err
Software error.
10
Res-En Drop
Enable dropout.
Bit Description
Flux Current Tests
11
Flx-Atune Lo
Auto-tune setpoint is too low.
12
Flx-Flux < 0
Flux less than zero.
13
Flx-Cur>MCur
Flux current > rated motor current.
14
Flx-En Drop
Enable dropout.
15
Flx-Hi Load
The load is too high.
177
Ki Freq Reg
Parameter number
File:group
Ki Freq Reg contains the integral gain of the frequency regulator Parameter type
in encoderless mode. Do not change the value of this parameter. Display
Factory default
Minimum value
Maximum value
Conversion
177
none
destination
x
300
0
32767
1=1
178
Kp Freq Reg
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
178
none
destination
x
800
0
32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
179
none
destination
x.x
1.0
0.0
128.0
256 = 1.0
Kp Freq Reg contains the proportional gain of the frequency
regulator in encoderless mode. Do not change the value of this
parameter.
179
Kf Freq Reg
Kf Freq Reg contains the feed-forward gain of the frequency
regulator in encoderless mode. Do not change the value of this
parameter.
11-54
180
Parameters
Freq Track Filtr
Freq Track Filtr contains the rotor frequency regulator filter in
encoderless mode. Do not change the value of this parameter.
181
SP 2 Wire Enable1
SP 2 Wire Enable lets you specify whether the specified
SCANport device uses 2 wire or 3 wire control. When you are
operating in 2 wire control, the start button acts like a jog.
1 SP 2 Wire Enable was added in Version 2.xx.
Bit
0
1
2
3
Description
Reserved
Leave 0.
SP 1
Set to enable the device connected to SCANport 1 for
2 wire control.
SP 2
Set to enable the device connected to SCANport 2 for
2 wire control.
SP 3
Set to enable the device connected to SCANport 3 for
2 wire control.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
180
none
destination
x
5000
0
32767
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
181
Interface/Comm:SCANport Config
destination
bits
00000000
00000000
11111110
1=1
Bit
4
5
6
7
Description
SP 4
Set to enable the device connected to SCANport 4 for
2 wire control.
SP 5
Set to enable the device connected to SCANport 5 for
2 wire control.
SP 6
Set to enable the device connected to SCANport 6 for
2 wire control.
P197
Set to enable Logic Cmd Input (parameter 197) for 2
wire control.
182
An In1 Filter BW1
Parameter number
File:group
Use An In1 Filter BW to use a low pass filter on the analog
Parameter type
input 1. This filter adjusts the bandwidth to get better filtering. By Display
using the low pass filter, you lose some bandwidth, but the value Factory default
becomes more stable.
Minimum value
Maximum value
1 An In1 Filter BW was added in Version 2.xx.
Conversion
182
Interface/Comm:Analog Inputs
linkable destination
x.x radians per second
0.0 radians per second
0.0 radians per second
200.0 radians per second
10 = 1
183
An In2 Filter BW1
Parameter number
File:group
Use An In2 Filter BW to use a low pass filter on the analog
Parameter type
input 2. This filter adjusts the bandwidth to get better filtering. By Display
using the low pass filter, you lose some bandwidth, but the value Factory default
becomes more stable.
Minimum value
Maximum value
1 An In1 Filter BW was added in Version 2.xx.
Conversion
183
Interface/Comm:Analog Inputs
linkable destination
x.x radians per second
0.0 radians per second
0.0 radians per second
200.0 radians per second
10 = 1
184
mA In Filter BW1
184
Interface/Comm:Analog Inputs
linkable destination
x.x radians per second
0.0 radians per second
0.0 radians per second
200.0 radians per second
10 = 1
Parameter number
File:group
Use mA In Filter BW to use a low pass filter on the 4 – 20 mA
Parameter type
input. This filter adjusts the bandwidth to get better filtering. By
Display
using the low pass filter, you lose some bandwidth, but the value Factory default
becomes more stable.
Minimum value
Maximum value
1 mA In Filter BW was added in Version 2.xx.
Conversion
Parameters
185
Notch Filtr Freq1
186
Notch Filtr Q1
11-55
Parameter number
185
File:group
Control:Speed Feedback
Use Notch Filtr Freq to set the center frequency for an optional
Parameter type
linkable destination
2-pole notch filter. To enable the notch filter, you need to set Fdbk Display
x.x Hz
Filter Sel (parameter 65) to 4.
Factory default
135.0 Hz
Minimum value
5.0 Hz
1 Notch Filtr Freq was added in Version 2.xx.
Maximum value
135.0 Hz
Conversion
8=1
Refer to the Torque Reference Overview in Appendix B, Control
Block Diagrams, for more information about the notch filter.
Parameter number
186
File:group
Control:Speed Feedback
Use Notch Filtr Q to set the quality factor, or Q, for the 2-pole
Parameter type
linkable destination
notch filter. To enable the notch filter, you need to set Fdbk Filter Display
x
Sel (parameter 65) to 4.
Factory default
50
Minimum value
2
1 Notch Filtr Q was added in Version 2.xx.
Maximum value
500
Conversion
1=1
Refer to the Torque Reference Overview in Appendix B, Control
Block Diagrams, for more information about the notch filter.
11-56
187
Parameters
Relay Config 21
Use Relay Config 2 to select the function of terminal 3 on either
TB10 (for frames A1 – A4) or TB11 (for frames B – H) output.
1 Relay Config 2 was added in Version 2.xx.
Relay Config 2 may be any one of the following values:
Value Description
0
Disabled
The relay is disabled.
1
Run Ready
The drive is ready to run.
2
Not Run Rdy
The drive is not ready to run.
3
Running
Commanded speed is not zero.
4
Not Running
Commanded speed is zero.
5
Stopping
The drive is stopping.
6
Not Stopping
The drive is not stopping.
7
Stopped
The drive is stopped.
8
Not Stopped
The drive is not stopped.
9
Accelerating
The motor is accelerating.
10
Not Accel
The motor is not accelerating.
11
Decelerating
The motor is decelerating.
12
Not Decel
The motor is not decelerating.
13
At Set Speed
The motor is at the requested
speed.
14
Not Set Sp
The motor is not at the requested
speed.
15
At Zero Spd
The motor is at zero speed.
188
Relay Setpoint 21
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Value Description
16
Not Zero Spd
The motor is not at zero speed.
17
Flux Ready
The motor is ready to be fluxed up.
18
Not Flux Rdy
The motor is not ready to be fluxed up.
19
Flux Up
The drive feels the motor is fluxed up.
20
Not Flux Up
The drive feels the motor is not fluxed up.
21
Jogging
The motor is jogging.
22
Not Jogging
The motor is not jogging.
23
At Limit
The motor is at the limit shown in
Torque Limit Sts (parameter 87)
24
Not At Lim
The motor is not at the limit shown in
Torque Limit Sts (parameter 87).
25
>= Speed
The motor speed is greater than or equal
to Relay Setpoint 2 (parameter 188).
26
< Speed
The motor speed is less than Relay
Setpoint 2 (parameter 188).
27
>=Current
The motor current is greater than or equal
to Relay Setpoint 2 (parameter 188).
28
<Current
The motor current is less than
Relay Setpoint 2 (parameter 188).
Parameter number
File:group
Relay Setpoint 2 lets you specify the setpoint threshold for either Parameter type
speed or current. Relay Setpoint 2 is only active if Relay Config 2 Display
(parameter 187) is set to a value of 25, 26, 27, or 28.
Factory default
Minimum value
1 Relay Setpoint 2 was added in Version 2.xx.
Maximum value
Conversion
187
Interface/Comm:Digital Config
destination
x
33
0
36
1=1
Value Description
29
Faulted
A fault has occurred.
30
Not Faulted
A fault has not occurred.
31
Warning
A warning has occurred.
32
Not Warning
A warning has not occurred.
33
Enable
Power is being applied to the
motor.
34
Not Enable
Power is not being applied to the
motor.
35
Function Val
True when the value of Function
Output 1 (par. 213) and/or the
value of Function Output 2
(par. 214) are zero.
36
Not Function Val
True when the values of both
Function Output 1 (par. 213) and
Function Output 2 (par. 214)
are zero.
37
Function T/F
True when timer or logical state of
add/sub or mult/div is true based
on the selected function block.
38
Function T/F
False when timer or logical state of
add/sub or mult/div is false based
on the selected function block.
188
Interface/Comm:Digital Config
linkable destination
±x.x%
+0.0%
-800.0%
+800.0%
4096 = 100.0%
Parameters
189
Relay Config 31
Parameter number
File:group
Use Relay Config 3 to select the function of terminals 4, 5, and 6 Parameter type
on either TB10 (for frames A1 – A4) or TB11 (for frames B – H) Display
output.
Factory default
Minimum value
1 Relay Config 3 was added in Version 2.xx.
Maximum value
Conversion
Relay Config 3 may be any one of the following values:
Value Description
0
Disabled
The relay is disabled.
1
Run Ready
The drive is ready to run.
2
Not Run Rdy
The drive is not ready to run.
3
Running
Commanded speed is not zero.
4
Not Running
Commanded speed is zero.
5
Stopping
The drive is stopping.
6
Not Stopping
The drive is not stopping.
7
Stopped
The drive is stopped.
8
Not Stopped
The drive is not stopped.
9
Accelerating
The motor is accelerating.
10
Not Accel
The motor is not accelerating.
11
Decelerating
The motor is decelerating.
12
Not Decel
The motor is not decelerating.
13
At Set Speed
The motor is at the requested
speed.
14
Not Set Sp
The motor is not at the requested
speed.
15
At Zero Spd
The motor is at zero speed.
190
Relay Setpoint 31
Value Description
16
Not Zero Spd
The motor is not at zero speed.
17
Flux Ready
The motor is ready to be fluxed up.
18
Not Flux Rdy
The motor is not ready to be fluxed up.
19
Flux Up
The drive feels the motor is fluxed up.
20
Not Flux Up
The drive feels the motor is not fluxed up.
21
Jogging
The motor is jogging.
22
Not Jogging
The motor is not jogging.
23
At Limit
The motor is at the limit shown in
Torque Limit Sts (parameter 87)
24
Not At Lim
The motor is not at the limit shown in
Torque Limit Sts (parameter 87).
25
>= Speed
The motor speed is greater than or equal
to Relay Setpoint 3 (parameter 190).
26
< Speed
The motor speed is less than Relay
Setpoint 3 (parameter 190).
27
>=Current
The motor current is greater than or equal
to Relay Setpoint 3 (parameter 190).
28
<Current
The motor current is less than
Relay Setpoint 3 (parameter 190).
Parameter number
File:group
Relay Setpoint 3 lets you specify the setpoint threshold for either Parameter type
speed or current. Relay Setpoint 3 is only active if Relay Config 3 Display
(parameter 189) is set to a value of 25, 26, 27, or 28.
Factory default
Minimum value
1 Relay Setpoint 3 was added in Version 2.xx.
Maximum value
Conversion
11-57
189
Interface/Comm:Digital Config
destination
x
30
0
36
1=1
Value Description
29
Faulted
A fault has occurred.
30
Not Faulted
A fault has not occurred.
31
Warning
A warning has occurred.
32
Not Warning
A warning has not occurred.
33
Enable
Power is being applied to the
motor.
34
Not Enable
Power is not being applied to the
motor.
35
Function Val
True when the value of Function
Output 1 (par. 213) and/or the
value of Function Output 2
(par. 214) are zero.
36
Not Function Val
True when the values of both
Function Output 1 (par. 213) and
Function Output 2 (par. 214)
are zero.
37
Function T/F
True when timer or logical state of
add/sub or mult/div is true based
on the selected function block.
38
Function T/F
False when timer or logical state of
add/sub or mult/div is false based
on the selected function block.
190
Interface/Comm:Digital Config
linkable destination
±x.x%
+0.0%
-800.0%
+800.0%
4096 = 100.0%
11-58
191
Parameters
Relay Config 41
Parameter number
File:group
Use Relay Config 4 to select the function of terminals 7, 8, and 9 Parameter type
of either TB10 (for frames A1 – A4) or TB11 (for frames B – H)
Display
output.
Factory default
Minimum value
1 Relay Config 4 was added in Version 2.xx.
Maximum value
Conversion
191
Interface/Comm:Digital Config
destination
x
32
0
36
1=1
Relay Config 4 may be any one of the following values:
Value Description
0
Disabled
The relay is disabled.
1
Run Ready
The drive is ready to run.
2
Not Run Rdy
The drive is not ready to run.
3
Running
Commanded speed is not zero.
4
Not Running
Commanded speed is zero.
5
Stopping
The drive is stopping.
6
Not Stopping
The drive is not stopping.
7
Stopped
The drive is stopped.
8
Not Stopped
The drive is not stopped.
9
Accelerating
The motor is accelerating.
10
Not Accel
The motor is not accelerating.
11
Decelerating
The motor is decelerating.
12
Not Decel
The motor is not decelerating.
13
At Set Speed
The motor is at the requested
speed.
14
Not Set Sp
The motor is not at the requested
speed.
15
At Zero Spd
The motor is at zero speed.
192
Relay Setpoint 41
Value Description
16
Not Zero Spd
The motor is not at zero speed.
17
Flux Ready
The motor is ready to be fluxed up.
18
Not Flux Rdy
The motor is not ready to be fluxed up.
19
Flux Up
The drive feels the motor is fluxed up.
20
Not Flux Up
The drive feels the motor is not fluxed up.
21
Jogging
The motor is jogging.
22
Not Jogging
The motor is not jogging.
23
At Limit
The motor is at the limit shown in
Torque Limit Sts (parameter 87)
24
Not At Lim
The motor is not at the limit shown in
Torque Limit Sts (parameter 87).
25
>= Speed
The motor speed is greater than or equal
to Relay Setpoint 4 (parameter 192).
26
< Speed
The motor speed is less than Relay
Setpoint 4 (parameter 192).
27
>=Current
The motor current is greater than or equal
to Relay Setpoint 4 (parameter 192).
28
<Current
The motor current is less than
Relay Setpoint 4 (parameter 192).
Parameter number
File:group
Relay Setpoint 4 lets you specify the setpoint threshold for either Parameter type
speed or current. Relay Setpoint 4 is only active if Relay Config 4 Display
(parameter 191) is set to a value of 25, 26, 27, or 28.
Factory default
Minimum value
1 Relay Config 4 was added in Version 2.xx.
Maximum value
Conversion
Value Description
29
Faulted
A fault has occurred.
30
Not Faulted
A fault has not occurred.
31
Warning
A warning has occurred.
32
Not Warning
A warning has not occurred.
33
Enable
Power is being applied to the
motor.
34
Not Enable
Power is not being applied to the
motor.
35
Function Val
True when the value of Function
Output 1 (par. 213) and/or the
value of Function Output 2
(par. 214) are zero.
36
Not Function Val
True when the values of both
Function Output 1 (par. 213) and
Function Output 2 (par. 214)
are zero.
37
Function T/F
True when timer or logical state of
add/sub or mult/div is true based
on the selected function block.
38
Function T/F
False when timer or logical state of
add/sub or mult/div is false based
on the selected function block.
39
@ Profile Position
192
Interface/Comm:Digital Config
linkable destination
±x.x%
+0.0%
-800.0%
+800.0%
4096 = 100.0%
Parameters
193
Start Dwell Spd1
194
Start Dwell Time1
Parameter number
193
File:group
Control:Drive Logic Sel
Start Dwell Spd lets you set the speed that the drive immediately Parameter type
linkable destination
outputs when a start command is issued. No acceleration ramp Display
±x.x rpm
is used. You must enter a time value in Start Dwell Time
Factory default
+0.0 rpm
(parameter 194).
Minimum value
-0.1 x base motor speed
Maximum value
+0.1 x base motor speed
1 Start Dwell Spd was added in Version 2.xx.
Conversion
4096 = base motor speed
Refer to the Speed Reference Selection Overview section in
Appendix B, Control Block Diagrams, for more information.
Start Dwell Time lets you specify how long you want the drive to
continue using Start Dwell Spd (parameter 193) before ramping
to whichever speed reference you have selected (speed
references 1 through 7).
1 Start Dwell Time was added in Version 2.xx.
195
11-59
Max Mtr Current1
Parameter number
File:group
Use Max Mtr Current to increase the maximum motor current
from 200% to 400% if you are using a drive that is significantly
larger than your motor.
Choose:
Parameter number
194
File:group
Control:Drive Logic Sel
Parameter type
linkable destination
Display
x.x seconds
Factory default
0.0 seconds
Minimum value
0.0 seconds
Maximum value
10.0 seconds
Conversion
seconds x 10
Refer to the Speed Reference Selection Overview section in
Appendix B, Control Block Diagrams, for more information.
To Select:
0
200% maximum motor current
1
400% maximum motor current
Regardless of your selection, the drive limits current to 150% of
the rated inverter current.
1 Max Mtr Current was added in Version 2.xx.
195
Control:Control Limits
Application:200/400% Mtr Cur
Parameter type
destination
Display
x
Factory default
0
Minimum value
0
Maximum value
1
Conversion
1=1
Refer to the Using Up to 400% Motor Current section of
Chapter 9, Applications.
11-60
196
Parameters
Drive/Inv Sts 21
Parameter number
File:group
Use Drive/Inv Sts 2 to view the status/conditions within the drive. Parameter type
When a bit is set (1), the corresponding condition in the drive is Display
true.
Factory default
Minimum value
1 Drive/Inv Sts 2 was added in Version 2.xx.
Maximum value
Conversion
When set, the bits are defined as the following:
Bit
0
1
2
3
4
5
197
Description
Flux Ready
The motor is ready to be fluxed
up.
Flux Up
The motor is fluxed up.
DC Braking
DC braking is currently being
used.
Reserved
Leave 0.
Bus Ridethru
The drive is in a bus ridethrough
condition.
Jogging
The drive is jogging.
Bit
6
Description
Searching
Flying start is syncing with motor.
7
Enc TrimLoss
Indicates encoder loss when
using Encoder switchover mode
8
At Limit
The motor is at the At Limit set
point.
9
Func Output
Function Output 1
(parameter 213) and/or Function
Output 2 (parameter 214) is nonzero.
10 – 11 Reserved
Leave 0.
Logic Cmd Input1
Use Logic Cmd Input to change the logic evaluation block. The
bits that you change here are reflected in Logic Input Sts
(parameter 14).
1 Logic Cmd Input was added in Version 2.xx.
The bits are defined as follows:
Bit
0
1
2
3
4
Description
Normal Stop
A ramp stop is selected.
Start
A start is in progress.
Jog 1
A jog 1 is in progress.
Clear Fault
A clear fault is in progress.
Forward
A forward was commanded.
Bit
5
6
7
8
9
196
Monitor:Drive/Inv Status
source
bits
not applicable
00000000.00000000
11111111.11111111
1=1
Bit
12
13
14
15
Description
Relay Setpt1
Relay 1 has reached Relay
Setpoint 1 (parameter 115).
Relay Setpt2
Relay 2 has reached Relay
Setpoint 2 (parameter 188).
Relay Setpt3
Relay 3 has reached Relay
Setpoint 3 (parameter 190).
Relay Setpt4
Relay 4 has reached Relay
Setpoint 4 (parameter 192).
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Description
Reverse
A reverse was commanded.
Jog 2
A jog 2 is in progress.
Cur Lim Stop
A current limit stop is
selected.
Coast Stop
A coast stop is selected.
Spd Ramp Dis
Ramps are disabled.
Bit
10
11
12
13
14
15
Description
Flux Enable
Flux is enabled.
Process Trim
Process trim is enabled.
Speed Ref A
Speed Ref B
Speed Ref C
Reset Drive
The drive has been
commanded to reset.
197
none
linkable destination
bits
00000000.00000000
00000000.00000000
11111111.11111111
1=1
C
0
0
0
0
1
1
1
1
B A
0 0 No Charge
0 1 Speed Ref 1
1 0 Speed Ref 2
1 1 Speed Ref 3
0 0 Speed Ref 4
0 1 Speed Ref 5
1 0 Speed Ref 6
1 1 Speed Ref 7
Parameters
11-61
198
Parameter number
198
File:group
Application:Prog Function
Use Function In1 to provide input into the function block that is
Parameter type
linkable destination
provided with the 1336 IMPACT drive. You can choose to either Conversion
1=1
evaluate the input value or pass the value directly to the function If Func 1 Eval Sel (parameter 200) is 0 or 6 – 11, then:
block.
Display
±x
To evaluate Function In1, you need to also use Func 1 Mask/Val Factory default
0
(parameter 199) and Func 1 Eval Sel (parameter 200).
Minimum value
-32767
+32767
To pass the value directly to the function block, enter a value of 0 Maximum value
into Func 1 Eval Sel.
If Func 1 Eval Sel (parameter 200) is 1 – 5, then:
Display
bits
1 Function In1 was added in Version 2.xx.
Factory default
00000000.00000000
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Func 1 Eval Sel (parameter 200) is 12 – 15, then:
Display
x
Factory default
0
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
199
Func 1 Mask/Val1
Function In11
Use Func 1 Mask/Val to enter a mask or value to compare
Function In1 (parameter 198) to, according to the value you
select in Func 1 Eval Sel (parameter 200).
1 Func 1 Mask/Val was added in Version 2.xx.
Parameter number
199
File:group
Application:Prog Function
Parameter type
linkable destination
Conversion
1=1
If Func 1 Eval Sel (parameter 200) is 0 or 6 – 11, then:
Display
±x
Factory default
-1
Minimum value
-32767
Maximum value
+32767
If Func 1 Eval Sel (parameter 200) is 1 – 5, then:
Display
bits
Factory default
11111111.11111111
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Func 1 Eval Sel (parameter 200) is 12 – 15, then:
Display
x
Factory default
65535
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
11-62
200
Parameters
Func 1 Eval Sel1
Func 1 Eval Sel lets you choose how you want to evaluate
Function In1 (parameter 198).
1 Func 1 Eval Sel was added in Version 2.xx.
Value Description
0
None
Pass the value directly on to the
function block.
1
Mask
Mask specific bits.
2
All Bits On
Check to make sure that all bits
that are set (on) in Func 1
Mask/Val (parameter 199) are set
in Function In1 (parameter 198).
3
All Bits Off
Check to make sure that all bits
that are set in Func 1 Mask/Val are
clear in Function In1.
4
Any Bit On
Check to make sure that at least
one of the bits that are set in
Func 1 Mask/Val is set in Function
In1.
5
Any Bit Off
Check to make sure that at least
one of the bits that are set in
Func 1 Mask/Val is clear in
Function In1.
201
Function In21
Parameter number
200
File:group
Application:Prog Function
Parameter type
destination
Display
x
Factory default
0
Minimum value
0
Maximum value
17
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
Value Description
6
I=V
Check to see if Function In1 is
equal to Func 1 Mask/Val.
7
I Not = V
Check to see if Function In1 is not
equal to Func 1 Mask/Val.
8
Signed I<V
Check to see if the signed value of
Function In1 is less than the value
of Func 1 Mask/Val.
9
Signed I<=V
Check to see if the signed value of
Function In1 is less than or equal
to the value of Func 1 Mask/Val.
10
Signed I>V
Check to see if the signed value of
Function In1 is greater than the
value of Func 1 Mask/Val.
11
Signed I>=V
Check to see if the signed value of
Function In1 is greater than or
equal to the value of Func 1
Mask/Val.
Value Description
12
Unsign I<V
Check to see if the unsigned value
of Function In1 is less than the
value of Func 1 Mask/Val.
13
Unsign I<=V
Check to see if the unsigned value
of Function In1 is less than or
equal to the value of Func 1
Mask/Val.
14
Unsign I>V
Check to see if the unsigned value
of Function In1 is greater than the
value of Func 1 Mask/Val.
15
Unsign I>=V
Check to see if the unsigned value
of Function In1 is greater than or
equal to the value of Func 1
Mask/Val.
16
Invert
Pass the opposite value on to the
function block
17
Absolute
Pass a positive value on to the
function block.
Parameter number
201
File:group
Application:Prog Function
Use Function In2 to provide input into the function block that is
Parameter type
linkable destination
provided with the 1336 IMPACT drive. You can choose to either Conversion
1=1
evaluate Function In2 or pass the value directly to the function
If Func 2 Eval Sel (parameter 203) is 0 or 6 – 11, then:
block.
Display
±x
To evaluate Function In2, you need to also use Func 2 Mask/Val Factory default
0
(parameter 202) and Func 2 Eval Sel (parameter 203).
Minimum value
-32767
+32767
To pass the value directly to the function block, enter a value of 0 Maximum value
into Func 2 Eval Sel.
If Func 2 Eval Sel (parameter 203) is 1 – 5, then:
Display
bits
1 Function In2 was added in Version 2.xx.
Factory default
00000000.00000000
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Func 2 Eval Sel (parameter 203) is 12 – 15, then:
Display
x
Factory default
0
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
Parameters
202
Func 2 Mask/Val1
Use Func 2 Mask/Val to enter a mask or value to compare
Function In2 (parameter 201) to, according to the value you
select in Func 2 Eval Sel (parameter 203).
1 Func 2 Mask/Val was added in Version 2.xx.
203
Func 2 Eval Sel1
Func 2 Eval Sel lets you choose how you want to evaluate
Function In2 (parameter 201).
1 Func 2 Eval Sel was added in Version 2.xx.
Value Description
0
None
Pass the value directly on to the
function block.
1
Mask
Mask specific bits.
2
All Bits On
Check to make sure that all bits
that are set (on) in Func 2
Mask/Val (parameter 202) are set
in Function In2 (parameter 201).
3
All Bits Off
Check to make sure that all bits
that are set in Func 2 Mask/Val are
clear in Function In2.
4
Any Bit On
Check to make sure that at least
one of the bits that are set in
Func 2 Mask/Val is set in Function
In2.
5
Any Bit Off
Check to make sure that at least
one of the bits that are set in
Func 2 Mask/Val is clear in
Function In2.
11-63
Parameter number
202
File:group
Application:Prog Function
Parameter type
linkable destination
Conversion
1=1
If Func 2 Eval Sel (parameter 203) is 0 or 6 – 11, then:
Display
±x
Factory default
-1
Minimum value
-32767
Maximum value
+32767
If Func 2 Eval Sel (parameter 203) is 1 – 5, then:
Display
bits
Factory default
11111111.11111111
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Func 2 Eval Sel (parameter 203) is 12 – 15, then:
Display
x
Factory default
65535
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
Parameter number
203
File:group
Application:Prog Function
Parameter type
destination
Display
x
Factory default
0
Minimum value
0
Maximum value
17
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
Value Description
6
I=V
Check to see if Function In2 is
equal to Func 2 Mask/Val.
7
I Not = V
Check to see if Function In2 is not
equal to Func 2 Mask/Val.
8
Signed I<V
Check to see if the signed value of
Function In2 is less than the value
of Func 2 Mask/Val.
9
Signed I<=V
Check to see if the signed value of
Function In2 is less than or equal
to the value of Func 2 Mask/Val.
10
Signed I>V
Check to see if the signed value of
Function In2 is greater than the
value of Func 2 Mask/Val.
11
Signed I>=V
Check to see if the signed value of
Function In2 is greater than or
equal to the value of Func 2
Mask/Val.
Value Description
12
Unsign I<V
Check to see if the unsigned value
of Function In2 is less than the
value of Func 2 Mask/Val.
13
Unsign I<=V
Check to see if the unsigned value
of Function In2 is less than or
equal to the value of Func 2
Mask/Val.
14
Unsign I>V
Check to see if the unsigned value
of Function In2 is greater than the
value of Func 2 Mask/Val.
15
Unsign I>=V
Check to see if the unsigned value
of Function In2 is greater than or
equal to the value of Func 2
Mask/Val.
16
Invert
Pass the opposite value on to the
function block
17
Absolute
Pass a positive value on to the
function block.
11-64
Parameters
204
Parameter number
204
File:group
Application:Prog Function
Use Function In3 to provide input into the function block that is
Parameter type
linkable destination
provided with the 1336 IMPACT drive. You can choose to either Conversion
1=1
evaluate the input value or pass the value directly to the function If Func 3 Eval Sel (parameter 206) is 0 or 6 – 11, then:
block.
Display
±x
To evaluate Function In3, you need to also use Func 3 Mask/Val Factory default
0
(parameter 205) and Func 3 Eval Sel (parameter 206).
Minimum value
-32767
+32767
To pass the value directly to the function block, enter a value of 0 Maximum value
into Func 3 Eval Sel.
If Func 3 Eval Sel (parameter 206) is 1 – 5, then:
Display
bits
1 Function In3 was added in Version 2.xx.
Factory default
00000000.00000000
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Func 3 Eval Sel (parameter 206) is 12 – 15, then:
Display
x
Factory default
0
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
205
Func 3 Mask/Val1
Function In31
Use Func 3 Mask/Val to enter a mask or value to compare
Function In3 (parameter 204) to, according to the value you
select in Func 3 Eval Sel (parameter 206).
1 Func 3 Mask/Val was added in Version 2.xx.
Parameter number
205
File:group
Application:Prog Function
Parameter type
linkable destination
Conversion
1=1
If Func 3 Eval Sel (parameter 206) is 0 or 6 – 11, then:
Display
±x
Factory default
-1
Minimum value
-32767
Maximum value
+32767
If Func 3 Eval Sel (parameter 206) is 1 – 5, then:
Display
bits
Factory default
11111111.11111111
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Func 3 Eval Sel (parameter 206) is 12 – 15, then:
Display
x
Factory default
65535
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
Parameters
206
Funct 3 Eval Sel1
Funct 3 Eval Sel lets you choose how you want to evaluate
Function In3 (parameter 204).
1 Func 3 Eval Sel was added in Version 2.xx.
Value Description
0
None
Pass the value directly on to the
function block.
1
Mask
Mask specific bits.
2
All Bits On
Check to make sure that all bits
that are set (on) in Func 3
Mask/Val (parameter 205) are set
in Function In3 (parameter 204).
3
All Bits Off
Check to make sure that all bits
that are set in Func 3 Mask/Val are
clear in Function In3.
4
Any Bit On
Check to make sure that at least
one of the bits that are set in
Func 3 Mask/Val is set in Function
In3.
5
Any Bit Off
Check to make sure that at least
one of the bits that are set in
Func 3 Mask/Val is clear in
Function In3.
207
Function In41
11-65
Parameter number
206
File:group
Application:Prog Function
Parameter type
destination
Display
x
Factory default
0
Minimum value
0
Maximum value
17
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
Value Description
6
I=V
Check to see if Function In3 is
equal to Func 3 Mask/Val.
7
I Not = V
Check to see if Function In3 is not
equal to Func 3 Mask/Val.
8
Signed I<V
Check to see if the signed value of
Function In3 is less than the value
of Func 3 Mask/Val.
9
Signed I<=V
Check to see if the signed value of
Function In3 is less than or equal
to the value of Func 3 Mask/Val.
10
Signed I>V
Check to see if the signed value of
Function In3 is greater than the
value of Func 3 Mask/Val.
11
Signed I>=V
Check to see if the signed value of
Function In3 is greater than or
equal to the value of Func 3
Mask/Val.
Value Description
12
Unsign I<V
Check to see if the unsigned value
of Function In3 is less than the
value of Func 3 Mask/Val.
13
Unsign I<=V
Check to see if the unsigned value
of Function In3 is less than or
equal to the value of Func 3
Mask/Val.
14
Unsign I>V
Check to see if the unsigned value
of Function In3 is greater than the
value of Func 3 Mask/Val.
15
Unsign I>=V
Check to see if the unsigned value
of Function In3 is greater than or
equal to the value of Func 3
Mask/Val.
16
Invert
Pass the opposite value on to the
function block
17
Absolute
Pass a positive value on to the
function block.
Parameter number
207
File:group
Application:Prog Function
Use Function In4 to provide input to the function block that is
Parameter type
linkable destination
provided with the 1336 IMPACT drive.
Conversion
1=1
For the timer delay and state machine function blocks, Function If Function Sel (parameter 212) is 0 – 8, then:
In4 is used to specify how long after the timer off input is received Display
xxx.xx minutes
before turning off the timer output. When used for these modes, Factory default
0.00 minutes
the timer off signal must be present for as long as you specify in Minimum value
0.00 minutes
Function In4.
Maximum value
655.35 minutes
For the up/down counter function block, Function In4 specifies
If Function Sel (parameter 212) is 9 – 12, then:
how much to add to the value when Function In1 (parameter 198) Display
x
indicates that a rising edge has occurred.
Factory default
0
Minimum value
0
For the multiply/divide function block, Function In4 specifies
65535
whether the function should be performed as a per unit function Maximum value
or as a math function.
If Function Sel (parameter 212) is 13, then:
±x
For the scale function block, Function In4 is the upper word of the Display
Factory default
0
value that you want to use as either the minimum or maximum
Minimum value
-32767
value for the output. The lower word of this value is specified in
Maximum value
+32767
Function In5 (parameter 208).
Refer to Chapter 10, Using the Function Block, for more
1 Function In4 was added in Version 2.xx.
information.
11-66
208
Parameters
Function In51
Parameter number
208
File:group
Application:Prog Function
Use Function In5 to provide input to the function block that is
Parameter type
linkable destination
provided with the 1336 IMPACT drive.
Conversion
1=1
For the timer delay and state machine function blocks, Function If Function Sel (parameter 212) is 0 – 8, then:
In5 is used to specify how long after the timer on input is received Display
xxx.xx minutes
before turning on the timer output. When used for these modes, Factory default
0.00 minutes
the timer on signal must be present for as long as you specify in Minimum value
0.00 minutes
Function In5.
Maximum value
655.35 minutes
For the up/down counter function block, Function In5 specifies
If Function Sel (parameter 212) is 9 – 13, then:
how much to subtract from the value when Function In2
Display
x
(parameter 201) indicates that a rising edge has occurred.
Factory default
0
0
For the scale function block, Function In5 is the lower word of the Minimum value
Maximum value
65535
value that you want to use as either the minimum or maximum
value for the output. The upper word of this value is specified in Refer to Chapter 10, Using the Function Block, for more
Function In4 (parameter 207).
information.
1 Function In5 was added in Version 2.xx.
209
Function In61
Parameter number
209
File:group
Application:Prog Function
Use Function In6 to provide input to the function block that is
Parameter type
linkable destination
provided with the the 1336 IMPACT drive.
Conversion
1=1
For the timer delay function block, Function In6 specifies the
If Function Sel (parameter 212) is 0 – 10 or 12, then:
value to pass to Function Output 1 (parameter 213) when the
Display
bits
timer delay output is true.
Factory default
00000000.00000000
00000000.00000000
For the state machine function block, Function In6 is used for the Minimum value
Maximum value
11111111.11111111
output if the evaluation of Function In2 (parameter 201) is false
and the evaluation of Function In1 (parameter 198) and the timer If Function Sel (parameter 212) is 11, then:
on function are true.
Display
x
Factory default
0
For the up/down counter function block, Function In6 specifies
0
whether the output is a double word (if Function In6 is true) or a Minimum value
Maximum value
65535
word (if Function In6 is false).
For the scale function block, Function In6 is the upper word of the If Function Sel (parameter 212) is 13, then:
Display
±x
value that you want to use as either the minimum or maximum
Factory default
0
value for the output. The lower word of this value is specified in
Minimum value
-32767
Function In7 (parameter 210).
Maximum value
+32767
1 Function In6 was added in Version 2.xx.
Refer to Chapter 10, Using the Function Block, for more
information.
Parameters
210
Function In71
Use Function In7 to provide input to the function block that is
provided with the 1336 IMPACT drive.
For the timer delay function block, Function In7 specifies the
value to pass to Function Output 1 (parameter 213) when the
timer delay evaluation is false.
For the state machine function block Function In7 is used for the
output if the evaluation of Function In2 (parameter 201) is true
and the evaluation of Function In1 (parameter 198) and the timer
function are false.
For the scale function, Function In7 is the lower word of the value
that you want to use as either the minimum or maximum value for
the output. The upper word of this value is specified in Function
In6 (parameter 209).
For the counter function, Function In7 is used for the Cnt Clr
value. By default, the value is 0. This value can be changed by
the user.
1 Function In7 was added in Version 2.xx.
211
Function In81
11-67
Parameter number
210
File:group
Application:Prog Function
Parameter type
linkable destination
Conversion
1=1
If Function Sel (parameter 212) is 0 – 10, 12, then:
Display
bits
Factory default
00000000.00000000
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Function Sel (parameter 212) is 11
Display
±x
Factory default
0
Minimum value
-32767
Maximum value
+32767
If Function Sel (parameter 212) is 13, then:
Display
±x
Factory default
0
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
Parameter number
211
File:group
Application:Prog Function
Use Function In8 to provide input to the function block that is
Parameter type
linkable destination
provided with the 1336 IMPACT drive.
Display
bits
00000000.00000000
For the state machine function block, Function In8 is used for the Factory default
Minimum value
00000000.00000000
output if the evaluation of Function In2 (parameter 201) is true
11111111.11111111
and the evaluation of Function In1 (parameter 198) and the timer Maximum value
Conversion
1=1
on function are true.
Refer to Chapter 10, Using the Function Block, for more
1 Function In8 was added in Version 2.xx.
information.
11-68
212
Parameters
Function Sel1
Use Function Sel to select which function you would like the
function block to perform.
1 Function Sel was added in Version 2.xx.
Value Description
0
Or Tmr
Take the OR of input 1 and input 2
and use the result for the timer
input.
1
Nor Tmr
Take the NOR of input 1 and
input 2 and use the result for the
timer input.
2
And Tmr
Take the AND of input 1 and
input 2 and use the result for the
timer input.
3
Nand Tmr
Take the NAND of input 1 and
input 2 and use the result for the
timer input.
4
Or And Tmr
Take the result of input 1 OR’ed
with input 2 and AND with input 3.
Then,use the result for the timer
input.
5
And Or Tmr
Take the result of input 1 AND
input 2 and OR with input 3. Then,
use the result for the timer input.
6
Tmr Or And
Use input 1 for the timer input and
OR with input 2. Then, AND with
input 3.
7
Tmr And Or
Use input 1 for the timer input and
AND with input 2. Then, OR with
input 3.
8
StateMachine
Change the output value based on
the value of input 1/timer and
input 2.
9
Add/Sub
Add input 1 and input 2.
Parameter number
212
File:group
Application:Prog Function
Parameter type
destination
Display
x
Factory default
0
Minimum value
0
Maximum value
27
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
Value Description
10
Max/Min
Compare input 1 with input 2 and
based on input 3, output
whichever value is larger or
smaller.
11
Counter
Count up (input 1) or down
(input 2).
12
Mult/Div
Multiply input 1 and input 2 and
then divide by input 3.
13
Scale
Scale the value of input 1 from
one range to another.
14
Hysteresis
Create Hysteresis band (In4-Hi,
In5-Lo) for Input 1.
15
Band
Create Band (In4-Hi, In5-Lo) for
Input 1.
16
Or Add
Take the OR of input 1 and input 2
and use the result for the add/sub
input.
17
Nor Add
Take the NOR of input 1 and
input 2 and use the result for the
add/sub input.
18
And Add
Take the AND of input 1 and
input 2 and use the result for the
add/sub input.
19
Nand Add
Take the NAND of input 1 and
input 2 and use the result for the
add/sub input.
Value Description
20
Or And Add
Take the result of input 1 OR’ed
with input 2 and AND with input 3.
Then, use the result for the
add/sub input.
21
And Or Add
Take the result of input 1 AND
input 2 and OR with input 3. Then,
use the result for the add/sub
input.
22
Or Mult
Take the OR of input 1 and input 2
and use the result for the mult/div
input.
23
Nor Mult
Take the NOR of input 1 and
input 2 and use the result for the
mult/div input.
24
And Mult
Take the AND of input 1 and
input 2 and use the result for the
mult/div input.
25
Nand Mult
Take the NAND of input 1 and
input 2 and use the result for the
mult/div input.
26
Or And Mult
Take the result of input 1 OR’ed
with input 2 and AND with input 3.
Then, use the result for the
mult/div input.
27
And Or Mult
Take the result of input 1 AND
input 2 and OR with input 3. Then,
use the result for the mult/div
input.
Parameters
213
Function Output 11
Use Function Output 1 to view the results of the function block.
Function Output 1 is either a word value or the upper byte of a
double word, depending on the value of Function Sel
(parameter 212).
1 Function Output 1 was added in Version 2.xx.
11-69
Parameter number
213
File:group
Application:Prog Function
Parameter type
source
Factory default
not applicable
Conversion
1=1
If Function Sel (parameter 212) is 0 – 8, then:
Display
bits
Minimum value
00000000.00000000
Maximum value
11111111.11111111
If Function Sel (parameter 212) is 9, 10, 12 or 13, then:
Display
±x
Minimum value
-32767
Maximum value
+32767
If Function Sel (parameter 212) is 11, then:
Display
x
Minimum value
0
Maximum value
65535
Refer to Chapter 10, Using the Function Block, for more
information.
214
Parameter number
214
File:group
Application:Prog Function
Use Function Output 2 to view the results of the function block.
Parameter type
source
Function Output 2 is the lower byte of a double word Function Sel Display
x
(parameter 212) is 11, 12, or 13.
Factory default
not applicable
Minimum value
0
1 Function Output 2 was added in Version 2.xx.
Maximum value
65535
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
215
Min Speed Limit1
216
Fstart Select1
Function Output21
Parameter number
File:group
Use Min Speed Limit to specify the minimum speed that you want Parameter type
the motor to run at. Min Speed Limit overrides any speed
Display
references to lower speeds.
Factory default
Minimum value
1 Min Speed Limit was added in Version 2.xx.
Maximum value
Conversion
215
Control:Control Limits
linkable destination
x.x rpm
0.0 rpm
0.0 rpm
base motor speed
4096 = base motor speed
Parameter number
216
File:group
Application: Flying Start
Use Fstart Select to activate the flying start feature when
Parameter type
linkable destination
operating in Encoderless mode. This allows encoderless mode
Display
x
the ability to reconnect into a rotating motor and resume
Factory default
0
operation.
Minimum value
0
2
Note: Encoder mode will automatically reconnect and does not Maximum value
Conversion
1=1
use the Fstart Select parameter.
Refer to Chapter 9, Applications, for more information.
1 Fstart Select was added in Version 3.xx.
Display#
0
1
2
Display Text
Disabled
Last Speed
Speed Param
Description
Flying start disabled
Flying start enabled — Beginning search from last known speed
Flying start enabled — Beginning search from Fstart Speed (parameter 217)
11-70
Parameters
217
Fstart Speed1
218
Reserved
Parameter number
217
File:group
Application: Flying Start
Use Fstart Speed to set the start point at which the speed search Parameter type
linkable destination
begins. This parameter is only active when operating in Fstart
Display
x.x RPM
Select mode 2 (Speed Param).
Factory default
+ base motor speed rpm
Minimum value
Rev Speed Limit (Param 40)
To maximize reconnect performance, always set the Fstart
Forward Speed Limit (Param 41)
Speed slightly greater than the expected reconnect motor speed. Maximum value
Conversion
+4096 = base motor speed
1 Fstart Speed was added in Version 3.xx.
Refer to Chapter 9, Applications, for more information.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
218
Parameter number
File:group
PwrUp Flt Status indicates that a fault condition has been
Parameter type
detected during power up or reset of the drive. When a bit is “1”, Display
the condition is true; otherwise, the condition is false.
Factory default
Minimum value
1 PwrUp Flt Status was added in Version 3.xx.
Maximum value
Conversion
219
Monitor: Fault Status
source
Bits
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
1=1
Leave this parameter set to 0.
219
PwrUp Flt Status1
Bit
0
1
2
3
4
5
220
Condition
CP EPROM
CP Int RAM
CP Ext RAM
CP Stack Ram
CP MBI
Reserved
Bit
6
7
8
9
10
11
Condition
Reserved
Reserved
VP EPROM
VP Int Ram
VP Ext Ram
VP Stack RAM
Ncfg Flt Status1
Ncfg Flt Status indicates that a fault condition in the drive
CANNOT be configured as a warning. When a bit is “1”, the
condition is true; otherwise, the condition is false. Bits 0 – 3 are
detected by hardware. Bits 4 – 15 are detected are detected by
software.
1 Ncfg Flt Status was added in Version 3.xx.
Bit
0
1
2
3
4
5
Condition
Bus Overvolt
Trans Desat
Ground Flt
IOC
VP Handshake
Diff SW Ver
Bit
6
7
8
9
10
11
Bit
12
13
14
15
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
Condition
Dr Type Dif
III Drv Type
CP Handshake
Abs overspd
+/- 15v Tol
Auto/Diag
Condition
VP MBI
Reserved
EE Checksum
EE R/W
220
Monitor: Fault Status
source
Bits
0000 0000 0000 0000
0000 0000 0000 0000
1111 1111 1111 1111
1=1
Bit
12
13
14
15
Condition
Inv Temp Trp
Task Overrun
Ill Interrupt
Mode Timeout
Parameters
221
Fault Status 11
Parameter number
221
File:group
Monitor: Fault Status
Fault Status 1 shows fault conditions that have been configured Parameter type
source
to report as drive fault conditions. Each configuration bit matches Display
Bits
the bit definitions of Fault Select 1 (parameter 20) and Fault
Factory default
0000 0000 0000 0000
Select 2 (parameter 22). When a bit is “1” the condition is true;
Minimum value
0000 0000 0000 0000
otherwise, the condition is false.
Maximum value
1111 1111 1111 1111
Conversion
1=1
1 Fault Status 1 was added in Version 3.xx.
Refer to Chapter 12, Troubleshooting, for more information.
Bit
0
1
2
3
4
5
222
Condition
Ridethru Time
Prechrg Time
Bus Drop
Bus Undervlt
Bus Cycles>5
Open Circuit
Bit
6
7
8
9
10
11
Condition
Reserved
Reserved
mA Input
SP 1 Timeout
SP 2 Timeout
SP 3 Timeout
Bit
12
13
14
15
Condition
SP 4 Timeout
SP 5 Timeout
SP 6 Timeout
SP Error
Fault Status 21
Parameter number
222
File:group
Monitor: Fault Status
Fault Status 2 shows fault conditions that have been configured Parameter type
source
to report as drive fault conditions. Each configuration bit matches Display
Bits
the bit definitions of Fault Select 1 (parameter 20) and Fault
Factory default
0000 0000 0000 0000
Select 2 (parameter 22). When a bit is “1” the condition is true;
Minimum value
0000 0000 0000 0000
otherwise, the condition is false.
Maximum value
1111 1111 1111 1111
Conversion
1=1
1 Fault Status 2 was added in Version 3.xx.
Refer to Chapter 12, Troubleshooting, for more information.
Bit
0
1
2
3
4
5
223
11-71
Condition
SpdFdbk Loss
InvOvtmp Pnd
Reserved
MtrOvld Pend
MtrOvld Trip
Mtr Stall
Bit
6
7
8
9
10
11
Condition
Ext Fault In
Reserved
Reserved
Param Limit
Math Limit
Reserved
Bit
12
13
14
15
Condition
Reserved
InOvld Pend
Reserved
InvOvld Trip
Warning Status 11
Parameter number
223
File:group
Monitor: Fault Status
Warning Status 1 shows warning conditions that have been
Parameter type
source
configured to report as drive warning conditions. Each
Display
Bits
configuration bit matches the bit definitions of Warning Select 1 Factory default
0000 0000 0000 0000
(parameter 21) and Warning Select 2 (parameter 23). When a bit Minimum value
0000 0000 0000 0000
is “1” the condition is true; otherwise, the condition is false.
Maximum value
1111 1111 1111 1111
Conversion
1=1
1 Warning Status 1 was added in Version 3.xx.
Refer to Chapter 12, Troubleshooting, for more information.
Bit
0
1
2
3
4
5
Condition
Ridethru Time
Prechrg Time
Bus Drop
Bus Undervlt
Bus Cycles>5
Open Circuit
Bit
6
7
8
9
10
11
Condition
Reserved
Reserved
mA Input
SP 1 Timeout
SP 2 Timeout
SP 3 Timeout
Bit
12
13
14
15
Condition
SP 4 Timeout
SP 5 Timeout
SP 6 Timeout
SP Error
11-72
224
Parameters
Warning Status 21
Parameter number
224
File:group
Monitor: Fault Status
Warning Status 2 shows warning conditions that have been
Parameter type
source
configured to report as drive warning conditions. Each
Display
Bits
configuration bit matches the bit definitions of Warning Select 1 Factory default
0000 0000 0000 0000
(parameter 21) and Warning Select 2 (parameter 23). When a bit Minimum value
0000 0000 0000 0000
is “1” the condition is true; otherwise, the condition is false.
Maximum value
1111 1111 1111 1111
Conversion
1=1
1 Warning Status 2 was added in Version 3.xx.
Refer to Chapter 12, Troubleshooting, for more information.
Bit
0
1
2
3
4
5
Condition
SpdFdbk Loss
Inv Overtemp
Reserved
MtrOvld Pend
MtrOvld Trip
Mtr Stall2
225
Spd Reg Output1
226
Spd Error1
Bit
6
7
8
9
10
11
Condition
Ext Fault In
Reserved
Reserved
Param Limit
Math Limit
Reserved
Bit
12
13
14
15
Parameter number
File:group
Spd Reg Output shows the torque reference value that appears Parameter type
at the output of the Speed PI Regulator. It is the input to the
Display
torque selection and is used as the drive’s torque reference value Factory default
when Spd/Trq Mode Sel (parameter 68) is set to 2.
Minimum value
Maximum value
1 Spd Reg Output was added in Version 3.xx.
Conversion
Spd Error contains a value that is the difference between the
whole number portion of the speed regulator’s reference input
and the speed feedback.
1 Speed Error was added in Version 3.xx.
Condition
Reserved
InvOvld Pend
Reserved
Inv Overload
225
Monitor: Drive/Inv Status
source
±x.xx %
+ 0.0%
- 300.0%
+ 300.0%
4096 = 100 Iq motor%
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
226
Monitor: Drive/Inv Status
source
±x.xx rpm
+ 0.0 rpm
- 8 x base speed
+ 8 x base speed
4096 = base motor speed
227
Enc Pos Fdbk Low1
Parameter number
File:group
Enc Pos Fdbk Low shows the LOW word portion of a 32 bit
Parameter type
encoder pulse accumulator. Each encoder quadrature edge will Display
be counted, resulting in a 4X multiplication. As a result, this
Factory default
parameter will be scaled such that the position change per motor Minimum value
revolution is equal to 4 times the encoder PPR.
Maximum value
Conversion
1 Enc Pos Fdbk Low was added in Version 3.xx.
227
Monitor: Motor Status
source
x
0
0
65535
1=1
228
Enc Pos Fdbk Hi1
228
Monitor: Motor Status
source
x
0
0
65535
1=1
Parameter number
File:group
Enc Pos Fdbk Hi shows the HI word portion of a 32 bit encoder Parameter type
pulse accumulator that was described in the previous parameter. Display
This word will change by 1 count for every change in low count of Factory default
65,536 4x encoder pulses.
Minimum value
Maximum value
1 Enc Pos Fdbk Hi was added in Version 3.xx.
Conversion
Parameters
229
Int Torque Ref1
230
Iq Offset1
Parameter number
File:group
Int Torque Ref shows the value of torque reference that is present Parameter type
at the output of the torque limiter.
Display
Factory default
1 Int Torque Ref was added in Version 3.xx.
Minimum value
Maximum value
Conversion
IQ Offset contains the LEM U offset required to null the current
error (no motor current flowing). This offset is set automatically
by running the transistor diagnostics.
1 Iq Offset was added in Version 3.xx.
231
Id Offset1
Id Offset contains the LEM W offset required to null the current
error (no motor current flowing). This offset is set automatically
by running the transistor diagnostics.
1 Id Offset was added in Version 3.xx.
232
Function In91
Use Function In9 to provide input to the function block that is
provided with the 1336 IMPACT drive.
1 Function In9 was added in Version 3.xx.
233
Function In101
Use Function In10 to provide input to the function block that is
provided with the 1336 IMPACT drive.
1 Function In10 was added in Version 3.xx.
234
Motor Voltage %1
Use Motor Voltage % to view the actual line-to-line fundamental
RMS value of motor voltage as a percentage. This data is
averaged and updated every 50 milliseconds.
1 Motor Voltage was added in Version 3.xx.
11-73
229
Monitor: Motor Status
source
±x.x%
0.0%
-800%
+800%
4096 = Rated Torque
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
230
None
linkable destination
±x
0
-100
+100
1=1
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
231
None
linkable destination
±x
0
-100
+100
1=1
Parameter number
232
File:group
Application: Prog Function
Parameter type
sink
Display
±x
Factory default
0
Minimum value
-32767
Maximum value
+32767
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
Parameter number
233
File:group
Application: Prog Function
Parameter type
sink
Display
±x
Factory default
0
Minimum value
-32767
Maximum value
+32767
Conversion
1=1
Refer to Chapter 10, Using the Function Block, for more
information.
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
234
Monitor:Motor Status
source
x.x%
NA
0%
800%
4096 = motor volts
11-74
Parameters
235
Profile Enable
236
Profile Status
Parameter number
File:group
Profile Enable is the command word for speed profiling.
Parameter type
Bit 0 - Sets the home position and must be set to 1 for profiling to Display
Factory default
operate.
Bit 1 - Must be set to run the sequence of the speed profile that is Minimum value
Maximum value))Fhex
programmed.
Bit 2 - When set to 1, causes the transition from one step to the Conversion
next to be held until the bit is set to 0.
Bit 3 - Is used with the sequential encoder steps and prevents the
speed from dropping to zero at the end of each step.
Bits 4-7 - Reserved
235
Profile Command
Setup
Bits
0
000Fhex
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
236
Profile Command
Setup
Bits
0
0000hex
001Fhex
Parameter number
File:group
Sets the gain for the speed profiling control in a range from 0.5 - Parameter type
16.0. When sending values over a network connection, the
Display
scaling is 128 = 1.0
Factory default
Minimum value
Maximum value
Conversion
237
Profile Command
Setup
x.x units
2
0.5
16.0
128 = 1.0
Parameter number
File:group
Parameter 238 can be used to select how the end of the run
Parameter type
sequence is accomplished.
Display
Factory default
0 = Stop - Command Zero Speed
1 = Go to Step, uses P240 to determine which step to proceed to Minimum value
Maximum value
when the end is reached.
Conversion
2 = TB3 Input, uses P241 to select which TB3 terminal to use.
3 = Compare, uses P242 as the comparison value.
4 = Encoder Home, goes to the home position determined when
function enabled.
238
Profile End Actions
Setup
x
0
0
4
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
239
Profile End Actions
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = base speed
Profile Status indicates the state of the profiling routine.
Bits 0-4 - Indicate the binary value of active step, 1-16.
Bit 5 - Enabled when set to 1.
Bit 6 - Run Sequence on when set to 1. This bit clears when
sequence is complete.
Bit 7- Hold is active when set to 1.
Bit 8 - Encoder Velocity Blend mode selected when set to 1.
237
Error Trim Gain
238
End Action Sel
239
End Action Speed
Parameter 239 sets the speed for the end action.
4096 = Base Speed
Parameters
240
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
240
Profile End Actions
Setup
x Step#
1
0
16
None
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
241
Profile End Actions
Setup
x
0
0
5
None
Parameter number
File:group
Parameter 242 sets the parameter used as a comparison value Parameter type
to compare against EA value P243. The compare EA is selected Display
by setting P238 = 3
Factory default
Minimum value
Maximum value
Conversion
242
Profile End Actions
Setup
x
1
1
296
None
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
243
Profile End Actions
Setup
x
0
-32767
32767
None
Parameter number
File:group
Sets the tolerance window for an End of Step signal at each step Parameter type
programmed with an encoder step.
Display
Factory default
Minimum value
Maximum value
Conversion
244
Profile Commands
Setup
x Encoder Pulses
20
0
32767
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
245
Profile Commands
Setup
x. Encoder Pulses
4096
1
32767
Encoder pulse/4
End Action Go To
Parameter 240 sets the step to proceed to when P238 = 1
241
11-75
End Action Input
Parameter 241 selects the TB3 terminal used when P238 = 2
Mode 31
Mode 32
0 = TB3-22
0 = TB3-22
1 = TB3-23
1 = TB3-23
2 = Reserved
2 = TB3-19
3 = Reserved
4 = Reserved
3 = TB3-26
5 = Reserved
4 = TB3-27
6 = Reserved
5 = TB3-28
6 = Reserved
242
End Action Comp
243
End Action Value
Parameter 243 is used when end action is set to “compare”
This is the value the parameter selected in P242 will be
compared against to determine the end of the profile sequence.
244
Value Tolerance
245
Counts per Unit
Parameter 245 is set to 4 times the encoder PPR for one unit to
equal one (1.0) revolution.
Counts per unit parameter determines the size of a single
encoder step value unit in encoder counts.
Refer to Chap. 9, pages 25 & 26 for additional explanation
11-76
Parameters
246
Units Traveled
247
Profile CMD LSW
Parameter number
File:group
Parameter 246 is a read only parameter that shows the value
Parameter type
traveled from the “home” position in encoder units.
Display
This parameter may roll over if the profile travels more than 3276 Factory default
Minimum value
units in one direction.
Maximum value
Conversion
246
Profile Command
Setup
x.x units
4096
-3276.7
3276.7
10 = 1.0 unit
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
247
Profile Command
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
248
Profile Command
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = base motor speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
249
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
250
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
0=1.0 sec., x TBin, 10 = 1.0 unit
Parameter number
File:group
Parameter 251 selects the type of step to be used
Parameter type
Display
0 = Not Used (this forces an End Action)
1 = Time Step, operate at speed shown in P249 for time in P250. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P249 until P250
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P249 for units in
P250.
251
Profile Test Data
Setup
x
0
0
3
None
Parameter 247 is the lower word of the 32-bit speed reference.
This must be linked to P28 [Speed Ref 1 Frac].
248
Profile CMD MSW
Parameter 248 is the upper word of the 32-bit speed reference.
This must be linked to P29 [Speed Ref 1].
249
Step 1 Speed
Parameter 249 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
250
Step 1 Value
Parameter 250 sets the time in seconds for time steps, the
counts in units for encoder steps, or the TB3 input to trigger on
for TB Input steps. Scaling:
Time Step: 10 x desired value (10 = 1.0 sec)
Encoder Step: 10 = 1.0 units
TB Input Step: dependent on [L Option Mode Sel]. See P241.
251
Step 1 Type
Parameters
252
11-77
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
252
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 253 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 unit
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241.
253
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
0=1.0 sec., x TBin, 10 = 1.0 unit
Parameter number
File:group
Parameter 251 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P252 for time in P253. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P252 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P252 for units in
P253.
254
Profile Test Data
Setup
x
0
0
3
None
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
255
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 256 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241.
256
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
0=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 257 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P255 for time in P256. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P255 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P255 for units in
P256.
257
Profile Test Data
Setup
x
0
0
3
None
Step 2 Speed
Parameter 252 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
253
Step 2 Value
254
Step 2 Type
255
Step 3 Speed
Parameter 255 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
256
Step 3 Value
257
Step 3 Type
11-78
258
Parameters
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
258
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 259 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241.
259
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
0=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 260 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P258 for time in P259. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P258 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P258 for units in
P259.
260
Profile Test Data
Setup
x
0
0
3
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
261
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 262 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 1 = 1 revolution
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241.
262
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
0=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 263 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P261 for time in P262. Factory default
2 = TB3 Input Step, operate at speed shown in P261 until P262 Minimum value
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P261 for units in
P262.
263
Profile Test Data
Setup
x
0
0
3
Step 4 Speed
Parameter 258 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
259
Step 4 Value
260
Step 4 Type
261
Step 5 Speed
Parameter 261 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
262
Step 5 Value
263
Step 5 Type
Parameters
264
11-79
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
264
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 265 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
265
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
0=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 266 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P264 for time in P265. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P264 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P264 for units in
P265.
266
Profile Test Data
Setup
x
0
0
3
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
267
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 268 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel] See P241.
268
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 269 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P267 for time in P268. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P267 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P267 for units in
P268.
269
Profile Test Data
Setup
x
0
0
3
Step 6 Speed
Parameter 264 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
265
Step 6 Value
266
Step 6 Type
267
Step 7 Speed
Parameter 267 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
268
Step 7 Value
269
Step 7 Type
11-80
270
Parameters
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
270
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 271 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
271
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 272 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P270 for time in P271. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P270 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P270 for units in
P271.
272
Profile Test Data
Setup
x
0
0
3
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
273
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base speed
+8 x base speed
4096 = Base Motor Speed
Parameter number
File:group
Parameter 274 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
274
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBib, 10 = 1 unit
Parameter number
File:group
Parameter 275 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P273 for time in P274. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P273 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P273 for units in
P274.
275
Profile Test Data
Setup
x
0
0
3
Step 8 Speed
Parameter 270 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
271
Step 8 Value
272
Step 8 Type
273
Step 9 Speed
Parameter 273 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
274
Step 9 Value
275
Step 9 Type
Parameters
276
11-81
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
276
Profile Test Data
Setup
+/- x.x rpm
0.00 rpm
-8 x base speed
+8 x base speed
Parameter number
File:group
Parameter 277 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel] See P241
277
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 278 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P276 for time in P277. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P276 until this
Maximum value
input goes true. See P241.
Conversion
3 = Encoder Step, operate at speed shown in P276 for units in
P277.
278
Profile Test Data
Setup
x
0
0
3
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
279
Profile Test Data
Setup
+/- x.x rpm
0.00 rpm
-8 x base speed
+8 x base speed
4096 = base sp
Parameter number
File:group
Parameter 280 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
280
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 281 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P279 for time in P280. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P279 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P279 for units in
P280.
281
Profile Test Data
Setup
x
0
0
3
Step 10 Speed
Parameter 276 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
277
Step 10 Value
278
Step 10 Type
279
Step 11 Speed
Parameter 279 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
280
Step 11 Value
281
Step 11 Type
11-82
282
Parameters
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
282
Profile Test Data
Setup
+/- x.x rpm
+0.00 rpm
-8 x base speed
+8 x base speed
4096 = base sp
Parameter number
File:group
Parameter 283 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
TB Input Step: dependent on [L Option Mode Se Sel] See P241. Conversion
283
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 284 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P282 for time in P283. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P282 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P282 for units in
P283.
284
Profile Test Data
Setup
x
0
0
3
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
285
Profile Test Data
Setup
+/- x.x rpm
+0.00 rpm
-8 x base speed
+8 x base speed
4096 = base sp
Parameter number
File:group
Parameter 286 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
286
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 287 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P285 for time in P286. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P285 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P285 for units in
P286.
287
Profile Test Data
Setup
x
0
0
3
Step 12 Speed
Parameter 282 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
283
Step 12 Value
284
Step 12 Type
285
Step 13 Speed
Parameter 285 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
286
Step 13 Value
287
Step 13 Type
Parameters
288
11-83
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
288
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base sp
+8 x base sp
4096 = base sp
Parameter number
File:group
Parameter 289 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
289
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 290 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P288 for time in P289. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P288 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P288 for units in
P289.
290
Profile Test Data
Setup
x
0
0
3
None
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
291
Profile Test Data
Setup
+/- x.x rpm
+0.0 rpm
-8 x base sp
+8 x base sp
4096 = base sp
Parameter number
File:group
Parameter 292 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 = 1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241.
292
Profile Test Data
Setup
x.xS, x, x.x units
0.0,0, 0.0
0.0,0, 0.0
3276.7, 5, 3276.7
10=1.0 sec., x TBin, 10 = 1 unit
Parameter number
File:group
Parameter 293 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P291 for time in P292. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P291 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P291 for units in
P292.
293
Profile Test Data
Setup
x
0
0
3
None
Step 14 Speed
Parameter 288 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
289
Step 14 Value
290
Step 14 Type
291
Step 15 Speed
Parameter 291 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
292
Step 15 Value
293
Step 15 Type
11-84
294
Parameters
Parameter number
File:group
Parameter type
Display
Factory default
Minimum value
Maximum value
Conversion
294
Profile Test Data
Setup
rpm
+0.0 rpm
-8 x base sp
+8 x base sp
4096 = base motor speed
Parameter number
File:group
Parameter 295 sets the time in seconds for time steps, the
Parameter type
counts in units for encoder steps, and the TB3 input to trigger on Display
for TB Input steps. Scaling:
Factory default
Minimum value
Time Step: 10 x desired value (10 = 1.0 sec)
Maximum value
Encoder Step: 10 =1.0 units
Conversion
TB Input Step: dependent on [L Option Mode Sel]. See P241
295
Profile Test Data
Setup
x.xS, x, x.x units
0.0, 0, 0.0
0.0, 0,0.0
3276.7, 5, 32767.7
10=1.0 sec., xTBin, 10 = 1 unit
Parameter number
File:group
Parameter 296 selects the type of step to be used
Parameter type
Display
0 = Not Used (This forces an End Action)
1 = Time Step, operate at speed shown in P294 for time in P295. Factory default
Minimum value
2 = TB3 Input Step, operate at speed shown in P294 until this
Maximum value
input goes true.
Conversion
3 = Encoder Step, operate at speed shown in P294 for units in
P295.
296
Profile Test Data
Setup
x
0
0
3
Step 16 Speed
Parameter 294 sets the rpm value for this step. (Scaling: 4096 =
Base Speed)
295
Step 16 Value
296
Step 16 Type
Chapter
12
Troubleshooting
Chapter Objectives
Chapter 12 provides information to help troubleshoot your
1336 IMPACT drive.
This topic:
Starts on page:
Required equipment
12-1
Fault/warning handling
12-2
Viewing the queues and timestamps on the HIM
12-6
Fault descriptions
12-7
Bus precharge and ridethrough descriptions
12-16
Understanding the bus voltage tracker
12-21
Understanding the parameter limit faults
12-22
Understanding the math limit faults
12-24
Start up troubleshooting procedures
12-27
Miscellaneous troubleshooting procedures
12-28
Encoderless troubleshooting procedures
12-30
!
ATTENTION: Do not troubleshoot or maintain the
1336 IMPACT drive unless you are familiar with your
drive system and the associated machinery. You may be
injured and/or the equipment may be damaged if you do
not comply.
During the start-up procedure, you should have recorded board
jumper settings for each board, board software version numbers, and
the drive and motor nameplate data in Table 6.A. If this information
was not recorded, record it before beginning any troubleshooting
sequences.
Required Equipment
For initial troubleshooting, you need a programming device to read
fault codes. You should also have the following equipment available
before starting any troubleshooting procedures:
• digital multimeter (DMM) capable of 1000V DC/750V AC, with
one megohm minimum input impedance
• clamp on ammeter (AC/DC) with current ratings to 2X rated
current output of the 1336 IMPACT AC drive
• dual trace oscilloscope with differential capability, digital storage,
two X10 and one X100 calibrated probes (optional but
recommended)
12-2
Troubleshooting
ATTENTION: Potentially fatal voltages may result
from improperly using an oscilloscope and other test
equipment. The oscilloscope chassis may be at
potentially fatal voltage if not properly grounded.
Allen-Bradley does not recommend using an
oscilloscope to directly measure high voltages. Use an
isolated measuring device with a high voltage probe.
Contact Allen-Bradley for recommendations.
!
•
•
Fault/Warning Handling
hand tachometer used to monitor motor speeds
programming device instruction manual
When a problem occurs with your drive, check the VP and CP lights
on your drive. Figure 12.1 shows the location of the VP and CP lights.
Figure 12.1
VP and CP LED Locations
Language
Module
INV
EN VP CP
Green
Red
CP
VP
Frames B – H
INV EN
Green
Red Red
Green Green
Frames A1 – A4
The lights on the motor control board indicate the status of the
velocity processor (VP) and current processor (CP):
If the VP or CP LED is:
Solid green
Then, for that processor:
No fault occurred.
Flashing green
A drive warning occurred.
Flashing red
A drive soft fault occurred.
Solid red
A drive hard fault occurred.
Troubleshooting
12-3
Faults fall into three basic categories:
This type
of fault:
Has the following definition:
To remove this fault,
you need to:
Hard
Trips the drive causing it to stop.
You cannot regain control until you
reset the drive.
Perform a Drive Reset command or
cycle drive power.
Soft
Trips the drive causing it to stop.
1. Address the condition that
caused the fault.
2. Perform a Clear Faults
command.
1. Address the condition that
Warning
caused the warning.
Indicates an undesirable condition.
The drive will not stop.
2. Perform a Clear Faults
command.
Faults are annunciated on the Human Interface Module (HIM) at the
time they occur. Warnings are not annunciated on the HIM.
To help troubleshoot your 1336 IMPACT drive, the drive logs any
faults or warnings in either the fault or warning queue. The faults and
warnings that are contained in the queues are of either a configurable
type or a non-configurable type.
This fault type:
Refers to faults that you:
Configurable
Can set up to either trip the drive or provide only a visual
warning while the drive continues to operate.
Non-configurable
Cannot disable. These faults are the result of a condition
that could damage the drive if allowed to persist.
You can reset the faults by pressing the stop button on the HIM.
Several bit-encoded parameters are also available to help troubleshoot
your drive. These parameters are covered later in this chapter and in
the auto-tuning chapter. When viewing these parameters from a HIM,
you should understand how the HIM displays the bits.
When the appropriate parameter is displayed, you will see two rows
of 8 bits represented by zeros and ones. The top row contains (from
left to right) bits 15 through bit 8, and the bottom row contains bits 7
through bit 0.
To:
Press this key:
Display the enum (text definition) for bit 0
Select
Continue scrolling through the bits
Select for each bit
Return to the parameter
Escape
Refer to Appendix C, Using the Human Interface Module (HIM), for
additional information.
12-4
Troubleshooting
Configuring Faults and Warnings Group 1
You can configure which of the following faults you want to trip the
drive by using Fault Select 1 (parameter 20) and Warning Select 1
(parameter 21). Fault Select 1 and Warning Select 1 both have the
following bit definitions:
file: Fault Setup
group: Fault Config
This bit:
With this text:
Is defined as:
0
RidethruTime
A bus ridethrough timeout occurred.
1
Prechrg Time
A precharge timeout occurred.
2
Bus Drop
A bus voltage drop of 150V below the bus tracker
voltage. This is covered in detail later in this chapter.
3
Bus Undervlt
A bus voltage drop to a level below the value set in Line
Undervolts (parameter 27).
4
Bus Cycles>5
More than 5 ridethroughs occurred within a 20 second
period.
5
Open Circuit
The fast flux up current is less than 50% of
commanded.
8
mA Input
A loss of input connection after it was established.
9
SP 1 Timeout
A communication loss with SCANport device 1.
10
SP 2 Timeout
A communication loss with SCANport device 2.
11
SP 3 Timeout
A communication loss with SCANport device 3.
12
SP 4 Timeout
A communication loss with SCANport device 4.
13
SP 5 Timeout
A communication loss with SCANport device 5.
14
SP 6 Timeout
A communication loss with SCANport device 6.
15
SP Error
Too many errors have occurred in the communications.
Bits 6 and 7 are reserved.
For each condition that you want the drive to fault on, set the
corresponding bit in Fault Select 1. When the drive trips on a
condition that you set to fault the drive, how the drive reacts depends
on which condition occurred.
For bits 0 through 5:
• The red CP light turns on.
• The motor coasts to a stop.
For bits 8 through 14:
• The red VP light turns on.
• The motor stops according to how bits 1 – 3 in Logic Options
(parameter 17) are set.
If this bit is set:
Then this stop type is used:
1
Coast
2
Current limit
3
Ramp
Troubleshooting
Fault Select
bit = 1
Trips Drive
Warning Select
bit = 1
Reports as Warning
Fault
bit = 0
Reports as Warning
bit = 0
No Report, Ignored
12-5
For each condition that you want the drive to display a warning fault
on, you need to:
1. Set the corresponding bit in Warning Select 1.
2. Make sure the corresponding bit in Fault Select 1 is set to 0.
When the drive trips on a condition that you set to display a warning:
• The CP light flashes green.
• The drive continues to run.
If a particular bit is not set in either Fault Select 1 or Warning
Select 1, the drive ignores the condition when it occurs.
Most of the group 1 fault/warning configuration options deal with DC
bus conditions. These bus conditions deal with the bus precharge and
any type of ridethrough conditions. The bus precharge and
ridethrough conditions are covered later in this chapter.
If you are using bits 9 – 14 to ignore communication errors, please
read the following:
!
ATTENTION: Hazard of personal injury or equipment
damage exist. If you command a start or jog and then
disconnect the programming device, the drive will not
fault if you have the SCANport communications fault
set to be ignored for that port.
Configuring Faults and Warnings Group 2
You can configure which of the following faults you want to trip the
drive by using Fault Select 2 (parameter 22) and Warning Select 2
(parameter 23). Fault Select 2 and Warning Select 2 both have the
following bit definitions:
This bit:
With this text:
Is defined as:
0
SpdFdbk Loss
A loss of speed feedback information from the digital
encoder has occurred.
1
InvOvtmp Pnd
An inverter overtemperature is pending.
3
MtrOvld Pend
A motor overload (I2T) is pending.
4
MtrOvld Trip
A motor overload (I2T) trip has occurred.
5
Mtr Stall
The motor has stalled.
6
Ext Fault In
An external fault has occurred.
9
Param Limit
A parameter is out of limits.
10
Math Limit
A math limit has occurred.
13
InvOvld Pend
An inverter overload is pending (IT).
15
InvOvld Trp
An inverter overload trip (IT) has occurred.
Bits 2, 7, 8, 11, 12, and 14 are reserved.
For each condition that you want the drive to fault on, you need to set
the corresponding bit in Fault Select 2. When the drive trips on a
condition that you set to fault the drive, how the drive reacts depends
on which condition occurred.
12-6
Troubleshooting
For bits 0, 1, 4, 5, and 15:
• The red VP light turns on.
• The motor coasts to a stop.
For bits 3 and 6 through 13:
• The red VP light turns on.
• The motor stops according to how bits 1 – 3 in Logic Options
(parameter 17) are set.
Warning Select
bit = 1
Trips Drive
bit = 1
Reports as Warning
Fault
bit = 0
Reports as Warning
bit = 0
No Report, Ignored
Viewing the Fault and Warning
Queues on the HIM
If this bit is set:
Then this stop type is used:
1
Coast
2
Current limit
3
Ramp
For each condition that you want the drive to display a warning fault
on, you need to:
1. Set the corresponding bit in Warning Select 2.
2. Make sure the corresponding bit in Fault Select 2 is set to 0.
When the drive trips on a condition that you set to display a warning:
• The green VP light flashes.
• The drive continues to run.
If a particular bit is not set in either Fault Select 2 or Warning
Select 2, the drive ignores the condition when it occurs. For example,
if there is a loss of feedback and bit 0 in both Fault Select 2 and
Warning Select 2 is 0, the drive ignores the loss of feedback.
You can use the HIM to view the fault and warning queues. To view
the fault queue, you need to:
1. Press the Escape key until you reach the Choose Mode level.
2. Use the Increment or Decrement key to scroll through the Choose
Mode options until Control Status is displayed.
3. Press the Enter key.
4. Use the Increment or Decrement key to scroll through the Control
Status options until Fault Queue is displayed.
5. Press the Enter key.
6. Press the Enter key when View Queue is displayed.
The fault queue can contain up to 32 faults. The 1336 IMPACT drive
reports the faults using the following format:
Fault name
I n v
O v e r T e m p
F
2 0 2 8
Fault queue
indicator
Fault code
number
T r i p
Trip indicator
T r p
1
Position in
fault queue
Troubleshooting
12-7
The trip indicator is only present if this fault caused the drive to trip.
The last number (1) indicates the position of this fault within the fault
queue.
A marker is placed in the queue when the first fault occurs after a
power up sequence. This power up marker is as shown.
P w r
F
U p
M a r k e r
0
1 1
The 1336 IMPACT drive keeps track of the time that has elapsed
since power up. The drive uses this information as a time stamp so
that you can tell when a fault occurred in relation to when the drive
was powered up. To view the time stamp, you need to use Test Data 2
(parameter 94) and Test Select 2 (parameter 95). You need to enter
one value into Test Select 2 to view the time in hours since power up
and another value to view the minutes and seconds. These values are
listed in the Test Select 2 description in Chapter 11, Parameters.
As an example, if you want to know when the fault in position 12
occurred in relation to when the drive was powered up, you would
need to do the following:
1. Enter a value of 11112 in Test Select 2 (parameter 95).
2. Look at the value of Test Data 2 (parameter 94). This value
represents the number of hours after power up that the fault in
position 12 occurred.
3. Enter a value of 11212 in Test Select 2.
4. Look at the value of Test Data 2 to see the number of minutes and
seconds after power up that the fault in position 12 occurred.
To clear the fault queue, select Clear Queue from the Fault Queue
options.
To view the warning queue, select Warning Queue from the Control
Status options. The remaining steps are the same as for the fault
queue.
What Are the Fault
Descriptions?
When a fault occurs, the fault is displayed until you initiate a Drive
Reset or a Clear Faults command. A Drive Reset clears all faults,
while a Clear Faults command only clears soft and warning faults.
You can perform a Drive Reset and Clear Faults either through bits in
Logic Input Sts (parameter 14) or with a terminal.
The fault codes are defined as shown in Table 12.A.
12-8
Troubleshooting
Table 12.A
Fault Descriptions
Fault Code
and Text
01027
Autotune Diag
01051
MtrOvrld Pnd
01052
MtrOvrld Trp
01053
Mtr Stall
01083
MtrOvrld Pend
01084
MtrOvrld Trp
01085
Mtr Stall
LED
Information
VP, Flashing
red
VP, Flashing
red
VP, Flashing
red
VP, Flashing
red
Fault
Type
Description
Suggested Action
Soft
The drive encountered a problem
while running the auto-tune tests. Check Autotune Errors (parameter 176). For additional
information about Autotune Errors, refer to Chapter 13,
When this condition occurs, the
drive coasts to a stop regardless Understanding the Auto-tuning Procedure.
of the selected stop type.
Soft
Check for possible motor overheating.
If the motor temperature is excessive, reduce the
A motor overload is pending. The accel/decel times (parameters 42 – 45) or reduce the
load.
drive has reached 95% of the
level required for a motor
If the motor temperature is acceptable, increase the
overload trip (see fault 01052).
value of Motor Overload % (parameter 26).
If you do not want this condition to be reported as a fault,
change bit 3 in Fault Select 2 (parameter 22) to 0.
Soft
Check for possible motor overheating.
• If the motor temperature is excessive, reduce the
Motor overload tripped. The drive
accel/decel times (parameters 42 – 45) or reduce the
has reached the level of
load.
accumulated motor current over
time as set by Motor Overload % • If the motor temperature is acceptable, increase the
value of Motor Overload % (parameter 26).
(parameter 26).
If you do not want this condition to be reported as a fault,
change bit 4 in Fault Select 2 (parameter 22) to 0.
Soft
The drive is in a limit condition for
a period of time in excess of the
value specified in Motor Stall
Time (parameter 25) with the
motor at zero speed.
Check Torque Limit Sts (parameter 87) to see which limit
has occurred. Increase the appropriate limit parameter
or reduce the load.
If you do not want this condition to be reported as a fault,
change bit 5 in Fault Select 2 (parameter 22) to 0.
Check for possible motor overheating.
If the motor temperature is excessive, reduce the
accel/decel times (parameters 42 – 45) or reduce the
load.
If the motor temperature is acceptable, increase the
value of Motor Overload % (parameter 26).
If you do not want this condition to be reported as a
warning, change bit 3 in Warning Select 2
(parameter 23) to 0.
VP, Flashing
green
Motor overload pending. The
drive has reached 95% of the
Warning
level required for a motor
overload trip (see fault 01084).
VP, Flashing
green
Check for possible motor overheating.
If the motor temperature is excessive, reduce the
Motor overload tripped. The drive accel/decel times (parameters 42 – 45) or reduce the
load.
has reached the level of
Warning accumulated motor current over If the motor temperature is acceptable, increase the
time as set by Motor Overload % value of Motor Overload % (parameter 26).
(parameter 26).
If you do not want this condition to be reported as a
warning, change bit 4 in Warning Select 2
(parameter 23) to 0.
VP, Flashing
green
The drive is in a limit condition for
a period of time in excess of the
Warning value specified in Motor Stall
Time (parameter 25) with the
motor at zero speed.
Check Torque Limit Sts (parameter 87) to see which limit
has occurred. Increase the appropriate limit parameter
or reduce the load.
If you do not want this condition to be reported as a
warning, change bit 5 in Warning Select 2
(parameter 23) to 0.
Troubleshooting
Fault Code
and Text
02028
Inv Overtemp Trp
02049
Inv Overtemp Pnd
LED
Information
VP, Flashing
red
VP, Flashing
red
02061
InvOvld Pend
VP, Flashing
red
02063
Inv Overload
VP, Flashing
red
12-9
Fault
Type
Description
Suggested Action
Soft
Inverter overtemperature trip.
There is excessive temperature
at the heatsink.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Check the cabinet filters, drive fans, and heatsinks.
Check the thermal sensor and sensor wiring (connector).
Reduce the load or duty cycle if possible.
Lower the value of PWM Frequency (parameter 10).
Check the roof fan direction of rotation (H frame only).
Rotation should be counter-clockwise when viewed from
the top.
Soft
An inverter overtemperature is
pending. The inverter heatsink
temperature is approaching the
trip level.
Check the cabinet filters, drive fans, and heatsinks.
Check the thermal sensor and sensor wiring (connector).
Reduce the load or duty cycle if possible.
Lower the value of PWM Frequency (parameter 10).
Check the roof fan direction of rotation (H frame only).
Rotation should be counter-clockwise when viewed from
the top.
If you do not want this condition to be reported as a fault,
change bit 1 in Fault Select 2 (parameter 22) to 0.
Soft
An inverter (IT) overload is
pending. The inverter current has
been in excess of 105% of
Inverter Amps (parameter 11) too
long. Continued operation at this
load level will cause an overload.
Reduce the load or duty cycle if possible.
If you do not want this condition to be reported as a fault,
change bit 13 in Fault Select 2 (parameter 22) to 0.
Refer to the Understanding the IT Inverter Protection
section in Appendix B for more information.
Soft
Inverter (IT) overload. The
inverter current has been in
excess of 105% of Inverter Amps
(parameter 11) too long.
Reduce the load or duty cycle if possible.
If you do not want this condition to be reported as a fault,
change bit 15 in Fault Select 2 (parameter 22) to 0.
VP, Flashing
green
An inverter overtemperature is
pending. The inverter heatsink
Warning
temperature is approaching trip
level.
Check the cabinet filters, drive fans, and heatsinks.
Check the thermal sensor and sensor wiring (connector).
Reduce the load or duty cycle if possible.
Lower the value of PWM Frequency (parameter 10).
Check the roof fan direction of rotation (H frame only). It
should be counter- clockwise when viewed from the top.
If you do not want this condition to be reported as a
warning, change bit 1 in Warning Select 2
(parameter 23) to 0.
02093
InvOvld Pend
VP, Flashing
green
An inverter (IT) overload is
pending. The inverter current has
been in excess of 105% of
Warning
Inverter Amps (parameter 11) too
long. Continued operation at this
load level will cause an overload.
Reduce the load or duty cycle if possible.
If you do not want this condition to be reported as a
warning, change bit 13 in Warning Select 2
(parameter 23) to 0.
02095
Inv Overload
VP, Flashing
green
Inverter (IT) overload. The
inverter current has been in
Warning
excess of 105% of Inverter Amps
(parameter 11) too long.
Reduce the load or duty cycle if possible.
If you do not want this condition to be reported as a
warning, set bit 15 in Warning Select 2 (parameter 23) to
0.
Hard
A hardware malfunction was
detected on power up or reset.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Recycle the power. If the fault does not clear, replace the
main control board.
Hard
A hardware malfunction was
detected on power up or reset.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Recycle the power. If the fault does not clear, replace the
main control board.
02081
Inv Overtemp Pnd
03008
HW Malfunction
03009
HW Malfunction
VP, Red 1
blink
VP, Red 2
blink
12-10
Troubleshooting
Fault Code
and Text
03010
HW Malfunction
03011
HW Malfunction
03012
HW Malfunction
LED
Information
VP, Red 3
blink
VP, Red 4
blink
VP, Red 5
blink
Fault
Type
Description
Suggested Action
Hard
A hardware malfunction was
detected on power up or reset.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Recycle the power. If the fault does not clear, replace the
main control board.
Hard
A hardware malfunction was
detected on power up or reset.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Recycle the power. If the fault does not clear, replace the
main control board.
Hard
A hardware malfunction was
detected on power up or reset.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Recycle the power. If the fault does not clear, replace the
main control board.
03014
EE Checksum
VP, Flashing
red
Soft
The parameter database is
corrupt.
Initialize parameters or:
• Perform a Recall Values operation.
• Perform a Save Values operation.
• Verify the parameters.
• Reset the drive.
If the fault still occurs, replace the board.
03015
HW Malfunction
VP, Flashing
red
Soft
A hardware malfunction has
occurred.
Recycle the power. If the fault does not clear, replace the
main control board (B frames through H frames) or the
drive (A frames).
03022
Diff Drv Type
VP, Flashing
red
Soft
The main control board has been Issue a Reset Defaults command to set the drive
initialized on a different size drive. parameters back to the default values.
03023
SW Malfunction
VP, Solid red
Hard
A software malfunction has
occurred.
Recycle the power. If the fault does not clear, replace the
main control board. If the fault still occurs, replace the
gate driver board.
Hard
A software malfunction has
occurred.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Recycle the power. If the fault does not clear, replace the
main control board.
Soft
The motor speed has exceeded
the speed limit plus Absolute
Overspd (parameter 24) settings.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
If operating in torque mode, check if the load is allowing
excessive motor speed.
Check if the setting of Absolute Overspd (parameter 24)
or the speed limits (parameters 40 and 41) are too low.
Possible faulty analog 15V power supply. The power
supply or the main control board may require
replacement.
03024
SW Malfunction
03025
Absolute Overspd
VP, Solid red
VP, Flashing
red
03026
Analog Spply Tol
VP, Flashing
red
Soft
The analog supply tolerance
voltage is outside of the 13V to
18V range.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
03029
SW Malfunction
VP, Solid red
Hard
A software malfunction has
occurred.
Recycle the power. If the fault does not clear, replace the
main control board.
Recycle the power. If the fault does not clear, replace the
main control board.
Recycle the power. If the fault does not clear, replace the
main control board.
03030
SW Malfunction
VP, Solid red
Hard
A software malfunction has
occurred.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
03031
SW Malfunction
VP, Solid red
Hard
A software malfunction has
occurred.
Troubleshooting
Fault Code
and Text
03040
mA Input
03057
Param Limit
LED
Information
VP, Flashing
red
VP, Flashing
red
03058
Math Limit
VP, Flashing
red
03072
mA Input
VP, Flashing
green
03089
Param Limit
VP, Flashing
green
03090
Math Limit
VP, Flashing
green
05048
Spd Fdbk Loss
VP, Flashing
red
05054
External Flt In
VP, Flashing
red
05080
Spd Fdbk Loss
05086
External Flt In
06041
SP 1 Timeout
VP, Flashing
green
VP, Flashing
green
VP, Flashing
red
Fault
Type
Soft
Soft
Soft
Description
12-11
Suggested Action
A loss of 4 – 20mA input has
occurred.
Check your wiring and connections.
If the fault does not clear, replace the main control board.
If you do not want this condition to be reported as a fault,
change bit 8 in Fault Select 1 (parameter 20) to 0.
A parameter limit has occurred.
Examine the parameter limit testpoints to determine the
exact cause. Refer to the Understanding the Parameter
Limit Faults section later in this chapter.
If you do not want this condition to be reported as a fault,
change bit 9 in Fault Select 2 (parameter 22) to 0.
A math limit has occurred.
Examine the math limit testpoints to determine the exact
cause. Refer to the Understanding the Math Limit Faults
section later in this chapter.
If you do not want this condition to be reported as a fault,
change bit 10 in Fault Select 2 (parameter 22) to 0.
A loss of 4 – 20mA input has
Warning
occurred.
Check your wiring and connections.
If you do not want this condition to be reported as a
warning, change bit 8 in Warning Select 1
(parameter 21) to 0.
Warning A parameter limit has occurred.
Examine the parameter limit testpoints to determine the
exact cause. Refer to the Understanding the Parameter
Limit Faults section later in this chapter.
If you do not want this condition to be reported as a
warning, change bit 9 in Warning Select 2
(parameter 23) to 0.
Warning A math limit has occurred.
Examine the math limit testpoints to determine the exact
cause. Refer to the Understanding the Math Limit Faults
section later in this chapter.
If you do not want this condition to be reported as a
warning, change bit 10 in Warning Select 2
(parameter 23) to 0.
Soft
A loss of feedback occurred.
Check the encoder wiring.
Verify that the encoder signals are free of noise.
If you do not want this condition to be reported as a fault,
change bit 0 in Fault Select 2 (parameter 22) to 0.
Soft
The external fault input from the
L Option board is open.
Check the external circuit for cause of an open input
signal.
If you do not want this condition to be reported as a fault,
change bit 6 in Fault Select 2 (parameter 22) to 0.
Warning A loss of feedback occurred.
Warning
Soft
The external fault input from the
L Option board is open.
Check the encoder wiring.
Verify that the encoder signals are free of noise.
If you do not want this condition to be reported as a
warning, change bit 0 in Warning Select 2
(parameter 23) to 0.
Check the external circuit for cause of an open input
signal.
If you do not want this condition to be reported as a
warning, change bit 6 in Warning Select 2
(parameter 23) to 0.
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
The SCANport adapter at port 1 • Replace wiring, SCANport expander, SCANport
has been disconnected and the
adapters, and main control board.
logic mask bit for port 1 is set (1). • Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 9 in Fault Select 1 (parameter 20) to 0.
12-12
Fault Code
and Text
06042
SP 2 Timeout
06043
SP 3 Timeout
06044
SP 4 Timeout
06045
SP 5 Timeout
06046
SP 6 Timeout
06047
SP Error
06073
SP 1 Timeout
Troubleshooting
LED
Information
VP, Flashing
red
VP, Flashing
red
VP, Flashing
red
VP, Flashing
red
VP, Flashing
red
VP, Flashing
red
VP, Flashing
green
Fault
Type
Description
Suggested Action
Soft
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
The SCANport adapter at port 2 • Replace wiring, SCANport expander, SCANport
has been disconnected and the
adapters, and main control board.
logic mask bit for port 2 is set (1). • Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 10 in Fault Select 1 (parameter 20) to 0.
Soft
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
The SCANport adapter at port 3 • Replace wiring, SCANport expander, SCANport
has been disconnected and the
adapters, and main control board.
logic mask bit for port 3 is set (1). • Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 11 in Fault Select 1 (parameter 20) to 0.
Soft
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
The SCANport adapter at port 4 • Replace wiring, SCANport expander, SCANport
has been disconnected and the
adapters, and main control board.
logic mask bit for port 4 is set (1). • Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 12 in Fault Select 1 (parameter 20) to 0.
Soft
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
The SCANport adapter at port 5 • Replace wiring, SCANport expander, SCANport
has been disconnected and the
adapters, and main control board.
logic mask bit for port 5 is set (1). • Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 13 in Fault Select 1 (parameter 20) to 0.
Soft
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
The SCANport adapter at port 6 • Replace wiring, SCANport expander, SCANport
has been disconnected and the
adapters, and main control board.
logic mask bit for port 6 is set (1). • Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 14 in Fault Select 1 (parameter 20) to 0.
Soft
If the adapter was not intentionally disconnected:
• Check the amount of noise on the system.
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
adapters, and main control board.
• Complete drive, if required.
If you do not want this condition to be reported as a fault,
change bit 15 in Fault Select 1 (parameter 20) to 0.
SCANport communications have
been interrupted.
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
The SCANport adapter at port 1
adapters, and main control board.
Warning has been disconnected and the
•
Complete drive, if required.
logic mask bit for port 1 is set (1).
If you do not want this condition to be reported as a
warning, change bit 9 in Warning Select 1
(parameter 21) to 0.
Troubleshooting
Fault Code
and Text
06074
SP 2 Timeout
06075
SP 3 Timeout
06076
SP 4 Timeout
06077
SP 5 Timeout
06078
SP 6 Timeout
06079
SP Error
LED
Information
Fault
Type
Description
12-13
Suggested Action
VP, Flashing
green
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
The SCANport adapter at port 2
adapters, and main control board.
Warning has been disconnected and the
•
Complete drive, if required.
logic mask bit for port 2 is set (1).
If you do not want this condition to be reported as a
warning, change bit 10 in Warning Select 1
(parameter 21) to 0.
VP, Flashing
green
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
The SCANport adapter at port 3
adapters, and main control board.
Warning has been disconnected and the
•
Complete drive, if required.
logic mask bit for port 3 is set (1).
If you do not want this condition to be reported as a
warning, change bit 11 in Warning Select 1
(parameter 21) to 0.
VP, Flashing
green
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
The SCANport adapter at port 4
adapters, and main control board.
Warning has been disconnected and the
•
Complete drive, if required.
logic mask bit for port 4 is set (1).
If you do not want this condition to be reported as a
warning, change bit 12 in Warning Select 1
(parameter 21) to 0.
VP, Flashing
green
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
The SCANport adapter at port 5
adapters, and main control board.
Warning has been disconnected and the
•
Complete drive, if required.
logic mask bit for port 5 is set (1).
If you do not want this condition to be reported as a
warning, change bit 13 in Warning Select 1
(parameter 21) to 0.
VP, Flashing
green
If the adapter was not intentionally disconnected:
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
The SCANport adapter at port 6
adapters, and main control board.
Warning has been disconnected and the
•
Complete drive, if required.
logic mask bit for port 6 is set (1).
If you do not want this condition to be reported as a
warning, change bit 14 in Warning Select 1
(parameter 21) to 0.
VP, Flashing
green
If the adapter was not intentionally disconnected:
• Check the amount of noise on the system.
• Check the wiring to the SCANport adapters.
• Replace wiring, SCANport expander, SCANport
adapters, and main control board.
• Complete drive, if required.
If you do not want this condition to be reported as a
warning, change bit 15 in Warning Select 1
(parameter 21) to 0.
Warning
SCANport communications have
been interrupted.
12-14
Fault Code
and Text
12016
Overvoltage
12017
Desaturation
12018
Ground Fault
Troubleshooting
LED
Information
CP, Solid red
CP, Solid red
CP, Solid red
Fault
Type
Description
Suggested Action
Hard
The DC bus voltage has
exceeded the maximum value.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Monitor the AC line for high line voltage or transient
conditions.
Increase the deceleration time or install the dynamic
brake option because motor regeneration can also cause
bus overvoltages. Refer to the description of Bus Options
(parameter 13) for additional information about bus
overvoltages.
If you are using flux braking, refer to Chapter 9,
Applications, for information about flux braking.
Hard
There was too much current in
the system.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Run the power structure diagnostics.
Check for a shorted motor or motor wiring.
Replace the drive.
Hard
A current path to earth ground in
excess of drive rated current has
been detected at one or more of
the drive output terminals.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
Run the power structure diagnostics.
Check the motor and external wiring to the drive output
terminals for a grounded condition.
Replace the drive.
Run the power structure diagnostics.
Check for shorted motor or motor wiring.
Replace drive.
12019
Overcurrent
CP, Solid red
Hard
There was too much current in
the system.
When this condition occurs, the
drive coasts to a stop regardless
of the selected stop type.
12020
CP, Solid Red
Hard
VP and CP have lost
communication
Cycle Power to Drive
Reset Defaults
Replace Main Control Board
12032
RidethruTime
CP, Flashing
red
Soft
There was a bus voltage drop of
150V and power did not return
within 2 seconds.
Check the incoming power and fuses.
If you do not want this condition to be reported as a fault,
change bit 0 in Fault Select 1 (parameter 20) to 0.
12033
Prechrg Time
CP, Flashing
red
Soft
The precharge function could not
complete within 30 seconds.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a fault,
change bit 1 in Fault Select 1 (parameter 20) to 0.
Soft
The bus voltage dropped 150V
below the bus tracker voltage.
Monitor the incoming AC line for low voltage or line
power interruption.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a fault,
change bit 2 in Fault Select 1 (parameter 20) to 0.
Soft
Monitor the incoming AC line for low voltage or line
power interruption.
The DC bus voltage fell below the Refer to the Understanding Precharge and Ridethrough
minimum value (388V DC at
Faults section for more information.
460V AC input).
If you do not want this condition to be reported as a fault,
change bit 3 in Fault Select 1 (parameter 20) to 0 or
decrease the bus undervoltage setpoint.
Soft
At least 5 ridethrough cycles
have occurred within a 20 second
period. This indicates a converter
problem or a problem with the
incoming power.
12034
Bus Drop
12035
Bus Undervlt
12036
Bus Cycle>5
CP, Flashing
red
CP, Flashing
red
CP, Flashing
red
Monitor the incoming AC line for low voltage or line
power interruption.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a fault,
change bit 4 in Fault Select 1 (parameter 20) to 0.
Troubleshooting
Fault Code
and Text
12037
Open Circuit
12064
RidethruTime
12065
Prechrg Time
12066
Bus Drop
12067
Bus Undervlt
12068
Bus Cycle>5
LED
Information
CP, Flashing
red
CP, Solid
green
CP, Solid
green
Fault
Type
Description
12-15
Suggested Action
The fast flux up current is less
than 50% of commanded.
Make sure the motor is properly connected.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a fault,
change bit 5 in Fault Select 1 (parameter 20) to 0.
There was a drop of 150V and
Warning power did not return within 2
seconds.
Check the incoming power and fuses.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a
warning, change bit 0 in Warning Select 1
(parameter 21) to 0.
Soft
Warning
The precharge function could not
complete within 30 seconds.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a
warning, change bit 1 in Warning Select 1
(parameter 21) to 0.
The bus voltage dropped 150V
below the bus tracker voltage.
Monitor the incoming AC line for low voltage or line
power interruption.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a
warning, change bit 2 in Warning Select 1
(parameter 21) to 0.
CP, Solid
green
Warning
CP, Solid
green
Monitor the incoming AC line for low voltage or line
power interruption.
The DC bus voltage fell below the Refer to the Understanding Precharge and Ridethrough
Warning minimum value (388V DC at
Faults section for more information.
460V AC input).
If you do not want this condition to be reported as a
warning, change bit 3 in Warning Select 1
(parameter 21) to 0.
CP, Solid
green
At least 5 ridethrough cycles
have occurred within a 20 second
Warning period. This indicates a converter
problem or a problem with the
incoming power.
Monitor the incoming AC line for low voltage or line
power interruption.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a
warning, change bit 4 in Warning Select 1
(parameter 21) to 0.
The fast flux up current is less
than 50% of commanded.
Make sure the motor is properly connected.
Refer to the Understanding Precharge and Ridethrough
Faults section for more information.
If you do not want this condition to be reported as a
warning, change bit 5 in Warning Select 1
(parameter 21) to 0.
Hard
A hardware malfunction
occurred.
Recycle the power. If the fault does not clear, replace the
board.
CP, Solid red
Hard
A hardware malfunction
occurred.
Recycle the power. If the fault does not clear, replace the
board.
13002
HW Malfunction
CP, Solid red
Hard
A hardware malfunction
occurred.
Recycle the power. If the fault does not clear, replace the
board.
13003
HW Malfunction
CP, Solid red
Hard
A hardware malfunction
occurred.
Recycle the power. If the fault does not clear, replace the
board.
13004
HW Malfunction
CP, Solid red
Hard
A hardware malfunction
occurred.
Recycle the power. If the fault does not clear, replace the
board.
12069
Open Circuit
CP, Solid
green
Warning
13000
HW Malfunction
CP, Solid red
13001
HW Malfunction
12-16
Troubleshooting
Understanding Precharge and
Ridethrough Faults
To understand the precharge and ridethrough faults, you need a basic
understanding of how these functions work, as well as the options that
you can use to alter the way precharge and ridethrough operate in the
1336 IMPACT drive.
Understanding Precharge
file: Application
group: Bus Control
file: Fault Setup
group: Fault Limits
The precharge of the drive has different circuits depending on drive
size. For the precharge operation for large horsepower (40 hp and
larger) standalone drives, the precharge starts the SCR phase advance
and completes precharge when the bus is stable. For all other drive
types, precharge is completed after a stable bus voltage is achieved
and the precharge device (SCR or relay) by-passes the precharge
resistor. For common bus operation, set bit 12 in Bus/Brake Opts
(parameter 13). The drive current and voltage ratings stored in
EEProm determine the standalone operation.
With the default configuration, the following conditions are needed to
complete precharge:
• a stable bus voltage for a minimum of 300 milliseconds
• a bus voltage greater than the value set in Line Undervlts
(parameter 27)
• a valid control status from the precharge board, if present
You can modify the default configuration for common bus drives by
using the external fault (input) and the precharge exit option:
• You can use the external fault input with a cabinet disconnect
switch to force precharge when the disconnect is opened and the
drive is disabled. This may reduce current stress when the
disconnect is closed again.
• You can use the exit precharge option to let the precharge
complete after the precharge timeout period (30 seconds) when
the bus voltage is not stable. All other conditions must be met.
This is often used in the case of common or shared bus
configurations where other drive(s) may be causing bus voltage
variations. Only use this option where needed otherwise
excessive inrush current could open or weaken the line fuses.
Before you can enable the inverter, all drive types must complete a
first time precharge. This is required even if you have set the disable
precharge function by setting bit 14 of Bus/Brake Opts
(parameter 13).
A filtered, or slow, average of the bus voltage is developed as a
reference, or bus voltage tracker, to determine if a line drop out has
occurred. If a 150 volt (or greater) drop in present bus voltage
compared to the filtered bus voltage occurs, the drive can start a
ridethrough. The ridethrough function:
• disables the drive
• restarts a precharge
• waits for the bus to return to within 75 volts of the bus voltage
tracker’s voltage value before starting again.
Troubleshooting
12-17
You can use bits 0 – 4 of Bus/Brake Opts to control the slew rate of
the bus voltage tracker. Refer to the section on the bus voltage tracker
later in this chapter for additional information.
Understanding Ridethrough
Ridethrough provides current inrush protection and extended logic
operating time if the power lines drop out while the drive is running.
The drive is immediately disabled when it senses that the incoming
power lines dropped out (bus capacitor voltage drop). The energy
stored in the bus capacitors keeps the logic supplies running for an
extended time. If the power lines return before the logic power
supplies lose power, you can configure the drive to resume operation
without system intervention (default). The ridethrough timeout is set
for two seconds. This means that the drive is configured to fault
(default setting) and not auto-restart if the dropout lasts more than two
seconds.
!
file: Fault Setup
group: Fault Config
ATTENTION: You must determine safe auto-restart
and fault configurations at the system and user level.
Incorrect selection(s) may result in safety concerns
and/or drive damage.
Fault Select 1 (parameter 20) and Warning Select 1 (parameter 21) let
you specify how you want the drive to report specific precharge and
ridethrough information.
Ridethrough also protects the drive from excessive inrush current
when the power returns by entering a precharge mode when
ridethrough is initiated. After precharge has finished, the drive can
complete ridethrough and resume normal drive operation. The drive is
enabled again after the bus rises to within 75 volts of the bus voltage
tracker value.
!
ATTENTION: If you are using an external logic power
supply, the drive may be able to stay in an indefinite
ridethrough state. If the power returns to the drive (much
later), the drive automatically restarts. You must
therefore handle the control of enable, faults, time-outs,
drive configuration, and safety issues at the system level.
Use the following parameters to configure the precharge and
ridethrough functions:
• Fault Select 1 (parameter 20)
• Warning Select 1 (parameter 21)
• Bus/Brake Opts (parameter 13)
• Line Undervolts (parameter 27)
In addition, Test Select 1 (parameter 93) and Test Data 1
(parameter 92) contain software testpoints that provide additional
precharge information.
12-18
Troubleshooting
Configuring the Faults and Warnings for Precharge
file: Fault Setup
group: Fault Config
You can use Fault Select 1 and Warning Select 1 to enable
fault/warning conditions when the appropriate bit is set (1). If a bit is
clear (0) in Fault Select 1, you can choose to have the condition
reported as a warning by setting the bit in Warning Select 1. The
following are the bits that pertain to precharge:
This bit:
With this text:
When set, generates a fault when:
0
RidethruTime
The ridethrough time exceeds 2 seconds.
1
Prechrg Time
The precharge time exceeds 30 seconds.
2
Bus Drop
The bus voltage drops 150 volts below the bus tracker
voltage. This is the level where the drive would
normally enter ridethrough.
Bus Undervlt
The bus voltage drops below the level set in Line
Undervolts (parameter 27). This is the level where the
drive would enter ridethrough if it occurs before a 150
volt drop in bus voltage.
Bus Cycles>5
At least 5 ridethrough cycles have occurred within a 20
second period. This indicates a converter problem or a
problem with incoming power. Consider checking the
incoming power for a phase loss.
3
4
Using Bus/Brake Opts to Change Precharge/Ridethrough
Options
file: Application
group: Bus/Reg/Control
You can use Bus/Brake Opts (parameter 13) to change how precharge
and ridethrough work. Bus/Brake Opts is a bit encoded word that
disables the following functions when the appropriate bit is set (1):
This bit:
Has this definition:
0
Sets the bus voltage tracker slew rate to 10 volts/second.
1
Sets the bus voltage tracker slew rate to 5 volts/second.
2
Sets the bus voltage tracker slew rate to 0.5 volts/second.
3
Sets the bus voltage tracker slew rate to 0.05 volts/second.
4
Sets the bus voltage tracker slew rate to 0.005 volts/second.
5
Reserved. Leave zero.
6
Enables flux braking. This is covered in more detail in Chapter 9,
Applications.
7
Enables the DC hold feature. This is covered in more detail in Chapter 9,
Applications.
8
Enables fast flux up. This is covered in more detail later in this chapter.
9
Enables DC braking. This is covered in more detail in Chapter 9,
Applications.
10
Indicates that a chopper brake or other regenerative device is present.
11
Forces an exit from precharge after the precharge timeout.
12
Identifies the drive as a common bus converter.
13
Disables faults or warnings while the drive is disabled. This allows power
up and down the bus for a common bus system without faulting even if the
faults or warnings are enabled. For example, faults or warnings only occur
if the drive is running. This may be desirable when external power
supplies are used.
Troubleshooting
This bit:
12-19
Has this definition:
14
Disables the precharge function after initial power up. Any bus drop or
undervoltage will not result in precharge. This may destroy the drive if
power returns to the system. This should be used where you control the
input impedance or with a front end converter with automatic current
limiting.
15
Disables the ridethrough and precharge functions. If the power lines drop
out, the drive attempts to continue operation as long as any power is
available. This may destroy the drive if power returns to the system. This
should be used only where you control the system’s incoming power and
provide external logic power.
Using Line Undervolts
file: Fault Setup
group: Fault Limits
You can use Line Undervolts (parameter 27) to set the level of bus
voltage that must be present to complete precharge and a level where
ridethrough can be initiated. If configured as a fault/warning, Line
Undervolts sets the bus voltage level that faults/warns the drive. The
bus voltage level that is used is determined as follows:
Line Undervolts * Inverter Volts (parameter 12) * sqrt(2) = bus
voltage level for ridethroughs, faults, or warnings
Using Test Select 1 and Test Data 1 to View Software
Testpoints
Additional information concerning precharges and ridethroughs is
available through Test Select 1 (parameter 93) and Test Data 1
(parameter 92).
Viewing the Calculated Undervoltage Value of Bus Voltage
To view the value of the calculated undervoltage:
1. Enter a value of 100 into Test Select 1.
2. Monitor Test Data 1.
You can use this to check the actual bus voltage that causes an
undervoltage condition.
Checking the Status of the Precharge
To view the precharge status, enter a value of 12 into Test Select 1,
and then monitor Test Data 1 for the precharge status. The precharge
status is bit encoded as follows:
This bit:
When set, indicates that:
0
The precharge function has been completed and the precharge device
should be on. The drive can be enabled only after this bit is set.
1
The drive is in ridethrough. Precharge must be completed and the bus
must return to within 75 volts of the bus voltage tracker before normal
drive operation can resume.
2
A precharge-initiated condition is in ridethrough.
3
A precharge has been requested due to an external fault (input).
4
The converter is ready for precharge and the controller may start its
precharge function. The external precharge board is ok, if present.
5
The measured bus voltage is not stable (there is a variation of greater
than ±25 volts) and the precharge cannot finish.
6
The DC bus voltage is less than line undervolts.
12-20
Troubleshooting
This bit:
When set, indicates that:
7
The precharge function cannot complete because the measured bus
voltage is less than 75 volts below the bus voltage tracker. This only
applies to precharging after a ridethrough.
8
The precharge device has been commanded ON.
9
Not used.
10
An exit from precharge was requested.
11
Precharge was skipped due to an enable dropout.
12
An initial (first) precharge is executed.
13
A high horsepower drive type is being used.
Enabling Fast Flux Up
file: Application
group: Fast Flux Up
You can use fast flux up to achieve rated flux conditions and
consequently high torque as fast as possible after an enable. Under
default conditions (no fast flux up), the drive brings the motor to rated
flux conditions in a time proportional to the rotor time constant of the
motor. These times range from 50 milliseconds for small motors to
several seconds for large motors. If a high load is attempting to be
started, no acceleration occurs until that time has elapsed. Enabling
fast flux up can decrease that time by a factor of 5 to 10.
You can enable the fast flux up function of the drive by setting bit 8 of
Bus/Brake Opts (parameter 13). In this case:
1. An amount of motor current set by Fast Flux Level
(parameter 78) is applied to the flux producing axis for a time
estimated to produce rated flux in the motor. The value of Fast
Flux Level is set to 200% by default. You can reduce this value if
it causes an undesirable torque pulsation. The time required to
reach rated flux increases when you reduce this value.
2. The flux current is reset to nominal.
3. The drive is allowed to start producing torque.
4. Use Test Select 1 (parameter 93) to check the approximate fluxing
time. Enter a value of 86 into Test Select 1 to display the fluxing
time in Test Data 1 (parameter 92). The time delay is given in
seconds x 0.000977. If the flux time is 0, no fast flux up occurs
and the drive starts normally. If at least 50% of the commanded
current is not measured, you can configure the drive to fault at
this time using Fault Select 1 (Open Circuit).
Forcing the Drive to Complete a Precharge
In some cases, the precharge may not complete due to external bus
disturbances. Setting bit 11 in Bus/Brake Opts forces the precharge to
complete at the precharge interval (default 30 seconds). This may
cause precharge damage and should only be used when large inrush
currents cannot occur.
Troubleshooting
Understanding the Bus Voltage
Tracker
12-21
Bus/Brake Opts (parameter 13) also lets you select a rate, called a
slew rate, for the bus voltage tracker. The bus voltage tracker slowly
tracks changes in the actual bus voltage. If the actual bus voltage
drops 150 volts or greater below the current value of the bus voltage
tracker, the drive automatically disables modulation and enters
precharge.
Important: You should only use the bus voltage tracker if you are
having ridethrough problems. The bus voltage tracker adjusts the bus
sensitivity to ridethrough for cases where there is an unstable bus.
By changing the rate used for the bus voltage tracker, you can make
your system more or less sensitive to changes in the actual bus
voltage. For example, if your drive currently enters precharge after
the motor exits regeneration, you may need to change your slew rate.
Figure 12.2 shows an example of the filtered bus voltage reference.
Figure 12.2
Example Bus Voltage Line
Volts
A
Bus voltage tracker
B
150V
C
Actual bus voltage
Time
At point A, the motor was in regeneration, so the value of the bus
voltage tracker slowly increased.
At point B, the motor was no longer in regeneration and the bus
voltage had dipped below the nominal range. If the drive compared
point B with point A, the drive would have seen a bus drop of 150V
and entered precharge. However, because the drive compared point B
with the bus voltage tracker, the bus drop was less than 150V and the
drive continued operating.
At point C, the bus voltage had dropped 150V and the drive entered a
precharge state.
Bus/Brake Opts provides the following options for changing the slew
rate:
This bit:
With this text:
Sets the slew rate to:
0
Slew Rate 1
10V/second. This option is the most sensitive to
changes in the actual bus voltage.
1
Slew Rate 2
5V/second.
2
Slew Rate 3
0.5V/second.
3
Slew Rate 4
0.05V/second.
4
Slew Rate 5
0.005V/second. This option is the least sensitive to
changes in the actual bus voltage.
If all bits are clear (0), the slew rate is 0.05V/second. If more than one
bit is set, the first bit that is set is used for the slew rate. For most
applications, the default slew rate of 0.05V/second, which is 1 volt in
20 seconds, should be appropriate.
12-22
Troubleshooting
Understanding the Parameter
Limit Faults
If you receive a Param Limit fault (03057) or warning (03089), the
drive has limited the value of one or more parameters. When you
enter a parameter value from a programming device (such as a
Human Interface Module (HIM)), the drive checks the value against
the minimum and maximum parameter range. However, parameter
values can also change as a result of a link to that parameter. When a
parameter value is changed indirectly by a link, the drive performs
additional limit checking on several critical parameters.
For example, if you create a link between Pos Mtr Cur Lim
(parameter 72) and An In 1 Value (parameter 96), An In 1 Value could
change the value of Pos Mtr Cur Lim. If the analog input level
exceeds the range of Pos Mtr Cur Lim, the drive limits the data value
that is stored as a current limit. When this happens, a parameter limit
condition has occurred.
You can configure the drive to report a parameter limit condition as
either a fault or a warning, or to ignore the condition.
To:
You need to:
Report the condition as a fault
Set bit 9 in Fault Select 2 (parameter 22).
Report the condition as a warning
Clear bit 9 in Fault Select 2 and set bit 9 in
Warning Select 2 (parameter 23).
Ignore the condition
Make sure that bit 9 is clear in both Fault Select 2
and Warning Select 2.
The drive performs a parameter limit check regardless of how you
configure it to report the condition.
Using the Parameter Limit Testpoints
file: Fault Setup
group: Testpoints
When a parameter limit fault or warning occurs, you need to look at
two software testpoints, Test Data 2 (parameter 94) and Test Select 2
(parameter 95) to identify which parameter(s) is being limited.
If Test Data 2 is non-zero, the value indicates which parameter limit
condition has occurred. A bit position is assigned to each limit
condition. Therefore, a value of 1 corresponds to bit 0, 2 for bit 1, 4
for bit 2, and so forth. Typically, only a single parameter limit
condition will occur at a time. If multiple conditions do occur, you
need to interpret the testpoint value as a combination of more than
one bit, for example bits 0 and 1 = decimal value 1+2 = 3.
To view the testpoints:
1. Enter a value of 10503 into Test Select 2 (parameter 95).
2. Look at the value of Test Data 2 (parameter 94). If Test Data 2 is
zero, go on to step 3. If Test Data 2 is non-zero, use the following
table to determine which parameter is being limited.
If Test
Data 2 is:
Then, this
parameter:
Has been
limited to:
1 (bit 0)
Rev Speed Limit
(parameter 40)
The minimum/maximum range
2 (bit 1)
Fwd Speed Limit
(parameter 41)
The minimum/maximum range
Troubleshooting
If Test
Data 2 is:
Then, this
parameter:
12-23
Has been
limited to:
4 (bit 2)
Min Flux Level
(parameter 71)
The minimum/maximum range
8 (bit 3)
Pos Mtr Cur Lim
(parameter 72)
The minimum/maximum range
16 (bit 4)
Neg Mtr Cur Lim
(parameter 73)
The minimum/maximum range
32 (bit 5)
Current Rate Lim
(parameter 77)
Positive numbers
128 (bit 7)
Max Rev Spd Trim
(parameter 61)
Zero or negative numbers
256 (bit 8)
Max Fwd Spd Trim
(parameter 62)
Zero or positive numbers
3. Enter a value of 10504 into Test Select 2 (parameter 95).
4. Look at the value of Test Data 2 (parameter 94). If Test Data 2 is
zero, no parameters in this group are being limited. If Test Data 2
is non-zero, use the following table to determine which parameter
is being limited.
If Test
Data 2 is:
Then this
parameter:
Has been
limited to:
4 (bit 2)
Ki Speed Loop
(parameter 158)
The minimum/maximum range
8 (bit 3)
Kp Speed Loop
(parameter 159)
The minimum/maximum range
16 (bit 4)
Kf Speed Loop
(parameter 160)
The minimum/maximum range
32 (bit 5)
Fdbk Device Type
(parameter 64)
The minimum/maximum range
64 (bit 6)
Fdbk Filter BW
(parameter 67)
The minimum/maximum range
128 (bit 7)
Inverter Amps
(parameter 11)
The minimum/maximum range
512 (bit 9)
Error Filtr BW
(parameter 162)
The minimum/maximum range
1024
(bit 10)
Nameplate RPM
(parameter 3)
The minimum/maximum range
2048
(bit 11)
Encoder PPR
(parameter 8)
The minimum/maximum range
4096
(bit 12)
Nameplate Amps
(parameter 4)
The minimum/maximum range. Nameplate
Amps must be less than or equal to twice
Inverter Amps (parameter 11).
-32768
(bit 15)
Droop Percent
(parameter 46)
The minimum/maximum range
The parameter limit testpoints are cleared when you clear the faults.
Once you know which parameter(s) is being limited, you can
determine why the parameter was limited. In many cases, a link from
the limited parameter to another parameter will explain how the limit
value was reached. For example, a link to an analog input value.
12-24
Troubleshooting
The fact that a parameter limit condition occurred does not by itself
create a problem for the drive because the drive limits the parameter
to a valid number. The ability to configure a fault or warning is
provided to let you determine when a potential application problem
exists — the requested action cannot be achieved because an attempt
was made to set a parameter outside its limits. If this situation is
understood and acceptable, then you can simply set up the drive for a
Param Limit warning (clear bit 9 in Fault Select 2 (parameter 22) and
set bit 9 in Warning Select 2 (parameter 23) or to ignore the condition
entirely (clear both bits). By default, this condition is ignored (both
bits clear).
Understanding the Math Limit
Faults
If you receive a Math Limit fault (03058) or warning (03090), the
drive has limited a mathematical operation. This typically occurs
when a calculation (add, subtract, multiply, or divide) results in a
value that exceeds the range of the drive’s number system. Most
numeric quantities are restricted to ±800%, which is expressed
internally as a 16-bit number in the range of ±32767.
For example, suppose Speed Ref 1 (parameter 29) is 300% of base
motor speed (12,288 decimal) and Speed Scale 1 (parameter 30) is
+3.0. When the drive is run in speed mode with Speed Ref 1 selected,
the speed reference calculation will encounter a math limit condition.
In this example, when Speed Ref 1 is scaled by Speed Scale 1, the
result becomes too large to express as a valid number and must be
internally limited. 300% of base motor speed multiplied by a 3.0 scale
factor would result in a speed reference value of 900% base motor
speed (12288 x 3 = 36864). The 1336 IMPACT drive handles this
condition by limiting the scaled speed reference value to eight times
base motor speed (32767). A math limit condition would indicate that
a positive overflow has occurred. If the calculation produced a
negative result, then a negative overflow would be indicated.
Figure 12.3
Example of a Math Limit on Scaled Speed Ref 1
(Positive Overflow)
Speed Scale 1
30
3.0
Speed Ref 1
300% = 12288
29
800% = 32767
Scale
Math Limit
You can configure the drive to report a math limit condition as either a
fault or a warning, or to ignore the condition.
To:
You need to:
Report the condition as a fault
Set bit 10 in Fault Select 2 (parameter 22).
Report the condition as a warning
Clear bit 10 in Fault Select 2 and set bit 10 in
Warning Select 2 (parameter 23).
Ignore the condition
Make sure that bit 10 is clear in both Fault
Select 2 and Warning Select 2.
Troubleshooting
12-25
Understanding Math Limit Testpoints
To determine which math limit has occurred, you need to examine
several testpoints by entering the appropriate number in Test Select 2
(parameter 95) and looking at the value of Test Data 2 (parameter 94).
If Test Data 2 is non-zero, a math limit has been reached. The math
limit testpoints are cleared when faults are cleared.
If Test Data 2 is non-zero, the value indicates which math limit
condition has occurred. A bit position is assigned to each limit
condition. Therefore, a value of 1 corresponds to bit 0, 2 for bit 1, 4
for bit 2, and so forth. Typically, only a single math limit condition
will occur at a time. If multiple conditions do occur, you need to
interpret the testpoint value as combinations of more than one bit. For
example, bits 0 and 1 = decimal value 1+2 = 3.
To determine which math limit has occurred, you need to:
1. Enter a value of 10505 into Test Select 2 (parameter 95).
2. Look at the value of Test Data 2 (parameter 94). If Test Data 2 is
zero, go on to step 3. If Test Data 2 is non-zero, there is a
problem in the speed reference area and the drive could not
achieve the correct reference value. The drive used the largest
possible reference instead. The following table provides more
specific information.
If Test
Data 2 is:
Then:
1 (bit 0)
When Speed Scale 1 (parameter 30) was applied to Speed Ref 1
(parameter 29), a positive overflow occurred.
2 (bit 1)
When Speed Scale 1 (parameter 30) was applied to Speed Ref 1
(parameter 29), a negative overflow occurred.
4 (bit 2)
When Speed Scale 7 (parameter 37) was applied to Speed Ref 7
(parameter 36), a positive overflow occurred.
8 (bit 3)
When Speed Scale 7 (parameter 37) was applied to Speed Ref 7
(parameter 36), a negative overflow occurred.
256 (bit 8)
A positive overflow occurred during the trimmed speed reference
(sum of Speed Ramp Output and Speed Trim).
512 (bit 9)
A negative overflow occurred during the trimmed speed reference
(sum of Speed Ramp Output and Speed Trim).
To fix a problem in this area, reduce the maximum level of the
speed reference or reduce the value of the speed scale parameter.
3. Enter a value of 10506 into Test Select 2.
4. Look at the value of Test Data 2. If Test Data 2 is zero, go to
step 5. If Test Data 2 is non-zero, there is a problem in the speed
feedback area. The problem may be with the encoder or wiring
resulting in invalid motor speeds. The following table provides
more specific information.
If Test
Data 2 is:
Then a divide overflow occurred during:
1 (bit 0)
The encoder speed calculation.
2 (bit 1)
The low speed calculation (part 1).
4 (bit 2)
The low speed calculation (part 2).
12-26
Troubleshooting
To fix a problem in this area, check for possible encoder faults.
Also check for possible encoder problems or excessive noise on
the encoder signals.
5. Enter a value of 10507 into Test Select 2.
6. Look at the value of Test Data 2. If Test Data 2 is zero, go to
step 7. If Test Data 2 is non-zero, there is a problem in the speed
regulator area. These conditions are unlikely to occur and
indicate an unusual combination of gains, references, and
feedback values. The drive attempts to regulate speed, however
operation in a current limited condition is likely. The following
table provides more specific information.
If Test
Data 2 is:
Occurred
during:
Then:
1 (bit 0)
A subtract overflow
The integral error calculation.
2 (bit 1)
A multiply overflow
The integral gain calculation.
4 (bit 2)
An overflow
The bumpless calculation.
8 (bit 3)
A subtract overflow
The droop offset.
256 (bit 8)
A subtract overflow
The speed error calculation.
512 (bit 9)
A subtract overflow
The Kf error calculation.
To fix a problem in this area, reduce the maximum level of speed
reference. Check if Total Inertia (parameter 157) and Spd Desired
BW (parameter 161) are appropriate for your system.
7. Enter a value of 10508 into Test Select 2.
8. Look at the value of Test Data 2. If Test Data 2 is zero, go to
step 9. If Test Data 2 is non-zero, there is a problem in the torque
reference area. These conditions indicate excessive levels of
torque reference. The 1336 IMPACT drive uses a maximum
internal torque reference of 800% and further limits this torque by
the drive’s torque and current limit settings.
If Test
Data 2 is:
1024 (bit 10)
Then:
An overflow occurred when Slave Torque % (parameter 70)
was applied to Torque Ref 1 (parameter 69).
4096 (bit 12)
An add overflow occurred for Torque Ref 1 + Torque Trim.
8192 (bit 13)
An add overflow occurred for the torque sum mode.
16384 (bit 14)
A divide overflow occurred for the torque to current
conversion (divide by flux).
To fix a problem in this area, determine if the torque reference
levels are excessive and possibly reduce the maximum level of
torque reference.
9. Enter a value of 10509 into Test Select 2.
Troubleshooting
12-27
10. Look at the value of Test Data 2. If the value of Test Data 2 is
zero, no problems occurred in this area. If the value of Test
Data 2 is non-zero, there is a problem in the process trim area.
These conditions are generally due to using reference quantities
or gains that are too large to represent in the drive’s number
system. The drive attempts to let the process trim function, but
operation in a limited condition is likely.
If Test
Data 2 is:
Occurred
during:
Then:
1 (bit 0)
A subtract overflow
The process trim error calculation.
2 (bit 1)
An overflow
The process trim bumpless calculation
(unable to preset output upon rise of enable
with existing gains).
4 (bit 2)
An add overflow
The process trim integral calculation.
8 (bit 3)
An add overflow
The process trim output calculation.
To fix a problem in this area, reduce the maximum level of PTrim
Reference (parameter 49) or adjust PTrim Ki (parameter 54) and
PTrim Kp (parameter 55). Adjust PTrim Out Gain
(parameter 60). Refer to the Trim Control Overview section of
Appendix B, Control Block Diagrams, for additional information
about these parameters.
Math Limit Faults — General Comments
The math limit fault is similar to the parameter limit fault. Both faults
indicate that a request was made to do something that the drive cannot
achieve. The 1336 IMPACT drive attempts to honor the request by
using the largest possible data value that is consistent with the
requested data. In many cases, the drive functions under this limited
condition until the data is brought back within a controllable range.
When a math limit fault occurs, evaluate Test Select 2 and Test Data 2
to determine the specific cause. The suggested action depends on the
cause. If drive operation is acceptable as it is, configure the drive to
either indicate a Math Limit warning or to not report the condition.
Math Limit warnings are reported when bit 10 in Fault Select 2
(parameter 22) is clear and bit 10 in Warning Select 2 (parameter 23)
is set. The Math Limit condition is not reported when both bits are
cleared.
Start Up Troubleshooting
Procedures
If you are having problems with the start up procedure, refer to this
table for possible solutions before calling for help.
If:
Then:
You powered up your drive
and cannot access the
start up routine.
The start up procedure is not supported on a Series A
Human Interface Module (HIM). To verify that you have a
Series A HIM, check the series letter located on the
back side of the HIM or check the HIM version when you
first power up your drive.
You got a Feedback Loss
Fault.
You have specified that an encoder is on the system but
it has been disconnected.
12-28
Troubleshooting
If:
The motor does not turn
during the phase rotation
test.
Then:
Remove the load from the motor and try running the
auto-tune tests again. Afterwards, you will need to
attach the load again and run the inertia test manually.
Refer to Chapter 13, Understanding the Auto-tuning
Procedure, for additional information.
The drive is not getting any speed feedback information.
You need to:
• Check the connection between the encoder and the
During the phase rotation
motor.
test you were asked to
swap the encoder leads.
• Run the phase rotation test again and escape out to
You changed the leads and
the status display at the first question. Check the
ran start up again. You
motor speed. It should ramp to 3 Hz (90 rpm) for a 60
were asked to swap the
Hz 4 pole motor. If the motor speed is 0 rpm, you
leads again.
should:
– Check the encoder wiring.
– Check the encoder itself.
The drive completes the
auto-tune tests but you
want a better response.
Miscellaneous Troubleshooting
Procedures
Adjust Accel Time 1 (parameter 42) and Decel Time 1
(parameter 44) before you change the values of any of
the bandwidth, Ki, or Kp parameters.
If you are having problems with how your 1336 IMPACT drive is
operating, refer to this table for possible solutions before calling for
help.
If:
Then you should:
The drive does not
respond to start or jog
commands.
• Make sure the power is applied.
• Check if the port is enabled in SP Enable Mask
(parameter 124).
• Check if start is enabled in Start/Jog Mask
(parameter 126).
• Check if Start/Stop Owner (parameter 129) and
Jog1/Jog2 Owner (parameter 130) are both 0. If not,
open start and/or jog inputs and close stop inputs.
• Check if the drive is faulted.
• Check Run Inhibit Sts (parameter 16) for possible cause.
You cannot clear faults.
• Check if the port is enabled in SP Enable Mask
(parameter 124).
• Check if clear faults is enabled in Clr Flt/Res Mask
(parameter 127).
• Check if clear fault owners in Ramp/ClFlt Owner
(parameter 131) is set. If set, check stop owners in
Start/Stop Owner (parameter 129) and remove stop
conditions.
• The fault is a hard fault which requires a power cycle or
drive reset.
The motor does not turn
or run at the correct
speed.
• Check which speed reference the drive is following in
Drive/Inv Status (parameter 21) bits 13 – 15.
• Check if Spd/Trq Mode Sel (parameter 68) is set
correctly.
• Check if Spd Desired BW (parameter 161) is non-zero.
• Set the drive defaults and run start up again to tune the
drive.
• If drive is in encoderless w/deadband mode, check to
see if reference is less than 1Hz.
Troubleshooting
If:
12-29
Then you should:
The HIM pot does not
control motor speed.
• Check if SP An In1 Select (parameter 133) or SP An In2
Select (parameter 136) is set to the HIM port number.
• Check if SP An In1 Scale (parameter 135) or SP An In2
Scale (parameter 138) is 0.125.
• Check if a Speed Ref 1 – 7 (parameters 29 through 36)
is linked to SP An In1 Value (parameter 134) or SP An
In2 Value (parameter 137).
• Check which speed reference the drive is following in
Drive/Inv Status (parameter 21) bits 13 – 15. The speed
reference should be set to the speed reference that SP
An In1 Value (parameter 134) or SP An In2 Value
(parameter 137) is linked to.
The drive will not
change direction.
• Check if the port is enabled in SP Enable Mask
(parameter 124).
• Check if Direction is enabled in Dir/Ref Mask
(parameter 125).
• Check if Direction owner in Dir/Ref Owner
(parameter 128) has any bit set. If so, remove the
command direction.
• Check to make sure that bit 11 in Logic Options
(parameter 17) is clear (0).
You cannot change the
speed reference.
• Check if the port is enabled in SP Enable Mask
(parameter 124).
• Check if Reference is enabled in Dir/Ref Mask
(parameter 125).
• Check if Reference owner in Dir/Ref Owner
(parameter 128) has any bit set. If so, remove the
command reference. If bit 0 (for the L Option control) is
set, you need to do one of the following to remove
ownership:
• Clear bit 0 in Dir/Ref Mask (parameter 125).
• If L Option Mode (parameter 116) is 2, 3, 8, 9, 23, 24, or
26, close the L Option inputs for speed references 1, 2,
and 3.
The drive does not run
correct torque.
• Set the drive defaults and run start up again to tune the
drive.
• Check Spd/Trq Mode Sel (parameter 68) and Slave
Torque % (parameter 70).
The drive cannot control
current and trips on an
overcurrent fault.
If you are using an encoder, check that you have entered
the current PPR into Encoder PPR (parameter 8).
The MOP does not
work.
• Check L Option Mode (parameter 116).
• Make sure that Mop Value (parameter 119) is linked to a
speed reference.
• Make sure that the pulse input jumper is set correctly.
• Make sure that the input is differential and not single
ended.
The pulse input does not
•
Check the values of Pulse In PPR (parameter 120),
work.
Pulse In Scale (parameter 121), and Pulse In Offset
(parameter 122).
• Check the link on Pulse In Value (parameter 123).
12-30
Troubleshooting
Encoderless Troubleshooting
Problems
If you are having problems with encoderless mode, refer to this table
for possible solutions before calling for help.
If:
Then you should:
The motor will not
accelerate or does not
start smoothly
• Increase the bandwidth in Spd Desired BW
(parameter 161). If the bandwidth is too low, the motor
may not accelerate, although the current increases to
current limit.
• If the regen power limit is 0, increase it to at least -5%.
• Increase the torque and current limits to the maximum.
• Increase the value of Kp Freq Reg (parameter 178).
The motor oscillates
after it is up to speed
• Decrease the bandwidth in Spd Desired BW
(parameter 161) if the process will allow. If this does not
help, depending on your application, you need to either
increase or decrease the value of Error Filter BW
(parameter 162).
The inverter trips on
absolute overspeed
during starting
• Increase the acceleration time.
• If the overspeed occurs during a fast acceleration,
increase the value of Kp Freq Reg (parameter 178) until
the trip stops occurring.
• Increase the bandwidth.
• If the overspeed occurs during a reversal, increase the
deceleration time (slower deceleration).
Chapter
13
Understanding the Auto-tuning
Procedure
Chapter Objectives
The 1336 IMPACT drive runs the auto-tune routines as part of the
Quick Motor Tune routine.
Important: You can skip this chapter if your drive passed the autotune tests performed during the Quick Motor Tune routine. You
should only need to read this chapter if your drive faulted during any
of the auto-tune tests.
This topic:
What Is Auto-tuning?
Starts on page:
A description of auto-tuning
13-1
Running the power structure and transistor diagnostics
tests
13-2
Running the phase rotation test
13-5
Running the sequential torque tuning tests
13-6
Running the inertia test
13-9
Checking the auto-tune status
13-13
Auto-tuning is a procedure that involves running a group of tests on
the motor/drive combination. Some tests check the drive hardware
and other tests configure drive parameters to maximize the
performance of the attached motor.
!
ATTENTION: You must apply power to the drive and
connect the motor for the auto-tune tests. Some of the
voltages present are at incoming line potential. To avoid
electrical shock hazard or damage to equipment, only
qualified service personnel should perform the
following procedures
Important: If you stop the drive once the resistance, inductance,
flux, and inertia tests begin, the drive will fault.
13-2
Understanding the Auto-tuning Procedure
file: Autotune
group: Autotune Setup
To manually run the auto-tune test, you need to use Autotune/Dgn Sel
(parameter 173). It has the following bit definitions:
To run this test:
You need to set
this bit:
Must the load be
coupled to the motor?1
Inverter transistor diagnostics
0
No
Motor phase rotation test
1
No
Inductance measure test
2
No
Rs measure test (resistance)
3
No
Flux current measure test
4
No
Inertia test
5
Yes
1 Although the motor does not have to be coupled to the load during these tests, you
can have it coupled to the load during any of the tests. The motor must be coupled
to the drive for all of these tests.
Bits 6 through 15 are reserved; leave 0.
Important: You must run the motor phase rotation test, inductance
test, resistance test, flux test, and inertia test in order.
To run a particular test:
1. Set the bit in Autotune/Dgn Sel that corresponds to the test you
want to run.
2. Enable the drive.
When the test is complete, the bit is cleared (0). If a fault occurred,
refer to the Troubleshooting section.
You can run the auto-tune tests individually.
Running the Power Structure
and Transistor Diagnostics
Tests
file: Control
group: Drive Logic Select
The power structure and transistor diagnostics routines let you
determine if any problems exist in the power structure of the drive and
determine the probable cause of these problems.
The diagnostic software determines hardware problems through a
series of system tests. These tests are parameter dependent. The test
results depend on drive size, motor size, system wiring, and other
factors that affect system voltage and load impedance.
In most cases, the software can properly determine if faults exist;
however, there may be some installations where some faults cannot be
properly checked. In general, test results are listed as failed if a
questionable case is found. You must review test results with respect
to the whole drive system to properly interpret whether a real problem
exists.
You can run the transistor diagnostics before a start by setting bit 8 of
Logic Options (parameter 17). Transistor diagnostics require motor
current, so a user-start transition is required to run the tests.
To run the transistor diagnostics independently:
1. In Autotune/Dgn Sel (parameter 173), set bit 0 to 1.
2. Enable the drive.
Understanding the Auto-tuning Procedure
file: Autotune
group: Autotune Setup
13-3
The green enable light (D1) turns on very briefly (approximately
300 ms) and then turns off. This runs only the transistor diagnostics
and leaves the drive disabled after the diagnostics are complete.
Autotune/Dgn Sel is automatically cleared to zero after the
diagnostics have run.
Because the test results depend on your particular system, you can
disable tests that may give questionable or nuisance faults. Use Trans
Dgn Config (parameter 172) to disable individual tests:
If you want to disable:
Then, set this bit:
Current feedback phase U offset tests
0
Current feedback phase W offset tests
1
Shorted power transistor tests
2
Ground fault tests
3
Open transistor, open motor, open current feedback,
open gate drive, and open bus fuse tests
4
Power transistor U upper for all tests
6
Power transistor U lower for all tests
7
Power transistor V upper for all tests
8
Power transistor V lower for all tests
9
Power transistor W upper for all tests
10
Power transistor W lower for all tests
11
Bits 5 and 12 through 15 are reserved. You must leave these bits 0.
Even though you set bits 6 through 11 to disable the individual tests,
you will still get a fault with the other tests if there is an open in an
individual section.
file: Autotune
group: Autotune Status
To test specific modules within the power structure, you can disable
any transistor or any combination of transistors. You must leave all
transistors enabled under most conditions. Use sound judgement to
verify that power transistor fault conditions do not exist before
disabling tests.
Inverter Dgn1 (parameter 174) and Inverter Dgn2 (parameter 175)
contain the results of the transistor diagnostic tests.
Important: Serious component failures may occur if unverified
power transistor fault conditions are ignored or tests are disabled
before you proceed to run the drive under load.
13-4
Understanding the Auto-tuning Procedure
Inverter Dgn1 (parameter 174) is defined as follows:
When this bit
is set (1):
Then:
0
A software fault occurred.
1
No motor is connected, or a bus fuse is open.
2
Phase U and W shorted.
3
Phase U and V shorted.
4
Phase V and W shorted.
5
There are shorted modules.
6
A ground fault occurred.
7
A fault occurred before the short module ran.
8
A hardware overvoltage fault occurred.
9
A hardware desat fault occurred.
10
A hardware ground fault occurred.
11
A hardware phase overcurrent fault occurred.
12
There are open power transistor(s).
13
There are current feedback faults.
Bits 14 and 15 are reserved.
Inverter Dgn2 (parameter 175) is defined as follows:
When this bit
is set (1):
Then:
0
Transistor U upper shorted.
1
Transistor U lower shorted.
2
Transistor V upper shorted.
3
Transistor V lower shorted.
4
Transistor W upper shorted.
5
Transistor W lower shorted.
6
The current feedback phase U offset is too large.
7
The current feedback phase W offset is too large.
8
Transistor U upper open.
9
Transistor U lower open.
10
Transistor V upper open.
11
Transistor V lower open.
12
Transistor W upper open.
13
Transistor W lower open.
14
Current feedback phase U open.
15
Current feedback phase W open.
If any hardware fault occurs during the open transistor testing, then
the following occur:
• The hardware fault is saved.
• A phase-to-phase fault is set.
Understanding the Auto-tuning Procedure
13-5
• All subsequent testing is stopped.
• Some untested devices may be set as open.
Typically, you should fix the hardware faults and run open tests again
to determine if any opens exist.
What Do Open Transistor Faults Indicate?
Open transistor faults could indicate an open anywhere in the control
or power section that turns on a given transistor. You should check the
power transistor gate drive signal from the control board through the
cabling to the opto-isolators continuing through the gate drives and
finally through the cabling to the power transistor. This includes the
power wiring to the motor terminals and the motor. If the bus voltage
is too low, opens could occur; bus voltage should be greater than 85%
of nominal line.
What Happens If Multiple Opens Occur?
If multiple opens occur, several additional faults may be indicated.
For example, if transistor U upper and U lower are open, the test also
indicates that current feedback U phase is open. Because current
cannot run through phase U, the current feedback device cannot be
checked and therefore is listed as a malfunction The type of
installation often determines which parts of the transistor diagnostics
may or may not work. As a result, treat the software only as an aid for
testing the power structure.
What Do I Do If I Get a Software Fault?
If bit 0 of Inverter Dgn 1 is set (1), an improper sequence of events
has occurred. Either the software cannot distinguish what is
occurring, or there is noise in the system. If a fault occurs repeatedly,
the problem may be a fault that the software cannot directly identify
(for example, a voltage breakdown in a snubber). If this is the case,
you need to determine through external measurements if the problem
is real or if there is a noise problem. In cases where a specific test
continually results in nuisance faults, use Trans Dgn Config
(parameter 172) to disable that test.
Running the Phase
Rotation Test
file: Autotune
group: Autotune Setup
For proper drive operation, you need to have:
• A specific phase sequence of the motor leads (T1 T2 T3, T1 T3
T2 etc.)
• A specific sequence of encoder leads (pulse A leads B, etc.)
These sequences determine which direction the motor shaft rotates
when torque is applied. If the sequence is not set up correctly, the
motor may rotate in the wrong direction or no torque may be
produced.
To run the phase rotation test:
1. Set bit 1 in Autotune/Dgn Sel (parameter 173).
2. Enable the drive.
13-6
Understanding the Auto-tuning Procedure
3. Check if the motor is running in what you define as the positive
direction. If it is not, stop the drive, swap the T1 and T2 motor
leads, and return to step 1.
4. For encoder-based systems, with the motor turning in the positive
direction, check that Motor Speed (parameter 81) is positive. If
the value is not positive, swap encoder leads TB3-32 and TB3-34,
and go back to step 1.
Motor Speed is 0 during this test if an encoder is not present.
Running the Sequential Torque
Tuning Tests
Bits 2 through 5 of Autotune/Dgn Sel control the sequential torque
control tuning tests.
If during any of the next tests bit 0 (negative or zero slip) of Autotune
Errors (parameter 176) is set, then Nameplate RPM (parameter 3) is
less than the motor synchronous speed determined from Nameplate
Hz (parameter 6) and Motor Poles (parameter 7). For example, a
4 pole 60 Hz motor has a synchronous speed of 1800 rpm. Here, a
motor nameplate rpm of 1750 rpm results in 50 rpm, or 1.67 Hz, of
slip.
Running the Inductance Test
file: Autotune
group: Autotune Results
file: Autotune
group: Autotune Setup
A measurement of the motor inductance is required to determine the
references for the regulators that control torque. This test measures
the motor inductance and displays it in Leak Inductance
(parameter 167).
When running this test, you should be aware of the following:
• The motor should not rotate during this test although rated
voltages and currents are present and the possibility of rotation
exists. For encoderless systems, you must visually verify that the
motor does not rotate.
• This test is run at rated motor current and by-passes the normal
current limit functions.
Before running the inductance test, make sure that you have entered
the correct motor nameplate information.
To run the inductance test:
1. Set bit 2 in Autotune/Dgn Sel (parameter 173).
2. Enable the drive.
The drive enable light turns off when the test is complete. The
inductance test runs for approximately 1 minute. When a reading is
obtained in Leak Inductance, perform the resistance test.
Typical values for per unit inductance are in the range of 15% to 25%
motor impedance. The value shown in Leak Inductance is a percent
value. If you are using long wiring runs, the typical value for per unit
inductance should increase by the ratio of wiring inductance to motor
inductance.
Understanding the Auto-tuning Procedure
file: Autotune
group: Autotune Status
13-7
The motor inductance measuring routine contains several special
faults. If the drive trips during the inductance test, check bits 1
through 5 of Autotune Errors (parameter 176):
If this bit is set (1):
Then:
1
Ind->0 Spd
The motor is not at zero speed. Generally, this bit is set in two cases:
• If the motor rotates during this test, an improper result is likely. Make sure the motor (decoupled from load or process)
is not rotating just before or during the test.
• If the motor is not rotating during this test, then investigate electrical noise creating encoder transitions. Improper
encoder grounding or a noisy encoder power supply could cause noise.
This fault cannot be determined for encoderless applications. You must visually check for this condition on encoderless
systems.
If your motor does rotate during this test, consult the factory.
2
Ind-Sign Err
A sign error fault occurs when the average voltage is negative. If you receive a sign error, you need to:
1. Run the test again.
2. Consider replacing the circuit boards.
3
Ind-0 Cur
If this bit is set, you need to:
1. Set the rated motor current in Nameplate Amps (parameter 4) to the correct value.
2. Run the test again.
3. Consider replacing the control board.
4
Ind-A/D Ovfl
The motor terminal voltage measuring circuit is not working properly. You need to:
1. Determine if the motor is connected.
2. Check cable connections between the gate drive and control boards.
3. Consider replacing the circuit boards.
4. Investigate any noise problems.
5
Ind-En Drop
The drive enable was lost during the inductance test. Consider running the test again and monitor the drive enable (bit 9
of Drive/Inv Status (parameter 15) and/or the Inv En LED on the main control board.
Running the Resistance Test
file: Autotune
group: Autotune Results
file: Autotune
group: Autotune Setup
The drive requires a motor resistance measurement to determine the
references for the regulators that control torque. The motor resistance
test measures the motor resistance and displays it in Stator Resistnce
(parameter 166). The test runs for approximately 10 – 30 seconds.
When running this test, you should be aware of the following:
• The motor should not rotate during this test although rated
voltages and currents are present and the possibility of rotation
exists. For encoderless systems, you must visually verify that the
motor does not rotate.
• This test is run at rated motor current and by-passes the normal
current limit functions.
Before running the resistance test make sure that you have entered the
correct motor nameplate information.
To run the motor resistance test:
1. Set bit 3 in Autotune/Dgn Sel (parameter 173).
2. Enable the drive.
The drive enable light turns off when the test is complete. When a
reading is obtained in Stator Resistnce, perform the flux test.
13-8
Understanding the Auto-tuning Procedure
file: Autotune
group: Autotune Status
Typical values for per unit motor resistance are in the range of 1% to
3% as displayed in Stator Resistnce. The value in Stator Resistnce
increases as the length of wiring runs increase.
Several faults have been included to identify some problems that can
occur in the resistance measuring routine. If the drive trips during the
resistance test, check bits 6 through 10 of Autotune Errors
(parameter 176):
If this bit is set:
Then:
6
Res- >0 Spd
The motor is not at zero speed. Generally, this bit is set in two cases:
• If the motor rotates during this test, an improper result is likely. Make sure the motor (decoupled from load or process)
is not rotating just before or during the test.
• If the motor is not rotating during this test, then investigate electrical noise creating encoder transitions. Improper
encoder grounding or a noisy encoder power supply could cause noise.
This fault cannot be determined for encoderless applications. You must visually check for this condition on encoderless
systems.
If your motor does rotate during this test, consult the factory.
7
Res-Sign Err
A sign error fault occurs when the average voltage is negative. If you receive a sign error, run the test again because the
value returned is not reliable.
8
Res-0 Cur
If this bit is set, you need to:
1. Set the rated motor current in Nameplate Amps (parameter 4) to the correct value.
2. Run the test again.
3. Consider replacing the control board.
9
Res-SW Err
A software fault is generated when an improper sequence of events has occurred. Consider running the test again.
10
Res-En Drop
The drive enable was lost during the resistance test. Consider running the test again and monitor the drive enable (bit 9
of Drive/Inv Status (parameter 15) and/or the Inv En LED on the main control board).
Running the Flux Current Test
file: Autotune
group: Autotune Setup
Rated motor flux is required to produce rated torque at rated current.
The motor flux test measures the amount of current required to
produce rated motor flux and displays the amount in Flux Current
(parameter 168). The motor accelerates to approximately two-thirds
base speed and then coasts for several seconds. This cycle may repeat
several times. The motor then decelerates to a low speed before
disabling.
If the motor will not accelerate, increase Autotune Torque
(parameter 164) until the motor accelerates. Autotune Speed
(parameter 165) changes the speed to which the motor accelerates.
Important: You must run the transistor diagnostics, phase rotation,
inductance, and resistance tests before running this test.
To run the motor flux test:
1. Set bit 4 in Autotune/Dgn Sel (parameter 173).
2. Enable the drive.
The drive enable light turns off when the test is complete.
Understanding the Auto-tuning Procedure
file: Autotune
group: Autotune Results
13-9
Typical values for rated motor flux range from 20% to 50% as
displayed in Flux Current (parameter 168). Several faults have been
added to identify some problems that can occur in the flux test. If the
drive trips while the flux test is being performed, check bits 11
through 15 of Autotune Errors (parameter 176):
If this bit is set:
Then:
11
Flx-Atune Lo
The auto-tune speed setpoint is set too low. The lowest value that should be used for the auto-tune speed setpoint is
30% of the minimum rated speed. You should increase the value of Autotune Speed (parameter 165).
12
Flx-Flux < 0
One or more of the parameters are incorrectly set, electrical noise is/was present, motor phasing could be incorrect, or
other problems exist.
13
Flx-Cur>MCur
The flux current is greater than 100% motor nameplate current. This may be due to incorrect parameter settings, an
undersized drive for the motor, or a motor problem.
14
Flx-En Drop
The drive enable was lost during the flux test.
15
Flx-Hi Load
Too much load is on the motor. Reduce the load to get a valid flux number. If you disconnect the load for this test, you
must reconnect it before running the inertia test.
If you have problems while running the flux test, you may need to
verify that parameters are set properly. You should then run the
stator resistance and leak inductance tests again and verify that the
results are typical as described in these sections.
The following parameters directly effect the flux test.
Parameter
Name
Parameter
Number
Value/Comments
Rev Speed Limit
40
Set this to the limit of the application. If set to 0,
the motor may not accelerate.
Fwd Speed Limit
41
Set this to the limit of the application. If set to 0,
the motor may not accelerate.
Pos Mtr Cur Lim
72
Set this to the limit of the application. If set too
low, the motor may not accelerate.
Neg Mtr Cur Lim
73
Set this to the limit of the application. If set too
low, the motor may not accelerate.
Regen Power Lim
76
If set too high, you may trip out on a Bus
Overvolts.1
Autotune Torque
164
100% allows 1 per unit (p.u.) torque during
acceleration.
Autotune Speed
165
±68% is the maximum for the flux test. This is
limited internally by the software.
file: Control
group: Control Limits
file: Autotune
group: Autotune Setup
1 The option to regenerate to stop following identification of flux producing current
should function properly with or without a brake or regeneration unit.
Running the Inertia Test
The inertia test measures the inertia of the motor and connected load
(machine). The drive requires an accurate inertia value to set the
bandwidth or responsiveness of the speed regulator. You can select
operation at any bandwidth at or below the calculated maximum
bandwidth.
13-10
Understanding the Auto-tuning Procedure
To run the inertia test:
1. Set bit 5 in Autotune Dgn Sel (parameter 173).
2. Enable the drive.
The motor should accelerate up to the speed specified in Autotune
Speed (parameter 165) at a rate limited by the torque specified in
Autotune Torque (parameter 164). The motor stops and the drive
updates Total Inertia (parameter 157). The Ki and Kp gains are
adjusted based on the results of the inertia test, the setting of Kf gain,
and the setting of Spd Desired BW (parameter 161), which is the
desired bandwidth setting for the drive’s speed regulator. Bandwidth
is limited based on the results of the inertia tests.
Tuning the Speed Regulator
file: Autotune
group: Autotune Results
Tuning the speed regulator refers to setting three regulator gains, Ki,
Kp, and Kf, to get the desired drive response to changes in speed
reference and load. The 1336 IMPACT drive uses a modified PI
(proportional integral) controller for the speed regulator. You can
adjust the setting of the regulator gains either automatically or
manually.
The Kp (proportional) and Ki (integral) gain settings for the speed
regulator affect the stability of the regulator and the response to
changes in speed reference and load disturbances. You can adjust the
Ki and Kp gains automatically by selecting a speed bandwidth. You
can also set these gains manually. The automatic method is
preferable, as it is easier and also sets the Kf Speed Loop
(parameter 160), Fdbk Filter Sel (parameter 65), and Error Filtr BW
(parameter 162) according to the Fdbk Device Type (parameter 64).
To use automatic tuning:
1. Run the inertia test to get the correct value for Total Inertia
(parameter 157). If you cannot run the inertia test, perhaps
because of mechanical limitations, you can manually enter the
inertia value. Total Inertia is defined as the time, in seconds, the
drive takes to accelerate the motor and load from zero to rated
motor speed at rated motor torque. If measurements are made at
less than rated conditions, extrapolate the results to rated
conditions.
2. Following the inertia test, the drive adjusts the maximum range
and present setting of speed bandwidth, Spd Desired BW
(parameter 161). These adjustments are made based on the
measured value of Total Inertia. High inertias imply low
bandwidths, and low inertias imply high bandwidths.
The drive sets six parameters when it completes the inertia test. How
these parameters are set depends on how Fdbk Device Type
(parameter 64) is set.
Understanding the Auto-tuning Procedure
13-11
If Fdbk Device Type is set for encoderless, the parameters are set as
follows:
This parameter:
Min Flux Level (parameter 71)
Is set to this value:
25.0%
Fdbk Filter Sel (parameter 65)
1 (35/49 radians/second)
Kf Speed Loop (parameter 160)
0.7
Error Filtr BW (parameter 162)
500.0 radians/second
Total Inertia and Spd Desired BW are set as follows:
When Total Inertia
(parameter 157) is:
Then Spd Desired BW
(parameter 161) is set to:
inertia ≤ 0.3 seconds
15 radians/second
0.3 seconds < inertia < 2 seconds
10 radians/second
2 seconds ≤ inertia < 5 seconds
5 radians/second
5 seconds ≤ inertia < 20 seconds
1 radians/second
inertia ≥ 20 seconds
0.5 radians/second
If Fdbk Device Type is set for an encoder, the parameters are set as
follows:
This parameter:
Is set to this value:
Min Flux Level (parameter 71)
25.0%
Fdbk Filter Sel (parameter 65)
0 (none)
Kf Speed Loop (parameter 160)
1.0
Total Inertia, Spd Desired BW, and Error Filtr BW are set as follows:
When Total Inertia
(parameter 157) is:
inertia ≤ 0.3 seconds
Spd Desired BW
(parameter 161) is set to:
25 radians/second
And Error Filtr BW
(parameter 162) is set to:
125 radians/second
0.3 seconds < inertia < 2 seconds
16 radians/second
80 radians/second
2 seconds ≤ inertia < 5 seconds
8 radians/second
40 radians/second
5 seconds ≤ inertia < 20 seconds
1.6 radians/second
25 radians/second
inertia ≥ 20 seconds
0.8 radians/second
25 radians/second
In many cases, the automatic selection by the drive for the bandwidth
setting provides acceptable performance and no further adjustments
are required. However, if you want a faster response to speed
reference and less speed disturbance to changes in load, increase the
bandwidth. Conversely, if you want a slower response, decrease the
bandwidth. Mid-range settings at half the maximum bandwidth value
are a good place to start when adjusting the bandwidth. The drive sets
the regulator Kp and Ki gains when the bandwidth adjustment is
made.
Important: If you set the speed regulator bandwidth too high, the
motor and load could chatter. If set too low, response will be sluggish.
13-12
Understanding the Auto-tuning Procedure
file: Control
group: Speed Regulator
To use manual tuning:
1. Adjust Kp Speed Loop (parameter 159) to set how quickly the
drive responds to changes in reference and load. Higher values of
gain result in faster response to reference changes and less speed
disturbance due to changes in load. Excessive values of Kp gain
cause the motor and load to chatter as noise in the speed feedback
signal becomes amplified. Large adjustments in the Kp gain
require you to adjust the Ki gain to maintain stability.
2. Adjust Ki Speed Loop (parameter 158) to determine how quickly
the drive recovers from speed and load changes. Increasing the Ki
gain causes the drive to recover faster from a load disturbance.
Adjusting Ki gain also removes any steady state (long term)
instabilities. Excessive values of Ki gain cause the system to
become oscillatory and unstable. For higher bandwidth systems
(systems with bandwidths over 3 to 5 radians/second), Ki is larger
than Kp. For low bandwidth systems, Kp is larger than Ki.
3. Verify affects of the Kp and Ki gain adjustments using a small
step change in speed reference and/or load. Large changes (more
than a few percent) cause the regulator to enter a limit condition
and make checking the response difficult. You may need to
repeatedly adjust the Kp and Ki gain to get the desired response,
as these two gains interact with each other. Make only small
adjustments at a time and then check the results.
Figure 13.1
Speed Regulator Small Reference Step Response (50% to 53% Step)
Speed
Kf
Ki
53%
51%
50%
Kp
0%
Time
Figure 13.2
Speed Regulator Step Load Disturbance Response
Speed
∆ Load
Kp
0
Ki
Time
Understanding the Auto-tuning Procedure
13-13
Important: When you change either Kp Speed Loop or Ki Speed
Loop, the 1336 IMPACT drive places the bandwidth value at zero.
This turns off the automatic calculation of gains based on the setting
of Spd Desired BW (parameter 161). The regulator then uses the
custom Ki and Kp gain values that you entered. To return to automatic
tuning of Ki and Kp, enter a non-zero bandwidth in Spd Desired BW.
If possible, you should use automatic tuning.
Adjusting the Kf Gain
file: Control
group: Speed Regulator
In addition to the Ki and Kp regulator gains, a third gain term has
been included. This gain is represented by Kf Speed Loop
(parameter 160). The Kf gain affects speed overshoot in response to a
step change in speed reference. You can adjust the Kf gain parameter
at any time, independent from the proportional and integral gains. The
drive chooses the default setting of Kf based on Fdbk Device Type
(parameter 64) when the inertia test is performed. A Kf setting of 1.0
makes the control act like a conventional proportional-integral type
regulator. You can set the Kf gain manually, based on overshoot:
When Kf is:
Then:
1.0
The speed loop acts like a normal PI loop with the overshoot equaling approximately 13%. This is the default setting for
encoder-based systems.
0.7
The overshoot is typically less than 1%. 0.7 is the recommended operating point. This is the default setting for
encoderless systems.
0.5
The response becomes underdamped with no overshoot. 0.5 is the lowest recommended value.
Checking the Auto-tune Status
file: Autotune
You can use Autotune Status (parameter 156) to view various
conditions related to the auto-tune feature.
Autotune Status is defined as follows.
group: Autotune Status
If this bit is set:
Then:
0
Executing
A test is currently executing.
1
Complete
The test has finished executing.
2
Fail
The test failed.
3
Abort
A stop command was issued before the test completed.
4
Flux active
The drive must not be running when auto-tune is requested.
5
Not Ready
The ready input is not present.
6
Not Zero Spd
Generally, this bit is set in two cases:
• If the motor rotates during this test, an improper result is likely. Make sure the motor (decoupled from load or process)
is not rotating just before or during the test.
• If the motor is not rotating during this test, then investigate electrical noise creating encoder transitions. Improper
encoder grounding or a noisy encoder power supply could cause noise.
If your motor does rotate during this test, consult the factory.
13-14
Understanding the Auto-tuning Procedure
If this bit is set:
7
8 – 11
Then:
Running
The drive is currently running.
Reserved
12
Timeout
The inertia test has run for one minute without measuring at least a 5% change in motor speed. Possible excessive load.
Try running a higher level of Autotune Torque (parameter 164).
13
No Trq Lim
The inertia test has measured a Motor Speed (parameter 81) in excess of half the Autotune Speed (parameter 165), but
a Torque Limit Sts (parameter 87) has not been indicated. The drive enters a torque limit condition at the start of the
inertia test.
• Make sure the motor is stopped or at least rotating at less than half the auto-tune speed before beginning the inertia
test.
• If the motor is not rotating at the start of the inertia test, investigate encoder and related wiring as a source for
incorrect speed feedback.
Appendix
A
Specifications
Chapter Objectives
Appendix A provides the specifications for the 1336 IMPACT drive.
This topic:
Specifications
Starts on page:
Specifications
A-1
Input/output ratings
A-4
Cable and wiring requirements
A-5
Software block diagrams
A-6
The following table shows the specifications for the 1336 IMPACT
drive:
This category:
Has these specifications:
Environmental
Ambient operating temperature
IP00, Open: 0 to 50° C (32 to 122° F)
IP20, NEMA Type 1 Enclosed: 0 to 40° C (32 to 104° F)
IP65, NEMA Type 4 Enclosed: 0 to 40° C (32 to 104° F)
Storage temperature (all constructions)
-40 to 70° C (-40 to 158° F)
Atmosphere
Important: Drive must not be installed in an area where the ambient atmosphere contains
volatile or corrosive gas, vapors or dust. If the drive is not going to be installed for a period of
time, it must be stored in an area where it will not be exposed to a corrosive atmosphere.
Relative humidity
5 to 95% non-condensing
Altitude
1000m (3300 ft) without derating
Shock
15g peak for 11 ms duration (+1.0 ms)
Vibration
0.152 mm (0.006 inches) displacement. 1g peak
A-2
Specifications
This category:
Has these specifications:
Electrical
200 – 240V AC, standalone, 3 phase, +10%, -15% nominal
380 – 480V AC, standalone, 3 phase, +10%, -15% nominal
Input voltage rating*
* See the derating curves for voltages above 500 – 600V AC, standalone, 3 phase, +10%, -15% nominal
nominal.
513 – 621V DC, common bus, +10%, -15% nominal
776V DC, common bus, +10%, -15% nominal
Input power rating
2 – 134 KVA (230V)
2 – 437 KVA (380V)
2 – 555 KVA (460V)
2/3 – 578/695 KVA (500/600V)
Input frequency
50/60 Hz (±3 Hz)
Standard output voltage
Three voltage ranges are available. Each voltage range is line dependent and can power a
motor between the following voltages:
200 – 240V AC (line dependent)
380 – 480V AC (line dependent)
500 – 600V AC (line dependent)
If the voltage required for your application is not shown, contact Allen-Bradley for specific
information.
Note: Due to internal voltage drops in the power structure and voltage margins required for
regulation, the drive is unable to produce full output voltage at base speed. If full horsepower
is required at or above base speed, an increase in current is required to produce rated
horsepower. This effect will occur in all drives, but is usually only significant in F, G, and,
especially, H frame drives since the voltage drop is proportional to source inductance and
load current.
Output power
2 – 116 KVA (230V)
2 – 190 KVA (380V)
2 – 208 KVA (415V)
2 – 537 KVA (460V)
2 – 671 KVA (575V)
Note: For information on factors that could effect the power output of the drive, please refer
to the enclosure and derating guidelines.
Output current
2.5 – 983A
Output horsepower (continuous)
7.5 – 800 hp
Overload capability
Continuous — 100% fundamental current
1 minute — 150%
Output frequency range
0 – 250 Hz
Output waveform
Sinusoidal (PWM)
Maximum short circuit current rating
200,000A rms symmetrical, 600 volts (when used with specified AC input line fuses as
detailed in Chapters 3 and 4)
Per Max Short Circuit Amps specific to each drive rating when using specified HMCP
Breakers
200,000A when using specified HMCP Breakers with Current Limit Option
Ride through
2 seconds
Efficiency
97% typical
Specifications
This category:
A-3
Has these specifications:
Performance
Speed regulation with an encoder
To 0.001% of rated motor speed over a 100:1 speed range
To 0.02 % of rated motor speed over a 1000:1 speed range
Speed regulation without an encoder
±0.5% of rated motor speed over a 120:1 speed range
Torque regulation
To ±5% of rated motor torque, encoderless; ±2% with an encoder.
Power loss ridethrough capability
2 seconds
Flying start
Can start into a spinning motor
Inverter overload capability
Constant torque: 150% of rated drive output for 1 minute.
Motor overload capability
Adjustable to up to 400% of motor rating for 1 minute.
Programmable accel/decel rates
From 0 to 6553 seconds
Current limit
Programmable to 400% of rated motor current, not to exceed 150% of the drive output limit.
Control
Force Technologies: Field-oriented control,
current-regulated, sine code PWM with
programmable carrier frequency
HP
Drive Rating
Carrier Frequency
1–3
4 kHz
1 – 12 kHz
7.5 – 30
4 kHz
1 – 12 kHz
40 – 60
4 kHz
1 – 12 kHz
75 – 125
2 kHz
1 – 6 kHz
150 – 250
2 kHz
1 – 6 kHz
300 – 500
2 kHz
1 – 4 kHz
600 – 650
1.5 kHz
1 – 4 kHz
700 – 800
1 kHz
1 – 4 kHz
Refer to the derating guidelines in Appendix D, Derating Guidelines.
Output voltage range
0 to rated voltage
Output frequency range
0 to 250 Hz
Encoder
Incremental, dual channel; isolated with differential transmitter, 100 kHz maximum,
quadrature: 90°±27° @ 25°C.
Supply power: 12 volts, 500mA
Input: 5 volts (2.5 volts minimum, 10mA minimum)
or 12 volts (9.5 volts minimum, 10mA minimum)
Accel/decel
Independently programmable acceleration and deceleration times. Program from 0 to 6553
seconds in 0.1 second increments.
Current limit
±400% rated motor current up to inverter rating
Inverse time overload capability
Class 20 protection with speed-sensitive response adjustable from 0 – 200% of rated output
current in three speed ranges — 2:1, 4:1, and 10:1. UL certified — Meets NEC article 430.
Input/Output
0 to ±10V DC input
Input impedance of 20K Ohms
4 – 20 mA input
Input impedance of 130 Ohms
Pulse input
Differential, input 5 or 12V, maximum frequency of 100 kHz, 10 mA minimum
0 to ±10V DC output
Output impedance of 100 Ohms, 10 mA maximum
4 – 20 mA output
Output impedance of 273 Ohms; can drive up to 3 inputs
DC power supply
±10V DC, 50 mA per voltage
Fault contact
Resistive rating = 115 VAC/30VDC, 5.0A
Inductive rating = 115 VAC/30VDC 2.0A
Alarm contact
Resistive rating = 115VAC/30VDC, 5.0A
Inductive rating = 115VAC/30VDC, 2.0A
A-4
Specifications
Input/Output Ratings
The input and output current ratings grouped by drive voltage rating
are provided in the following tables:
200 – 240V
Cat No.
Input
Input kVA
Amps
380 – 480V
Output
kVA
Output
Amps
Cat No.
Input
Input kVA
Amps
500 - 600V
Output
kVA
Output
Amps
Cat No.
Input
kVA
Input
Amps
Output
kVA
Output
Amps
AQF05
1.48
2.8
0.92
2.3
BRF05
1.54
1.4
0.96
1.2
CWF10
3.56
3
2.49
2.5
AQF07
1.93
3.5
1.20
3.0
BRF07
2.18
2.1
1.35
1.7
CWF20
5.98
4
4.18
4.2
AQF10
2.89
5.4
1.79
4.5
BRF10
2.96
2.8
1.83
2.3
CWF30
8.54
6
5.98
6.0
AQF15
3.86
7.3
2.39
6.0
BRF15
3.86
3.5
2.39
3.0
CWF50
11.24
8
7.87
7.9
AQF20
5.14
9.7
3.19
8.0
BRF20
5.14
4.8
3.19
4.0
CWF75
9 – 11
10
10
9.9
AQF30
7.71
14.3
4.78
12.0
BRF30
7.71
7.2
4.78
6.0
CWF100
11 – 13
12
12
12.0
AQF50
11.57
21.3
7.17
18.0
BRF50
11.57
12.0
7.17
10.4
C015
17 – 20
19
19
18.9
A007
10 – 12
28
11
27.2
BRF75
19.92
14
13.94
13.9
C020
21 – 26
25
24
23.6
A010
12 – 14
35
14
33.7
BRF100
28.46
25
19.92
24.0
C025
27 – 32
31
30
30.0
A015
17 – 20
49
19
48.2
B015
18 – 23
28
22
27.2
C030
31 – 37
36
35
34.6
A020
23 – 28
67
26
64.5
B020
23 – 29
35
27
33.7
C040
40 – 48
46
45
45.1
A025
25 – 30
73
31
78.2
B025
23 – 26
43
33
41.8
C050
48 – 57
55
57
57.2
A030
27 – 30
79
32
80.0
B030
32 – 41
49
38
48.2
C060
52 – 62
60
62
61.6
A040
43 – 51
123
48
120.3
BX040
40 – 50
62
47
58.7
C075
73 – 88
84
85
85.8
A050
53 – 64
154
60
149.2
B040
41 – 52
63
52
64.5
C100
94 – 112
108
109
109.1
A060
60 – 72
174
72
180.4
B050
48 – 60
75
61
78.2
C125
118 – 142
137
137
138.6
A075
82 – 99
238
96
240.0
BX060
62
75
61
78.2
C150
136 – 163
157
157
159.7
A100
100 – 120
289
116
291.4
B060
61 – 77
93
76
96.9
C200
217 – 261
251
251
252.6
A125
112 – 135
325
130
327.4
B075
78 – 99
119
96
120.3
C250
244 – 293
282
283
283.6
B100
98 – 124
149
120
149.2
C300
256 – 307
296
297
298.0
B125
117 – 148
178
143
180.4
CX300
256 – 307
295
297
298.0
BX150
148
178
143
180.4
C350
304 – 364
351
352
353.6
B150
157 – 198
238
191
240.0
CP350
301 – 361
347
349
350.0
B200
191 – 241
290
233
291.4
CPR350
301 – 361
347
349
350.0
B250
212 – 268
322
259
327.4
C400
349 – 419
403
405
406.4
B/BP300
265 – 335
403
324
406.4
CP400
343 – 412
397
398
400.0
BPR300
265 – 334
402
324
406.4
CPR400
343 – 412
397
398
400.0
B/BP350
300 – 379
455
366
459.2
C450
394 – 473
455
457
459.2
BPR350
300 – 379
455
366
459.2
C500
434 – 520
501
503
505.1
B400
330 – 416
501
402
505.1
C600
514 – 617
594
597
599.2
BP400
313-396
476
383
481.0
C650
578 – 694
668
671
673.4
BPR400
313 – 396
476
383
481.0
C700C
616 – 739
756
767
770
B450
372 – 470
565
454
570.2
C800C
639 – 767
786
797
800
BP450
346 – 437
526
424
531.7
12C700C 616 – 739
756
767
770
BPR450
346 – 437
526
424
531.7
12C800C 639 – 767
786
797
800
B500
391 – 494
594
477
599.2
B600
439 – 555
668
537
673.4
BP300
265 – 334
402
324
406.4
BP350
300 – 378
455
366
459.2
BP400
313 – 396
476
383
481.0
BP450
346 – 437
526
424
531.7
B700C
517 – 625
835
677
850
B800C
647 – 817
965
783
983
12B700C 517 – 625
835
677
850
12B800C 647 – 817
965
783
983
Specifications
A-5
Cable and Wiring
Recommendations
Minimum Spacing in Inches Between
Classes — Steel Conduit/Tray
Category
Power
Control
Signal
(Process)
Wiring
Class
Signal Definition
Signal Examples
Cable Type
1
AC power (600V or
greater)
2.3kV 3/Ph AC lines
per NEC & local codes
2
AC power (less than
600V)
460V 3/Ph AC lines
per NEC & local codes
3
AC power
AC motor
per NEC & local codes
115V AC/DC logic
Relay logic/PLC I/O
motor thermostat
115V AC power
Power supplies,
instruments
5
per NEC & local codes
6
24V AC/DC logic
PLC I/O
7
Analog signals, DC
supplies
Reference/feedback
signal, 5 to 24V DC
Digital (low speed)
TTL
8
Digital (high speed)
I/O, encoder,
counter pulse tack
Shielded cable — Belden
9728, 9730
9
Serial
communications
RS-232, 422 to
terminals and
printers
Shielded cable — Belden
RS-232 — 8735, 8737
RS-422 — 9729, 9730
11
Serial
communications
(greater than 20k
baud)
PLC Remote I/O,
PLC Data Highway
Twinaxial Cable —
A – B 1770 CD
Signal
(Comm)
1
2/3/4 5/6
7/8
9/10/11
Spacing
Notes
0
3/9
3/9 3/18
Note 6
1/2/5
3/9
0
3/6 3/12
Note 6
1/2/5
3/9
3/6
0
3/9
Note 6
1/2/5
3/18
3/12
3/9
0
1/3
2/3/4/5
1/3
0
per NEC & local codes
Shielded cable — Belden
8735, 8737, 8404
Note 6
Example
Spacing relationship between 480V AC incoming power leads and
24V DC logic leads.
• 480V AC leads are class 2; 24V DC leads are class 6.
• For separate steel conduits, the conduits must be 76 mm
(3 inches) apart.
• In a cable tray, the two groups of leads are to be 152 mm
(6 inches) apart
Spacing Notes
1. Both outgoing and return current carrying conductors are to be
pulled in the same conduit or laid adjacent in tray.
2. Cables of the following classes can be grouped together.
– Class 1: equal to or above 601 volts
– Classes 2, 3, and 4 may have their respective circuits pulled in
the same conduit or layered in the same tray.
– Classes 5 and 6 may have their respective circuits pulled in
the same conduit or layered in the same tray.
Note: Bundle may not exceed conditions of NEC310.
A-6
Specifications
–
Classes 7 and 8 may have their respective circuits pulled in
the same conduit or layered in the same tray.
Note: Encoder cables run in a bundle may experience some amount
of EMI coupling. The circuit application may dictate separate
spacing.
–
3.
4.
5.
6.
Classes 9, 10, and 11 may have their respective circuits pulled
in the same conduit or layered in the same tray.
Communication cables run in a bundle may experience some
amount of EMI coupling and corresponding communications
faults. The application may dictate separate spacing.
All wires of classes 7 through 11 must be shielded per the
recommendations.
In cable trays, steel separators are advisable between the class
groupings.
If conduit is used, it must be continuous and composed of
magnetic steel.
Spacing of communication cables classes 2 through 6 is:
Volts
Conduit Spacing
Through Air
115
1 inch
2 inches
230
1.5 inches
4 inches
3 inches
8 inches
proportional to 6 inches per 1000
volts
proportional to 12 inches per
1000 volts
460/575
575
General Notes
•
•
•
•
Software Block Diagram
Steel conduit is recommended for all wiring classes
(Classes 7 – 11).
Spacing shown between classes is the minimum required for
parallel runs less than 400 feet. Greater spacing should be used
where possible.
Shields for shielded cables must be connected at one end only.
The other end should be cut back and insulated. Shields for cables
from a cabinet to an external device must be connected at cabinet
end. Shields for cables from one cabinet to another must be
connected at the source end cabinet. Splicing of shielded cables,
if absolutely necessary, should be done so that shields remain
continuous and insulated from ground.
Power wire is selected by load. 16 AWG is the minimum
recommended size for control wiring.
The following figures show the parameter linking and interactions
within the 1336 IMPACT drive. For more information about
parameter linking, refer to Chapter 6, Starting Up Your System.
Specifications
A-7
SCANport
SCANports
1
SP An In1 Sel (Par 133)
2
3
SP An In1 Scale (Par 135)
SP An In1 Value (Par 134)
4
SCANports
5
1
2
6
SP An Output (Par 139)
1
3
4
SP An In2 Sel (Par 136)
5
2
3
6
SP An In2 Scale (Par 138)
SP An In2 Value (Par 137)
4
5
6
SCANport Image In
1
2
3
4
5
6
SCANport Image Out
Data In A1 (Par 140)
Data Out A1 (Par 148)
Data In A2 (Par 141)
Data Out A2 (Par 149)
1
Data In B1 (Par 142)
Data Out B1 (Par 150)
2
Data In B2 (Par 143)
Data In C1 (Par 144)
Data Out B2 (Par 151)
Data Out C1 (Par 152)
3
Data In C2 (Par 145)
Data Out C2 (Par 153)
Data In D1 (Par 146)
Data Out D1 (Par 154)
Data In D2 (Par 147)
Data Out D2 (Par 155)
4
5
6
A-8
Specifications
SCANport 1
SP Enable Mask (Par 124)
Logic Input Sts (Par 14)
SCANport 2
SCANport 3
SCANport 4
SCANport 5
SCANport 6
(Gateway)
Start/Jog Mask (Par 126)
Clr Flt/Res Mask (Par 127)
Dir/Ref Mask (Par 125)
L Option Board
Logic Cmd Input
(parameter 197)
Dir/Ref Mask (Par 125)
Clr Flt/Res Mask (Par 127)
Dir/Ref Owner (Par 128)
Start/Stop Owner (Par 129)
Jog1/Jog2 Owner (Par 130)
Ramp/ClFlt Owner (Par 131)
Flux/Trim Owner (Par 132)
Bit 0 — Normal Stop
Bit 1 — Start
Bit 2 — Jog 1
Bit 3 — Clear Fault
Bit 4 — Forward
Bit 5 — Reverse
Bit 6 — Jog 2
Bit 7 — Current Limit Stop
Bit 8 — Coast–to–Stop
Bit 9 — Speed Ramp Disable
Bit 10 — Flux Enable – Magnetizing Flux
Bit 11 — Process Trim Enable
Bit 12 — Speed Ref A
CBA
Bit 13 — Speed Ref B
0 0 0 — No Change
Bit 14 — Speed Ref C
0 0 1 — Speed Ref 1
Bit 15 — Reset Drive
0 1 0 — Speed Ref 2
0 1 1 — Speed Ref 3
1 0 0 — Speed Ref 4
1 0 1 — Speed Ref 5
1 1 0 — Speed Ref 6
1 1 1 — Speed Ref 7
Drive/Inv Status (Par 15)
Bit 0 — Run Ready
Bit 1 — Running
Bit 2 — Command Dir
Bit 3 — Rotating Dir
Bit 4 — Accelerating
Bit 5 — Decelerating
Bit 6 — Warning
Bit 7 — Faulted
Bit 8 — At Set Speed
Bit 9 — Enable LED
Bit 10 — Stopped
Bit 11 — Stopping
Bit 12 — At Zero Spd
Bit 13 — Speed Ref A
Bit 14 — Speed Ref B
Bit 15 — Speed Ref C
CBA
000
001
010
011
100
101
110
111
— No Change
— Speed Ref 1
— Speed Ref 2
— Speed Ref 3
— Speed Ref 4
— Speed Ref 5
— Speed Ref 6
— Speed Ref 7
Specifications
A-9
L Option
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
Status
Start
Start
Start
Start
Start
Start
Start
Start
Start
Start
Run Fwd
Run Fwd
Run Fwd
Run Fwd
Run Fwd
Start
Start
Start
Start
Start
Start
Run Fwd
Run Fwd
Run Fwd
Run Fwd
Start
Start
Start
Run Fwd
Step Trig
Start
Status
Rev/Fwd
Rev/Fwd
Rev/Fwd
Rev/Fwd
Rev/Fwd
Reverse
Reverse
MOP Incr
Reverse
Accel 1
Run Rev
Run Rev
Run Rev
Run Rev
Run Rev
Rev/Fwd
Rev/Fwd
Spd/Trq 3
Spd/Trq 3
Reverse
Spd/Trq 3
Run Rev
Run Rev
Run Rev
Run Rev
Rev/Fwd
MOP Incr
Reverse
Run Rev
Step Trig
Step Trig
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Flt
Stop/Clr Fl
Stop/Clr Fl
Stop/Clr Fl
Status
Jog
Stop Type
Accel 2*/1
MOP Incr
Jog
Forward
Forward
MOP Decr
Forward
Accel 2
Loc/Rem
Stop Type
Accel 2*/1
MOP Incr
Loc/Rem
PTrim En
Flux Enable
Spd/Trq 2
Spd/Trq 2
Forward
Spd/Trq 2
PTrim En
Flux Enable
PTrim En
Jog
MOP Incr
MOP Decr
Forward
MOP Incr
Step Trig
Step Trig
Status
Spd Sel 3
Spd Sel 3
Decel 2*/1
MOP Decr
Loc/Rem
Jog
Spd Sel 3
Spd Sel 3
MOP Incr
Decel 1
Spd Sel 3
Spd Sel 3
Decel 2*/1
MOP Decr
Stop Type
Ramp Dis
Reset
Spd/Trq 1
Spd/Trq 1
Ramp Dis
Spd/Trq 1
Reset
Reset
Ramp Dis
Spd Sel 3
MOP Decr
Spd Sel 3
MOP Incr
MOP Decr
Step Trig
Profile Ena
Status
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Ext Flt
Status
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Spd Sel 1
Step Trig
Pos Hold
Status
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
MOP Decr
Decel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
PTrim En
Flux Enable
Reset
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
Spd Sel 2
MOP Decr
Spd Sel 2
Step Trig
Run Seq
Spd Select
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Enable
Spd/Trq Select
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0 - Speed Ref 1
1 - Speed Ref 2
0 - Speed Ref 3
1 - Speed Ref 4
0 - Speed Ref 5
1 - Speed Ref 6
0 - Speed Ref 7
1 - No Change
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0 - Zero Torque
1 - Speed Reg
0 - Torque Reg
1 - Min Trq/Spd
0 - Max Trq/Spd
1 - Sum Trq/Spd
0 - Reserved
1 - Reserved
22
23
24
25
26
27
28
29
Common
21
Common
20
Common
19
30
31
32
33
34
35
36
Encoder Common
1
Encoder A
2
+12V (200mA max.)
3
Encoder NOT B
1
Encoder B
2
Encoder NOT A
3
In modes 5, 9, 10, and 15, the MOP value is not reset to 0 when you
stop. In modes 27, 28, 29, and 30, the MOP value is reset to 0 when
you stop.
A-10
Specifications
Analog I/O Parameters for Frames A1 – A4
TB4 (J4)
Analog
Output 1
Analog
Output 2
4-20mA
Output 1
+10V
Com
-10V
Shield
+
Shield
+
Shield
+
-
1
2
3
4
5
6
7
8
9
10
11
12
Offset
Scale
106
107
Offset
Scale
109
110
Offset
Scale
112
113
Motor Speed
105
81
108
Motor P ower
90
111
TB7 (J7)
Analog
Input 1
Analog
Input 2
4-20mA
Input 1
Pulse
Source
+
Shield
+
Shield
+
Shield
+
Shield
1
2
3
4
5
6
7
8
9
10
11
12
Offset
Scale
Filter BW
97
98
182
Offset
Scale
Filter BW
100
101
183
Offset
Scale
Filter BW
103
104
184
120
121
122
Pulse In PPR
Pulse In Scale
Pulse In Offset
Speed Ref 2
96
31
99
102
123
TB10 (J10)
Relay 1
Supply
Relay 2
Relay 3
Relay 4
Voltage Clear ance
Voltage Clear ance
TE
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
4
5
6
SP An In1 Sel (P ar 133)
1
2
3
4
5
6
SP An In2 Sel (P ar 136)
1
2
3
4
5
6
114
115
Relay Config 1
Relay Setpoint 1
187
188
Relay Config 2
Relay Setpoint 2
189
190
Relay Config 3
Relay Setpoint 3
191
192
Relay Config 4
Relay Setpoint 4
SP An In1 Value
Speed Ref 1
134
29
SP An In1 Scale (P ar 135)
SP An In1 Value
SP An In2 Scale (P ar 136)
137
SP An Output
Motor Speed
139
81
Specifications
A-11
Analog I/O Parameters for Frames B – H
TB10 (J10)
+10V
Com
-10V
Analog
+
Input 1
Shield
Analog
+
Input 2
Shield
+
4-20mA
Input 1
Shield
Pulse
+
Source
+
Analog
Output 1
Shield
+
Analog
Output 2
Shield
+
4-20mA
Output 1
-
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
Offset
Scale
Filter BW
97
98
182
Offset
Scale
Filter BW
100
101
183
Offset
Scale
Filter BW
103
104
184
120
121
122
Pulse In PPR
Pulse In Scale
Pulse In Offset
Offset
Scale
106
107
Offset
Scale
109
110
Offset
Scale
112
113
Speed Ref 2
96
31
99
102
123
Motor Speed
105
81
108
Motor P ower
90
111
TB11 (J11)
Relay 1
Supply
Relay 2
Relay 3
Relay 4
Voltage Clear ance
TE
1
2
3
4
5
6
7
8
9
Relay Config 1
Relay Setpoint 1
187
188
Relay Config 2
Relay Setpoint 2
189
190
Relay Config 3
Relay Setpoint 3
191
192
Relay Config 4
Relay Setpoint 4
10
1
2
3
4
5
6
SP An In1 Sel (P ar 133)
1
2
3
4
5
6
SP An In2 Sel (P ar 136)
1
2
3
4
5
6
114
115
SP An In1 Value
SP An In1 Scale (P ar 135)
134
Speed Ref 1
29
SP An In1 Value
SP An In2 Scale (P ar 136)
137
SP An Output
Motor Speed
139
81
A-12
Notes:
Specifications
Appendix
B
Control Block Diagrams
Chapter Objectives
Appendix B provides descriptions of the control block diagrams.
The overview of this topic:
Starts on page:
Motor control board
B-2
Speed reference selection
B-4
Trim control
B-10
Speed feedback
B-13
Speed PI regulator
B-16
Torque reference
B-19
Torque block
B-24
Drive fault detection
B-27
Inverter overload
B-32
Speed loop auto-tune
B-35
Through-put time
B-38
Throughout this appendix:
This
symbol:
Indicates:
15
A source parameter.
17
A destination parameter.
A particular bit. For example, the following symbols identify bit 6 (Jog
6
Ramp En) in Logic Options:
17
6
B-2
Control Block Diagrams
Motor Control Board Overview
The following is an overview of how the drive processes information.
Speed
Loop
Auto–tune
Page B-35
TorqueTrim
L
7 Speed References
Speed
Reference
Control
LC
Tq
Trim
Control
B
2 Jogs
Page B-10
Page B-4
Tpt
Speed
PI
Regulator
VR
Torque Limit
TL
TH
PI
Gains
Page B-16
Droop%
V
Q
Process Trim
S
Vf
φf
Torque Command
Speed
Feedback
Control
Tq
Encoderless
Page B-13
Sheet Connection Symbols
B
Speed Ramp Output
PI
Speed PI Regulator Output
VR
C
Current Processor Command
Q
φf
Tpt
Torque Trim
If
Filtered Is Reference
VT
Speed Trim
TE
Trim Error
Iq
Iq Reference
TH
Torque Limit High
IS
L
Active Logic Command
TL
Torque Limit Low
LC
Logic Control Word
Tq
Torque Command
M
Active Torque Mode
V
Speed Feedback
Speed Reference
Stator Current Reference
Control Block Diagrams
Drive
Fault
Detection
B-3
Local Inputs
Fault and Warning Queues
Page B-27
C
M
Torque
Reference
Control
External
Torque
Reference
Page B-19
If
Iq
Torque
Block
(DC to AC
Converter)
Page B-24
Iq REF
. (AC)
Id REF
. (AC)
Analog
Current
Regulator
AC
Motor
fe
Page B-34
Digital
Encoder
Encoderless
B-4
Control Block Diagrams
Speed Reference Selection
Overview
You can use the following block diagram to view how the drive uses
the various speed reference selection parameters to determine the
speed and direction that the drive should run.
Logic Input Sts
Logic Input Sts
14
Speed Scale 1
Speed Ref
1 Frac
30
28
29
Scale
8192
Speed Ref 1
Scale
Start Dwell
Time
193
194
14
A
14 13 12
0
31
0 1 0
Speed Ref 3
32
0 1 1
Speed Scale 7 Speed Ref 4
33
1 0 0
34
35
1 0 1
Speed Ref 5
Speed Ref 7
Speed Ref 6
2
Auto–tune
Active
6
0 0 0
0 0 1
Speed Ref 2
37
36
Start Dwell
Spd
165
Autotune
Speed
Jog
Speed 1
Start Dwell
Auto–tune
Reference
Select
38
1 1 0
Scale
8192
39
1 1 1
Jog
Speed 2
Scale
Speed Reference
Select
Jog Reference
Select
Logic Input Sts
14
0
7
8
Max
Select
Logic Input Sts
0
Unipolar 0
2
14
–32767
Bipolar
6
7
9
Stop Command
7
9
11
17
Speed Ref Type
17
Fwd
Speed Limit
Logic Input Sts
4
14
2
Logic Options
Logic Options
41
6
6
Ramp Bypass
Min
Speed Limit
215
5
Drive/Inv
Status
2
15
Ramp
Output
Min
Speed
Limit
4
B
S–Curve Percent
47
X (–1)
5
17
11
Direction
Select
11
Logic Options
40
Rev
Speed Limit
Linear
Accel/Decel Ramp
Control Block Diagrams
B-5
Selecting the Speed and Jog References
file: Control
group: Speed Reference
Multiple parameters can affect the speed and jog references. These
parameters are as follows:
This parameter
group:
file: Monitor
group: Drive/Inv Status
Is represented
by parameters:
And has
this function:
Speed Reference
28, 29, and 31
through 36
Supplies the speed references that the drive
should use.
Speed Scale
Factor
30 and 37
Sets the gain multiplier that is used to scale
the speed references.
Jog Speed
38 and 39
Sets the jog speed reference.
When determining the speed reference, bits 12, 13, and 14 of Logic
Input Sts (parameter 14) identify which speed reference or preset
speed parameter is used:
If bit 14 is:
And bit 13 is:
And bit 12 is:
Then, the speed reference is:
0
0
0
Zero
0
0
1
Speed Ref 1
0
1
0
Speed Ref 2
0
1
1
Speed Ref 3
1
0
0
Speed Ref 4
1
0
1
Speed Ref 5
1
1
0
Speed Ref 6
1
1
1
Speed Ref 7
Likewise, when determining the jog reference, bits 2 and 6 of Logic
Input Sts identify which jog speed parameter is used.
Using a Start Dwell
You can use Start Dwell Spd (parameter 193) and Start Dwell Time
(parameter 194) to set the speed and the length of time that the drive
should immediately output when a start command is issued. Once the
specified time has elapsed, the drive ramps to the speed you selected
in speed reference 1 through 7.
Speed
Start Dwell Time
(parameter 194)
Start Dwell Spd
(parameter 193)
0
Time
0
Start Command
B-6
Control Block Diagrams
Choosing a Stop Command
You need to specify how you want the drive to stop the motor when a
stop command is issued. You have three options:
This type
of stop:
Is specified in this
bit of Logic Input
Sts:
And can be represented by the following
diagram:
Speed
Coast
Stop command issued
8
Time
This results in inverter shut off.
Speed
Current
Limit
Stop command issued
7
Time
This results in the fastest possible stop.
Speed
Normal
(Ramp)
Stop command issued
0
Time
You determine
the length of time
By default, the normal stop (bit 0) is used.
To view which type of stop is currently selected for your drive, check
to see which bit of Logic Input Sts is set (0, 7, or 8). If multiple bits
are set, the priority is bit 8 (coast stop), bit 7 (current limit stop), and
then bit 0 (normal stop).
The braking method, if any, that you have selected also affects how
your drive stops. Refer to Chapter 9, Applications, and the
description of Bus/Brake Opts (parameter 13) in Chapter 11,
Parameters, for information about the available braking methods.
Control Block Diagrams
B-7
Choosing a Direction
For motors, forward and reverse are arbitrary directions. For this
section, forward is considered counterclockwise from the shaft end of
the motor.
file: Control
group: Drive Logic Select
The 1336 IMPACT drive lets you change whether the motor is
rotating in a forward or reverse motion. The direction depends on
whether or not bit 11 of Logic Options (parameter 17) is set for
unipolar or bipolar:
If bit 11 Then the drive receives
is set for:
references that are:
Unipolar
To change the direction
you need to:
Set the forward/reverse bit in the L Option
card or command word. This bit is displayed
in bits 4 (forward) and 5 (reverse) of Logic
Input Sts.
All positive
Change the reference sign.
Bipolar
file: Control
group: Control Limits
Positive and negative
For this type
Use the following to
of reference: change the reference sign:
Analog
± voltages
Digital
± numbers
Regardless of how you change the direction, you can specify how fast
the drive can go in either direction (forward or reverse). To do this,
you need to set the maximum values in Fwd Speed Limit
(parameter 41) and Rev Speed Limit (parameter 40).
You can also specify the minimum speed at which you want the drive
to run. To do this, enter the minimum speed in Min Speed Limit
(parameter 215). When you set the minimum speed, you can still go
from a positive reference to a negative reference. When you press the
stop button, the speed will go down to zero.
Using the Speed Ramps
The 1336 IMPACT drive lets you set the acceleration and deceleration
ramps by specifying how long you want the drive to go from 0 rpm to
the base speed and from the base speed back to 0 rpm.
Forward Direction
deceleration
acceleration
Constant Speed
Speed
0
0
Accel
Time
Time
Decel
Time
B-8
Control Block Diagrams
Acceleration and deceleration are relative terms. Acceleration refers
to a change in speed away from 0 rpm, and deceleration is a change in
speed towards 0 rpm. For example, the acceleration time could be
used to get the speed more negative:
0 Accel
Time
Reverse Direction
0
Decel
Time
Speed
Constant Speed
acceleration
file: Control
group: Accel/Decel
Time
deceleration
You can use Accel Time 1 (parameter 42) and Accel Time 2
(parameter 43) to change the acceleration ramp and Decel Time 1
(parameter 44) and Decel Time 2 (parameter 45) to change the
deceleration ramp.
If your system does not have a brake, the bus regulator limits Decel
Time 1 to prevent a bus overvoltage situation from occurring.
Accel Time 2 and Decel Time 2 are only available if you have an
L Option board and you have set L Option Mode (parameter 116) to
4, 11, or 14.
You can use S-Curve Percent (parameter 47) to control the level of
filtering that is applied to the acceleration and deceleration ramps.
If S-Curve Percent is
set to:
Then:
No S-curve is used.
Speed
Ramp Out
0%
0
0
Time (in seconds)
The S-curve is applied to 10% of the ramp time.
Speed
Ramp Out
10%
0
0
Time (in seconds)
Control Block Diagrams
If S-Curve Percent is
set to:
B-9
Then:
The S-curve is applied to 50% of the ramp time.
Speed
Ramp Out
50%
0
0
Time (in seconds)
The S-curve is applied to 100% of the ramp time.
Speed
Ramp Out
100%
0
0
Time (in seconds)
To by-pass the acceleration and deceleration ramps, use a
communications module or an L Option board to set bit 9 of Logic
Input Sts (parameter 14). You can also by-pass the ramps by setting
the appropriate Accel/Decel Time parameters (parameters 42, 43, 44,
and 45) to zero.
B-10
Control Block Diagrams
Trim Control Overview
You can use the following block diagram to view how the drive uses
the process trim parameters to modify the speed and torque reference
values that the motor uses.
+
Ramp Output
B
Process Trim
PTrim Select
(Select Speed Input)
51
+
PTrim Filter BW
2
52
+
PTrim Reference
Low
Pass
Filter
49
–
PTrim Feedback
50
Motor Speed
81
from Speed
Feedback
PTrim Select
(Select Speed Output)
PTrim Hi Limit
59
R
51
PTrim
Output
0
STOP
48
Process Trim
Speed Input Select
Process Trim PI
Regulator
PTrim Preload
53
Data
PTrim Ki
54
KI/4096
PTrim Kp
55
KP/4096
PTrim Out Gain
60
PTrim Select (Set Output)
51
3
PTrim Select (Preset Integ.)
51
4
Limit
Speed Trim
Output Gain/4096
14
Zero
Reference
58
Enable
PTrim Lo Limit
Tpt
OR
11
6
51
To Torque
Reference
0
PTrim Select
(Enable)
Process Trim
Logic
Input Sts
0
0
51 1
PTrim Select
(Select Torque)
Torque Trim
Speed Trim
PTrim Select
(Trim Limiter)
51
Max Fwd
Spd Trim
Command
Spd Sts
62
5
82
VT
To Speed
PI Regulator
Trim Limit
Freq Limit
Limit
61
Max Rev Spd Trim
6
Nameplate Hz
Control Block Diagrams
B-11
Understanding Process Trim
file: Application
group: Process Trim
Process trim lets you adjust the speed or torque of the motor. PTrim
Reference (parameter 49) contains the setpoint input for the processor
under control. PTrim Feedback (parameter 50) contains the input for
the process variable that is being controlled. These values are
compared. The regulator adjusts PTrim Output (parameter 48) so that
the difference between PTrim Reference and PTrim Feedback
approaches 0.
Figure B.1 shows the process trim cycle.
Figure B.1
Process Trim
Motor
PTrim Reference
Regulator
PTrim Output
Process
PTrim Feedback
The process trim PI (proportional integral) regulator takes inputs from
PTrim Preload (parameter 53), PTrim Ki (parameter 54), PTrim Kp
(parameter 55), and PTrim Select (parameter 51).
PTrim Select lets you select specific options for the process trim
regulator. The following options are available:
To select
this option:
Set this
bit:
Trim the speed reference.
0
Trim the torque reference.
1
Configure as outer speed trim loop. Set bit 2 to pre-configure the PTrim
Reference (parameter 49) and PTrim Feedback (parameter 50) values to
use the speed ramp output and speed feedback signals.
2
Set output option. When you set bit 3, the output follows PTrim Preload
(parameter 53) with the process trim enable bit off. Rise of process trim
enable will preset the integral term of the process trim regulator to start the
PTrim Output (parameter 48) at the data input value.
3
Preset integrator option. When you set bit 4, PTrim Output is zero with the
process trim enable bit off. Rise of enable will preset the integrator as in
option bit 3.
4
Force ON trim limit option. When you set bit 5, the speed trim limit function
is always active. When clear (bit 5 = 0), the speed trim limiter is
automatically disabled.
5
Enable process trim.
6
Enable Encoder Switchover Mode
7
If bits 3 and 4 are both clear (0), PTrim Output (parameter 48)
becomes zero with the enable bit off and the integral term is
initialized at zero. If bits 3 and 4 are both set (1), option 3 (set output
option) takes priority.
B-12
Control Block Diagrams
The limit function lets you select the minimum and maximum values.
To enter the:
Enter a value in this parameter:
Minimum level
PTrim Lo Limit (parameter 58)
Maximum level
PTrim Hi Limit (parameter 59)
Once the value leaves the limit function, PTrim Select (parameter 51)
determines whether the value is used as a speed trim or a torque trim.
If this bit is set:
Then:
0
The speed reference is used.
1
The torque reference is used.
Both bit 0 and bit 1
Neither bit 0 nor bit 1
Both the speed and the torque references remain
unaffected.
Understanding Encoder Switchover
Control Block Diagrams
Speed Feedback Overview
B-13
You can use the following block diagram to view how the drive uses
the speed feedback parameters.
Speed
Scale1
Scaled Spd
Fdbk
Speed
Scale 7
30
37
63
FdbkFilter
Sel
Fdbk Device
Type
8192
Scale
65
64
Speed
Reference
Select
To Speed
PI Regulator
0
V
Encoderless
Encoder
1
1
2
3
Channel A
Channel B
Encoderless
w/Deadband
125 ms
Filter
20/40
Filter
Simulator
Encoder
Signal
Processing
35/49
Filter
2
4
3
1,4
Motor
Speed
Lead/Lag
81
Filter
R
2
To PTRIM
Q
1, 3, 4
To Speed
PI Regulator
66
Fdbk
Filter
Gain
67
Fdbk
Filter
BW
FV
To Motor
Overload
Function
I2T
Absolute
Overspeed
Feedback
Device
Select
Integrate
Selecting Your Feedback Device Type
file: Control
group: Feedback Device
You can use Fdbk Device Type (parameter 64) to choose your
feedback device type. You have the following options:
If you want to use
this feedback device type:
Select this
value:
Encoderless. This is the default feedback device.
1
Encoder. Encoders are only available through the L Option board.
2
Motor simulation. This is useful for testing drive operation and interface
checkout when the motor is not available or cannot be used.
3
B-14
Control Block Diagrams
If you want to use
this feedback device type:
Select this
value:
Encoderless w/dead band. Limits operation of drive below a reference
value of 1Hz. Drive Speed and torque regulators are clamped at zero
when speed reference is less than 1 Hz.
4
Refer to Chapter 9, Applications, for additional information about the
feedback device type selections.
Important: Even though Fdbk Device Type lets you change the
feedback device type, you should use the start up procedure to change
your feedback device. The start up procedure automatically changes
several related parameters, and changing Fdbk Device Type manually
will not re-set these parameters.
Selecting Your Feedback Filter
file: Control
group: Speed Feedback
You can use Fdbk Filter Sel (parameter 65) to select the type of
feedback filter. You can choose among the following filters:
To select
this type of filter:
Select this
value:
gain
No filter
0 db
0
rad/sec
gain
A light 35/49
0 db
radian feedback
filter
–6 db
1
35
49
rad/sec
gain
A heavy 20/40
radian feedback
filter
0 db
2
–12 db
20
40
rad/sec
Control Block Diagrams
B-15
To select
this type of filter:
Select this
value:
gain
0 db
For Par. 66
A single pole
lead/lag
feedback filter
between 0
and 1.0
rad/sec
Par. 67
3
gain
BW
0 db
For Par. 66
equal to 0
rad/sec
Par. 67
Notice that Fdbk Filter Gain (parameter 66) and Fdbk Filter BW
(parameter 67) are used for the single pole lead/lag filter. Fdbk Filter
Gain lets you specify the Kn term of the single power lead/lag filter.
If Kn is:
Then:
Greater than 1.0
A lead filter is produced.
Less than 1.0
A lag filter is produced.
Equal to 1.0
The feedback filter is disabled.
Equal to 0.0
A simple, low pass filter is produced.
Fdbk Filter BW lets you set the breakpoint frequency (in radians) for
the speed feedback lead/lag filter. The breakpoint frequency is
indicated by BW.
A notch filter is also available through Fdbk Filter Sel. Information
about the notch filter is provided in the Torque Reference Overview
section of this appendix.
B-16
Control Block Diagrams
Speed PI Regulator Overview
You can use the following block diagram to view how the drive uses
the speed PI regulator parameters.
65,535 (for auto–tune)
82
Speed
Reference
VT
From
Trim
Control
162
+
Kf
65,535
160
50 (for auto–tune)
Error
Filter
BW
Command Spd Sts
Low
Pass
Filter
–
Kf Speed Loop
Kp
159
Feed
Forward
Logic
Control
Word
8
Kp Speed Loop
V
Proportional
Gain
LC
From
Feedback
Control
8
+ 600%
To
Torque
Reference
Control
+
Torque Limit Sts
PI
=0
87
Torque Is Limited
+
0
– 600%
Torque Limiter
OR
Hold
8 (for autotune)
Hold
+
–
I
S
+
KI
–
8
158
Ki Speed Loop
Integral
Gain
Integrator
Q
From
Feedback
Control
46
Droop
Gain
Droop
Percent
X.X%
Regulator
Enable
Control Block Diagrams
B-17
The 1336 IMPACT drive takes the speed reference that you specify to
the drive and compares that value to the value of the speed feedback
that is coming from the motor. The drive tries to make the two values
match as close as possible by sending a speed error value to the speed
PI regulator. The speed PI regulator uses the Kp (proportional) and Ki
(integral) gains to adjust the torque reference value that is sent to the
motor to try to get the actual speed of the motor as close to the speed
you specified as possible. This can be shown as:
Speed Regulator
+
Speed Reference
+
Speed Error
Motor
Kp
–
+
Encoder
Ki
Speed Feedback
The Kp and Ki gains are set during the auto-tune procedure. Once you
find gains that provide a good speed of response for your system
without making your system unstable, you should not change the Kp
and Ki parameters. The Kp and Ki gains are covered in the Inertia
Test portion of Chapter 13, Understanding the Auto-tuning
Procedure. The following information about Kp is also provided to
show what happens if you are not using the proper gains for your
system.
If Kp is:
Then:
Too low
The response time decreases. This means that it takes the regulator a
longer time to get the speed feedback value close to the speed
reference value that you specified.
Too high
A torque ripple can be produced. If you have an encoder on your
system, the torque ripple can be produced typically when Kp is around
50. If you do not have an encoder on your system, the maximum is less
than 50.
0
The speed PI regulator is strictly an integral regulator. This causes
unstable operation.
The following information is provided about Ki:
If Ki is:
Then:
Too low
The time that it takes to recover from a speed or load disturbance
increases. This means that the regulator takes a longer time to get the
speed feedback value close to the speed reference value that you
specified.
Too high
Your system will not be stable, and it may oscillate.
0
The speed PI regulator is strictly a proportional regulator.
B-18
Control Block Diagrams
Using the Kf Gain
In addition to the Kp and Ki gains, the speed PI regulator also uses a
Kf gain. The Kf gain affects the speed overshoot in response to a step
change in speed reference. You can adjust the Kf gain parameter at
any time, independent from the proportional and integral gains
without affecting the stability of the system.
Chapter 13, Understanding the Auto-tuning Procedure, provides
more information about the Kf gain.
Scaling the Speed Pi Regulator Gains
file: Control
group: Speed Regulator
Kf Speed Loop (parameter 160), Kp Speed Loop (parameter 159), and
Ki Speed Loop (parameter 158) are available for scaling the gains.
The scaling used for each of these parameters is in eighths (8 = 1.0).
Using the Error Filter Bandwidth
Error Filtr BW (parameter 162) provides a low-pass filter for
applications that require more noise filtering. When using Error Filtr
BW, keep the value of the parameter between 3 and 5 times greater
than the value of Spd Desired BW (parameter 161), which represents
the bandwidth of the speed loop.
Additional information about Error Filtr BW is located in Chapter 13,
Understanding the Auto-tuning Procedure.
Adjusting the Motor Speed with Changes in Load (Droop
Gain)
For some applications, you may want the motor speed to droop with
an increase in load. In these cases, you can use Droop Percent
(parameter 46) to specify the percent of base speed that the speed
reference is reduced when at full load torque.
Control Block Diagrams
Torque Reference Overview
You can use the following block diagram to view how the drive uses
the torque reference parameters.
13
Limit Selection
Bus Options
(Brake/Regen)
5
Power Limits
13 10
Bus Regulator
Pos
Torque Limit
TP2 10004
74
+
–
76
B-19
1
Regen Power
Limit
+/–
+
PositiveTorque
Power Limit
Min
Select
Vf
164
Bus
Voltage
PI
Regulator
+
84
1
Speed
Feedback
–
–/+
+
Autotune
Torque
Full Wave
Rectify
Limit
Bus
13 5 High
Limit
Bus/Brake Opts
+
DC Bus Voltage
+
–
Vf
Neg
Torque Limit
V
75
Negative
Torque Power
Limit
Inverter Volts
–
Max
Select
12
Motor Power Limit = +800%
1.70
W
–1
X
–
1.63
1.63 = 10% high line + 5% Chopper Margin
1.70 = 10% high line + 10% Chopper Margin
Bus Opts
High Limit
13
5
Torque Selection
Slave
Torque %
70
Torque
Ref 1
Scale
69
Torque
Select
68
0
4096
From
Trim Control Torque
Trim
Tpt
Spd/Trq
Mode Sel
0
Speed
1
Torque
2
Fdbk Filter Sel
(Notch: when value = 4)
65
+
+
MIN
3
MAX
4
Y
Notch
Filter
From
PI
Speed
PI Regulator
+
+
Sum
185
186
5
Torque Mode Select
Notch Filtr Freq
Notch Filtr Q
B-20
Control Block Diagrams
Torque Reference Overview, Continued
Monitor–Motor Status
Motor Torque %
Torque Limit
Min Flux Level
71
86
Motor
Flux %
1
88
KIS
Iq %
125 MS
Filter
90
Motor
Power %
125 MS
Filter
81
Motor
Speed
91
= 100%
1
Speed
Feedback
Pos Mtr Cur Lim
Flux Current
72
168
1
W
Flux
+
Motor
Flux %
Page B-34
–
Neg Mtr Cur Lim
73
V
–
+
–
+
Flux
Upper Iq
Limit
Flux
Brake
168
1
Min
Select
IT Limit
Flux Current
X
KIS
Current Limits
V
NTC Limit
Inverter
Overload
88
+
V
Max
Select
–1
LowerIq
Limit
–
–1
Flux Current (Id)
168
KIS = I – Id2
–
77
–
Current
Rate Lim
+
+
Iq %
I
Y
87
KIS
Iq
NTC Limit
9
2
10
Inverter (IT) Limit
3
11
Flux Brake
4
12
Torque Lim Param
5
13
Power Lim Param
6
14
Autotune Lim Param
Reference
To Torque
Block
V
Current
Limit
Limit Status
+
–
Iq Limit Param
0
8
1
+
+
Torque
To Current
Torque Limit
Torque
Limit Sts
91
Flux
Iq Rate
Limiter
Id
IS
Current
Limits
88
Limited Flux
Motor Flux %
Max
Select
71
Torque
Limits
Min Flux Level
100%
Encoderless in
Speed Mode
The torque reference is divided into 6 areas: bus regulator, power
limits, torque selection, torque limit, and monitor-motor status.
Control Block Diagrams
B-21
Understanding the Bus Regulator
The bus regulator limits the maximum bus voltage for systems that do
not have brake or regen (regenerative) capabilities.
file: Application
group: Bus Control
file: Control
group: Control Limits
If bit 10 of
Bus/Brake Opts
(parameter 13) is:
Then:
Set (1) to indicate that the
system has a brake or regen
capability
The drive uses the value of Regen Power Lim
(parameter 76).
Clear (0) to indicate that the
system does not have a
brake or regen capability
The bus regulator limits the maximum bus voltage by
automatically adjusting the value of Regen Power Lim.
In this case, you should use a default value of -25%. If
the drive system has significant losses, you can
decrease this value until bus voltage faults occur.
Refer to Chapter 9, Applications, for more information on using the
bus regulator for braking.
Understanding the Power Limits
file: Autotune
group: Autotune Setup
file: Control
group: Control Limits
The power limits let you set limits on the maximum power limits in
the positive and negative directions. Without these limits, you could
receive a Bus Overvoltage Trip, which is a hardware fault.
The power limits first perform a full wave rectify to separate the input
from the bus regulator into a positive value and a negative value. Once
these values are separated, the minimum/maximum selection
functions compare the values from the full wave rectify with the value
of Autotune Torque (parameter 164) and the value of either Pos
Torque Lim (parameter 74) or Neg Torque Lim (parameter 75) to
determine which value is closest to zero (the most conservative
value). The drive then passes the values to the torque limit function.
Understanding the Torque Limit
The torque limit function uses the values it receives from the power
limit function.
If Min Flux Level
(parameter 71) is:
Not 100%
Set to100%
The values
are:
Passed directly to the torque limit selector.
Multiplied by 1/flux and Motor Flux % (parameter 88) is
applied before the values are passed to the torque limit
selector.
If a value is limiting the torque or current in either the positive or
negative direction, a bit is set in Torque Limit Sts (parameter 87).
B-22
Control Block Diagrams
If this:
This bit is set for
limits in this
direction:
Is being limited by:
The Iq limit parameters: Pos Mtr Cur Lim
(parameter 72) or Neg Mtr Cur Lim
(parameter 73)
Current The NTC limit
Torque
Positive
Negative
0
8
1
9
The Inverter (IT) limit
2
10
Flux braking
3
11
The torque limit parameters: Pos Torque Lim
(parameter 74) or Neg Torque Lim (parameter 75)
4
12
The power limit parameters (from the bus
regulator)
5
13
The autotune limit parameters
6
14
Understanding the Torque Selection
file: Control
group: Speed/Trq Mode
file: Control
group: Torque Reference
Spd/Trq Mode Sel (parameter 68) lets you select between speed mode
and torque mode.
If you choose
this mode:
Then your reference comes from:
Speed
The speed PI regulator.
Torque
The trim control and Torque Ref 1 (parameter 69). You can also use
Slave Torque % (parameter 70) to scale Torque Ref 1.
Spd/Trq Mode Sel provides the following options:
Set this bit:
g
file: Monitor
group: Testpoints
If you want:
0
Zero torque to be used.
1
The source for the drive torque reference to come from the speed
regulator.
2
The source for the drive torque reference to come from an external
torque.
3
To compare the values of the speed regulator output with the
torque reference sum and select the smaller value.
4
To compare the values of the speed regulator output with the
torque reference sum and select the larger value.
5
To use the numeric sum of the speed regulator output plus the
torque reference sum.
You can view the values of the speed regulator output and the torque
reference sum.
To view the value of the speed regulator output:
1. Set Test Select 2 (parameter 95) to 58220.
2. View the value of the speed regulator output in Test Data 2
(parameter 94).
To view the value of the torque reference sum:
1. Set Test Select 2 (parameter 95) to 9730.
2. View the value of the speed regulator in Test Data 2
(parameter 94).
Control Block Diagrams
file: Control
group: Speed Feedback
B-23
If Fdbk Filter Sel (parameter 65) is set to 4, then the output is passed
through a notch filter before being used by the torque limit. Notch
Filtr Freq (parameter 185) sets the center frequency for the 2 pole
notch filter, and Notch Filtr Q (parameter 186) sets the quality factor.
The following is an example of a notch filter.
gain
Notch Filtr Q
(parameter 185)
0 db
Hz
Notch Filtr Freq
(parameter 186)
Other filters are available through Fdbk Filter Sel. These filters are
covered in the Speed Feedback Overview section of this appendix.
Understanding the Current Limits
file: Control
group: Control Limits
The current limit function uses a minimum and maximum selection
routine to select the upper and lower Iq limits. The upper Iq limit is
the lowest value when Pos Mtr Cur Lim (parameter 72), the NTC
limit, and the IT limit are compared. The lower Iq limit is the largest
value when Neg Mtr Cur Lim (parameter 73), the negative of the NTC
limit, and the negative of the IT limit are compared.
The motor current limits affect the level of the total stator current (Is).
To convert from stator current (Is) to torque current (Iq), the flux
current (Id) must be compensated for. This is done by subtracting
Flux Current (parameter 168) from the motor current limit using
vector math.
During flux braking, the Iq limit is reduced significantly to allow high
levels of Id current. A large Id current is required for flux braking to
occur.
Understanding the Monitor-Motor Status
The monitor-motor status parameters are available for you to view the
values of various power-related functions. Positive values indicate
motoring power, and negative values indicate regenerative power.
B-24
Control Block Diagrams
Torque Block Overview
You can use the following block diagram to view how the drive uses
the torque block parameters.
Current Command Conditioning
Drive
Enable
Iq %
91
Max = 8192
(lq)
8192
R
Iq
Iqe
1
4
Synchronous To
From
Torque
Reference
Limiter
Stationary
Min = –8192
Transformation
Drive
Enable
Max = 3072
(DC to AC
Conversion)
Flux Current
8192
R
168
Ide
1
4
Limiter
Min = 0
Limiter/Scaler
Motor
Poles
Encoder Feedback Conditioning
7
Counter 2
2
+
Chan A
Hardware
Chan B
Counters
Digital
Encoder
e
Delta Counts
–
+
1024
[PPR]
X
r
[Poles]
4
+
Counter 1
s
8
Encoder
PPR
Slip Gain
169
KSLIP
Iq_CMD
1024
Encoderless
Feedback
Conditioning
Motor
Frequency
fs(fslip)
D
DT
+
fr
(rotor)
+
fe
(electrical or stator freq)
89
Control Block Diagrams
B-25
Torque Block Overview, Continued
Voltage at 1A = 2.5V Peak With Rated
Motor Amps Through the Motor
Gate Drive Feedback CKT
1A
2048
[Gain]
Feedback
DAC
Iqs
+
–
Voltage Across Burden = 2.5V with Drive
Providing Peak Rated Drive Amps
Command
AC
Motor
Current Regulator
DAC
DAC
Current Sensor
Burden Resistor
Ids
Command
Gate Drive Feedback CKT
–
1C
Feedback
2048
[Gain]
Current Sensor
Burden Resistor
Voltage at 1C = 5V Peak With Rated
Motor Amps Through the Motor
Voltage Across Burden = 2.5V
with Drive Providing Peak Rated Drive Amps
Total Current
U
W
V
Motor
Cur
Fdbk
MAX
ADC
83
x.x Amp
MULT
11
Inverter Amps
B-26
Control Block Diagrams
file: Motor/Inverter
group: Motor Constants
file: Monitor
group: Motor Status
The Limiter/Scaler function takes input from Iq % (parameter 91), the
torque reference, and Flux Current (parameter 168) and performs
limit checks and scaling on the two values. The Limiter/Scaler
function outputs the synchronous (or electrical) values of the torque
command (Iqe) and the flux current (Ide).
These values, Iqe and Ide, are converted to stationary values. To
convert the values, the conversion routine also takes input from the
feedback device.
file: Motor/Inverter
group: Motor Nameplate
Encoder Data
If the feedback
device is:
Then:
Encoderless
The value of Motor Frequency (parameter 89) is integrated to get
the proper units and then used for the conversion.
Encoder
The drive uses the values of Motor Poles (parameter 7) and
Encoder PPR (parameter8) to adjust the value coming from the
encoder. The value of Slip Gain (parameter 169) is integrated to
get the proper units and then added to the value from the
encoder.
Once the values are converted to stationary values, they are sent to the
current regulator.
Control Block Diagrams
Drive Fault Detection Overview
B-27
You can use the following block diagram to view how the drive
detects faults.
Configurable Faults
64
Encoder
Edge,
Level
Detect
Quad Loss
Phase Loss
Torque
Limit Sts
Drive/Inv
Status
Fdbk Device Type
= Encoder (2)
Fault Code 5048
87
Motor
Stall
Time
25
DELAY
Stopped
Fault Code 1053
xx.x Sec
Drive/Inv
Status
lf
Calculations
4096
(100%)
B
A>B?
I2T Trip
Code 1052
Motor
Overload
9
A
Motor
Overload
%
15
10
Motor Stalled
A
Filtered Is
Service
Factor
AND
Zero Speed
12
15
3891
(95%)
26
B
A>B?
I2T Pending
Code 1051
20
21
22
23
Fault Select 1
Warning Select 1
Fault Select 2
Warning Select 2
Warning
Condition
Motor Overload Function "I2T"
Fault
Condition
Fault Select 1 (parameter 20)
Warning Select 1 (parameter 21)
Fault Code
12064
12065
12066
12067
12068
12069
3072
6073
6074
6075
6076
6077
6078
6079
Bit
0
1
2
3
4
5
6
7
8
9
10
1
12
13
14
15
Description
Ridethru Time
Prechrg Time
Bus Drop
Bus Undervlt
Bus Cycles >5
Open Circuit
Reserved
Reserved
mA Input
SP 1 Timeout
SP 2 Timeout
SP 3 Timeout
SP 4 Timeout
SP 5 Timeout
SP 6 Timeout
SP Error
Fault Select 2 (parameter 22)
Warning Select 2 (parameter 23)
Fault Code
5048
2049
1051
1052
1053
5054
3057
3058
2061
2063
Bit
0
1
2
3
4
5
6
7
8
9
10
1
12
13
14
15
Description
SpdFdbk Loss
Inv Overtemp
Reserved
MtrOvld Pend
MtrOvld Trip
Mtr Stall
Ext Fault In
Reserved
Reserved
Param Limit
Math Limit
Reserved
Reserved
InvOvld Pend
Reserved
Inv Overload
Select
B-28
Control Block Diagrams
Drive Fault Detection Overview, Continued
Non–Configurable Faults
15 Volt
Analog
Supply
Scale
Fault Code 3026
200 msec
Delay
(13V – 18V)
Analog Supply Tolerance
Filtered
Speed
Feedback FV
Absolute
Overspd
24
Fwd Motor
Speed Limit
41
Rev Motor
Speed Limit
40
Drive/Inv
Status
10
15
Not Drive Stopped
F
Fault Code 3025
100 msec
Delay
R
Bound Check
Code
2028
Absolute Overspeed
<–20˚C
Or
>100˚C
0.5 Sec
Delay
Inverter Temperature Check
Power Transistor
Heat Temperature, ˚C
TC
Power Transistor
Heatsink Temperature
(NTC)
NTC
Input
Look–up
Table
>
Warn
0.5 Sec
Delay
Fault Code 2049
Inverter Overtemp Pending
file: Fault Setup
group: Fault Config
You can configure how you want some situations reported (drive
fault, warning, or ignored), while other situations are always reported
as faults. For the configurable faults, four parameters are provided:
Fault Select 1 (parameter 20), Warning Select 1 (parameter 21), Fault
Select 2 (parameter 22), and Warning Select 2 (parameter 23). For
information about these parameters, refer to Chapter 12,
Troubleshooting.
This section explains how some of the faults are caused and detected.
Control Block Diagrams
B-29
The SpdFdbk Loss Fault
SpdFdbk Loss is a configurable fault controlled through bit 0 of Fault
Select 2 and Warning Select 2. You can only get a SpdFdbk Loss
fault/warning if you have an encoder on your system, which is
indicated when Fdbk Device Type (parameter 64) is set to 2. A
SpdFdbk Loss fault/warning occurs when the hardware detects a loss
of encoder input. This can occur for two reasons:
This type of
loss:
Occurs when:
Quadrature
There is a loss of quadrature. The most likely cause is a high level of
noise on one or both encoder channels.
Phase
The hardware detects that any of four wires (A, A NOT, B, B NOT) is
missing.
The Mtr Stall Fault
Mtr Stall is a configurable fault controlled through bit 5 of Fault
Select 2 and Warning Select 2. A Mtr Stall fault occurs when the
motor is not running (zero speed) and the drive is in a limit condition
(the drive is putting out maximum torque, current, or power).
file: Monitor
group: Drive/Inv Status
file: Fault Setup
group: Fault Limits
This condition:
Is indicated by:
The motor is not running
Bit 12 in Drive/Inv Status (parameter 15)
being set.
The drive is in a limit condition
Torque Limit Sts (parameter 87) having a
value other than 0.
You can use Motor Stall Time (parameter 25) to enter the length of
time that the drive must be in current limit and at zero speed before
the drive indicates a Mtr Stall fault.
The MtrOvrld Pnd and MtrOvrld Trp Faults (I2T)
MtrOvld Pnd and MtrOvld Trp are configurable faults controlled
through bits 3 and 4 of Fault Select 2 and Warning Select 2. The faults
are generated when points are reached on the motor overload curve.
You can use Service Factor (parameter 9) and Motor Overload %
(parameter 26) to change the curve.
The following curves do not apply to the H frame. Information for
the H frame is not available at the time of printing.
B-30
Control Block Diagrams
Motor Overload (I2T) Curves for a Service Factor of 100%
Percent Rated
Motor Current 200%
190%
180%
170%
160%
150%
140%
130%
Set by Service Factor
(parameter 9).
120%
110%
100%
10
100
Seconds to trip
1000
10000
200% Motor Overload
60 second overload limit
set by Motor Overload %
(parameter 26).
175% Motor Overload
150% Motor Overload
Percent Rated
Motor Current
Motor Overload (I2T) Curves for a Service Factor of 110%
200%
190%
180%
170%
160%
150%
140%
135%
130%
Set by Service Factor
(parameter 9).
120%
110%
100%
10
1000
100
10000
Seconds to trip
60 second overload limit
set by Motor Overload %
(parameter 26).
200% Motor Overload
175% Motor Overload
150% Motor Overload
Control Block Diagrams
B-31
The Analog Spply Tol Fault
Analog Spply Tol is a non-configurable fault. It indicates that the
voltages from the analog power supply are out of the appropriate
range (13V to 18V). If you receive an Analog Spply Tol fault, you
most likely have a problem with your power supply.
The Absolute Overspd Fault
file: Control
group: Control Limits
Absolute Overspd is a non-configurable fault that occurs when the
speed feedback regulator indicates that the speed of the motor is
greater than the maximum values specified in Fwd Speed Limit
(parameter 41) and Rev Speed Limit (parameter 40). You can use
Absolute Overspd (parameter 24) to specify how much faster than the
maximum speeds specified in Fwd Speed Limit and Rev Speed Limit
the drive can go before generating an Absolute Overspd fault.
The Inv Overtemp Pnd and Inv Overtemp Trp Faults
Inv Overtemp Pnd is a configurable fault that is controlled through
bit 1 of Fault Select 2 and Warning Select 2. The drive monitors the
heatsink temperature. If the temperature reaches around 80°C, you
will get an Inv Overtemp Pnd fault.
Inv Overtemp Trp is a non-configurable fault. You will get an Inv
Overtemp Trp fault if the temperature of the heatsink is not between
-20°C and 100°C.
For both faults, the cause may be a sensor either open or shorted, a
blocked or inoperative inverter cooling fan, or extended operation of
the drive beyond the current rating.
B-32
Control Block Diagrams
Inverter Overload Overview
You can use the following block diagram to view how the drive uses
the parameters for inverter overload.
Flux Current
Torque Limit Sts
Is
M
[Is] x M
I
4
Nameplate
Amps
NTC Foldback Protection
87
˚C RISE
I
LIMIT
To Motor
Current
Limit
Selection
–100
S
30˚C
Convert Motor to
Inverter Units
9 IT
400%
Error
Transistor RJC
1
MULT
120˚C
Limiter
Integrator
Inverter Heatsink
Temperature,˚C
Flux Current
I
168
11
Inverter
Amps
100% x I
M
M
+
–
100% Rated Inverter Iq in Motor Per Unit
V
Convert Inverter
to Motor Units
'IT Inverter Protection
Torque Limit Sts
87
60 Sec @ 150% Inverter Current
Flux Current
I
M
150% x I
M
168
+
–
125 MS
Filter
A
IT
2
10 LIMIT
A
IT
Inverter
B
V
(Limiting)
Convert Inverter
to Motor Units
Protection
(Not Pending)
To Motor
Current
Limit
Selection
Select
B
150% Rated Inverter Iq in Motor Per Unit
22
23
13
Fault Select 2
13 Warning Select 2
The inverter overload is designed to provide limits to ensure that the
device ratings for the power semi-conductors are not exceeded. The
inverter overload tests for excessive temperatures within the device
and excessive current over time (IT).
Control Block Diagrams
B-33
For both the temperature tests and the current over time tests, the
internal reference Is is scaled in terms of percent rated motor current.
It is also scaled to the inverter. For these conversions, Nameplate
Amps (parameter 4) and Inverter Amps (parameter 11) are also used.
Understanding the NTC Foldback Protection
file: Monitor
group: Drive/Inv Status
The NTC foldback protection test measures for excessive
temperatures within the device. To do this:
1. The value of Is, which has been converted to inverter units, is
multiplied by 30°C.
2. This value represents a temperature rise that is added to the actual
inverter heatsink temperature.
3. From the result of this sum, 120°C is subtracted.
4. The result is an error value that is integrated and limited.
If NTC foldback predicts that the temperature within the device has
exceeded 120°C, then the motor current is limited (causing a foldback
condition).
If the motor current has been limited in the positive direction due to
excessive temperature, bit 1 is set in Torque Limit Sts (parameter 87).
Bit 9 indicates a current limit in the negative direction due to
excessive inverter temperature.
Understanding the IT Inverter Protection
The IT inverter protection test measures for excessive current over
time. To do this for most drives, the test uses both 100% and 150%
times the rated inverter current in motor per unit. (For the 460/800 HP
H-frame drives, the test uses 100% and 135%.) If the current stays at
or above 150% times the rated inverter current for 60 seconds, the test
limits the current to 100% times the rated inverter current. When a
drive limits the current, either bit 2 (positive values) or bit 10
(negative values) in Torque Limit Sts (parameter 87) is set.
You can also decide if you want to be notified when the drive limits
the current.
To:
You need to:
Receive a fault
Set bit 13 in Fault Select 2 (parameter 22).
Receive a warning
Set bit 13 in Warning Select 2 (parameter 23) and clear
bit 13 in Fault Select 2.
Ignore the limit condition
Clear bit 13 in both Fault Select 2 and Warning Select 2.
The following is the inverter overload curve for frames A – G This
inverter overload curve also applies to the frame H, with the exception
of the 460V/800 HP.
B-34
Control Block Diagrams
Inverter Overload Curves
200%
190%
30 second Pending @ 150%
Percent Rated Inverter Current
180%
170%
60 second Overload @ 150%
160%
150%
140%
130%
120%
105%
110%
100%
10
100
1000
Seconds to Trip
10000
Inverter Overload
Inverter Overload Pending
The following is the inverter overload curve for the 460V/800 HP
frame H.
Inverter Overload Curves (H Frame)
200%
190%
Percent Rated Inverter Current
180%
170%
160%
30 second Pending @ 135%
150%
140%
60 second Ov er load @ 135%
135%
130%
120%
110%
100%
10
105%
100
1000
10000
Seconds to Trip
Overload Foldback
Overload Warning
Control Block Diagrams
Speed Loop Auto-tune
Overview
You can use the following block diagram to view how the drive uses
the parameters for speed loop auto-tune.
Autotune
Torque
Autotune
Speed
Drive/Inv
Status
164
165
15
Drive Run/Stopped
Autotune
Status
156
Autotune/Dgn Sel (Inertia)
173
5
Auto–tune
Inhibit
0
Wait
1
Start
Auto–tune
State
Spd Desired BW
x.xx Rad/Sec
161
A
2
Dwell
Total Inertia
x.xx Sec
157
4
Stop
Ki Speed Loop
Auto–tune
Active
3
Measure
0
Executing
1
Complete
2
Fail
3
Abort
4
Flux Active
5
Not Ready
6
Not Zero Speed
7
Running
12
Profile Timeout
13
Torque Limit
158
Auto–tune States
Speed Loop
Kp Speed Loop
B-35
159
Gain
Calculations
Kf Speed Loop
160
65
162
77
Fdbk
Filter
Sel
Error
Filter
BW
Current
Rate
Lim
The speed loop auto-tune test basically measures inertia. To do this,
the test cycles through five states:
file: Autotune
In this state:
group: Autotune Setup
The test is:
0 (Wait)
Waiting for bit 5 in Autotune/Dgn Sel (parameter 173) to be set. This
normally happens when you run auto-tune from the Quick Motor Tune
routine.
1 (Start)
Waiting for you to press start.
2 (Dwell)
Waiting for a fixed time period that lets the flux in the motor settle down.
3 (Measure)
Measuring the amount of inertia by applying the amount of torque
specified in Autotune Torque (parameter 164) to the motor.
4 (Stop)
Stopping.
B-36
Control Block Diagrams
Measuring the Inertia
file: Application
group: Bus Reg/Control
To measure the inertia, the speed loop auto-tune test:
1. Applies the amount of torque specified in Autotune Torque
(parameter 164) to the motor.
2. Ramps the speed up to the speed specified in Autotune Speed
(parameter 165).
3. Decreases the speed down to 0.
4. Measures the slope of the increase and decrease to determine the
inertia.
Once the torque is applied, how the test measures the inertia depends
on whether bit 10 of Bus/Brake Opts (parameter 13) is set.
If bit 10 is set, the speed is ramped down to 0 after the motor reaches
the speed specified in Autotune Speed. At the same time, the torque
becomes a negative value and remains negative until the speed
reaches 0. This is shown as:
Speed
With a brake:
Slope used to find inertia
Autotune Speed
(parameter 165)
Dwell
Time
0
Time
0
Torque
Autotune Torque
(parameter 164)
Dwell
Time
0
Time
Autotune Torque
(parameter 164)
If bit 10 is not set, the speed coasts down to 0 after the motor reaches
the speed specified in Autotune Speed. The torque also becomes 0 at
this point. This is shown as:
Speed
With no brake:
Slope used to find inertia
Autotune Speed
(parameter 165)
Dwell
Time
0
Time
0
Torque
Autotune Torque
(parameter 164)
Dwell
Time
0
0
Time
Control Block Diagrams
file: Control
group: Speed Regulator
file: Control
group: Speed Regulator
Speed Feedback
Control Limits
file: Autotune
group: Autotune Status
B-37
Once the inertia is determined, the value is placed in Total Inertia
(parameter 157). The value of Spd Desired BW (parameter 161) can
then be determined.
Once these values are determined, the speed loop auto-tune test
performs the speed loop gain calculations to determine the values of
the following parameters:
This parameter:
Has this definition:
Ki Speed Loop
(parameter 158)
Controls the integral error gain of the speed regulator.
Kp Speed Loop
(parameter 159)
Controls the proportional error gain of the speed regulator.
Kf Speed Loop
(parameter 160)
Controls the feed forward gain of the speed regulator.
Fdbk Filter Sel
(parameter 65)
Selects the type of feedback filter.
Error Filtr BW
(parameter 162)
Sets the bandwidths of two cascaded low pass filters in the
Kf error path of the speed PI regulator.
Current Rate Lim
(parameter 77)
Specifies the largest allowable rate of change for the
current reference signal.
During the speed loop auto-tune, you can check the status of the test
by using Autotune Status (parameter 156). The first four bits (0 – 3)
identify the current status:
If this bit is set:
Then:
0
The test is currently executing.
1
The test has completed.
2
An error was encountered.
3
The test was aborted because a stop command was issued.
Bits 4 – 7, 12, and 13 identify why bit 2 may have been set.
If this bit is set:
Then:
4
The motor has active flux.
5
The drive is not ready to start auto-tune.
6
The drive is not at zero speed.
7
The motor is running.
12
The auto-tune test timed out because the inertia test failed to
accelerate the load. The load must accelerate at a rate of 5%
speed change per minute or faster.
13
The inertia test failed to reach the torque limit.
B-38
Control Block Diagrams
Through-Put Time
You can use the following block diagram and table to determine the
maximum amount of time that it will take a command to execute.
Pulse Train
Inputs
(4 ms)
Torque Reference
Velocity Reference
Analog
Inputs
(4 ms)
Process
Trim
(12.5 ms)
Adaptive
Encoder
Inputs
(2 ms)
Torque
Control
(2 ms)
Commutation
SCANport
Reference
(4 ms)
(1 ms)
SCANport
Logic
Evaluation
(50 ms)
SCANport
Command
(4 ms)
L Option
Card Relay
Inputs
(8 ms)
Output
Current
Command
F.O.C. Control/
Velocity
Control
Relay
Output
(12.5 ms)
Commands
Faults
Parameter
Link
Scanner
(4 ms)
Analog
Outputs
(4 ms)
Fault
Handler
(100 ms)
Execution Order Table
Interval
Functions
1 ms
2 ms
Field Oriented Control
Encoder Inputs
Velocity Regulator
Torque Reference
SCANport Reference/Commands
Pulse Train Inputs
Analog Inputs
Analog Outputs
Parameter Link Scanner
Velocity Reference
L Option Card Relay Inputs
Programmable Function Blocks
Relay Outputs
Process Trim
SCANport Logic Evaluation
Drive Logic Start/Stop Sequencing
Fault Handler
4 ms
* Programmable
Function
Blocks
(12.5 ms)
8 ms
12.5 ms
* 12.5 ms through put time is in addition
to the other scan times of the I/Os.
50 ms
100 ms
For example, the time that it takes a speed reference to be converted
to an output current can be determined as follows:
SCANport Reference
4 ms
Velocity/Torque Control
2 ms
Adaptive F.O.C. Control/Commutation
1 ms
Total Time
7 ms
The maximum amount of time would thus be 7 ms. (It may take fewer
than 7 ms, but will not take more than 7 ms.) Note also that it would
take the same amount of time if an analog speed reference were used.
Appendix
C
Using the Human Interface Module
(HIM)
Chapter Objectives
Appendix C provides information so that you can use your Human
Interface Module (HIM) more effectively.
This topic:
What is the Human Interface Module (HIM)
What Is the Human Interface
Module (HIM)?
Starts on page:
C-1
How does the HIM work
C-3
HIM compatibility information
C-12
Removing the HIM
C-13
The Human Interface Module (HIM) is the standard user interface for
the 1336 IMPACT drive. When the drive mounted HIM is supplied,
you can access it from the front of the drive. The HIM provides a way
to program the drive and to view the operating parameters. The HIM
also lets you control different drive functions.
!
ATTENTION: When a drive mounted HIM is not
supplied on enclosed NEMA Type 1 (IP20) drives, you
must install the blank cover plate (option HAB) to close
the opening in the front cover of the enclosure. Failure to
install the blank cover plate allows access to electrically
live parts that may result in personal injury and/or
equipment damage.
When a drive mounted HIM is supplied with enclosed
NEMA Type 1 (IP 20) drives, but has been removed
from its mounting cradle for remote operation, you must
install the blank cover plate in place of the HIM.
The HIM contains a display panel and a control panel. The display
panel lets you program the drive and view the various operating
parameters. The control panel lets you control different drive
functions.
C-2
Using the Human Interface Module (HIM)
Figure C.1 shows an example of a HIM.
Figure C.1
Example of a HIM
Display Panel
Control Panel
Human Interface Module
(HIM)
The display panel provides the following keys:
Press this key:
To:
This key is
referred to as:
Go back one level in the menu tree that the HIM uses to organize information.
The Escape key
Alternate which display line (top or bottom) is currently active.
The Select key
Increment (increase) the selected value. If no value is selected, use this key to scroll through
the groups or parameters currently selected.
The Increment key
Decrement (decrease) the selected value. If no value is selected, use this key to scroll
through the groups or parameters currently selected.
The Decrement key
Select the group or parameter that is currently active or enter the selected parameter value
into memory. The top line of the display automatically becomes active to let you choose
another parameter or group.
The Enter key
The HIM provides the following keys for the control panel section:
Press this key:
To:
This key is
referred to as:
Start operation if the hardware is enabled and no other control devices are sending a Stop
command. You can disable this key by using Start/Jog Mask (parameter 126).
The Start key
Initiate a stop sequence if the drive is running. The drive stops according to the stop type
specified in Logic Options (parameter 17).
Clear the fault and reset the drive if the drive has stopped due to a fault.
The Stop key
Jog the motor at the specified speed. Release the key to stop the jog.
The Jog key
Change the motor direction. The appropriate Direction Indicator light will light to indicate
direction.
Increase or decrease the HIM speed command. An indication of this command is shown on
the visual Speed Indicator.
Press both keys simultaneously to store the current HIM speed command in HIM memory.
Cycling power or removing the HIM from the drive sets the speed command to the value
stored in HIM memory.
These arrows are only available with digital speed control.
The Change Direction key
The Up Arrow and
Down Arrow keys
Using the Human Interface Module (HIM)
C-3
The control panel section also provides the following indicators:
This indicator:
Provides information about:
The direction of motor rotation.
The Direction LED
An approximate visual indication of the command speed. This indicator is only available with
digital speed control.
HIM Operation
This is referred to as:
The Speed Indicator
When you first apply power to the 1336 IMPACT drive, the HIM
cycles through a series of displays. These displays show the drive
name, HIM ID number, and communication status. When complete,
the status display shown in Figure C.2 is displayed.
Figure C.2
Initial Status Display
The display shows the current status of the drive (such as Stopped or
Running) or any faults that may be present.
On a Series A (Version 3.0) or Series B HIM (see back of HIM for
Series information), you can replace the status display with either
the Process display or the Password Login menu. This is covered
later in this appendix.
From this display, press any one of the five display panel keys.
Choose Mode is displayed. Press the Increment or Decrement key to
scroll through the modes.
The following modes are available:
This mode:
Lets you:
Display
View the value of any parameter. You cannot modify any parameters in this mode.
Process
Display two user-selected processes.
Program
Access the complete listing of parameters available for programming.
EEProm
Reset all parameters to the factory default settings. In addition, with a Series B HIM, you can upload/download parameters
between the HIM and the drive.
Search
Search for parameters that are not at their default values.
Control Status
Disable or enable the drive logic mask to let you remove the HIM while drive power is applied. SP Enable Mask
(parameter 124) lets you disable the logic mask with a Series A HIM below version 3.0. You can also access the fault and
warning queues from Control Status. A clear function clears the queue. It will not clear an active fault. Refer to Chapter 12,
Troubleshooting, for more information about the fault and warning queues.
Password
Protect the drive parameters against programming changes by unauthorized personnel. When a password has been
assigned, you must have the correct password to access the Program/EEProm modes and the Control Logic/Clear Fault
Queue menus. You can choose any five digit number between 00000 and 65535 for the password.
C-4
Using the Human Interface Module (HIM)
Figure C.3
HIM Menu Tree
Operator Level
Power-Up and
Status Display
or
or
or
or
Choose Mode
Mode Level
EEProm
Save Values
Recall Values
Reset Defaults
Drive to HIM
HIM to Drive
Search
Parameters
Links
Control
Status
Control Logic
Reset Drive 1
Fault Queue
Warning Queue
Password
Login
Logout
Modify
Display
Process
Program
Process Display
Link
Start Up
Set Links
Clear All Links
File Level
Parameter Files
Group Level
Parameter Groups
Element Level
Parameters
1
Not available before Version 1.06 Series B.
Using the Human Interface Module (HIM)
C-5
Using the Program and Display Modes
The Display and Program modes let you view and program
parameters. To use these modes, follow these steps:
1. Press any key from the status display. Choose Mode is shown.
2. Press INC or DEC to show Program if you want to change the
value of a parameter or Display if you only want to view the value
of a parameter.
3. Press ENTER.
4. Press INC or DEC to scroll through the available files. You may
choose among the following files: Monitor, Control, Fault Setup,
Interface/Comm, Motor/Inverter, Application, or Autotune.
5. Press ENTER.
6. Press INC or DEC to scroll through the available groups.
Chapter 11, Parameters lists the groups that are available for each
file.
7. Press ENTER.
8. Press INC or DEC to scroll through the parameters for the group
you chose.
Viewing and Changing Bit Definitions
Some parameters, such as Fault Select 1 (parameter 20), have
associated bits that you can view, and in some cases, change. If you
have a Series A (software version 3.0) or Series B HIM, you can use
your HIM to see what each bit means.
For example, if you want your 1336 IMPACT drive to report a fault
when a bus undervoltage condition occurs, you need to make sure that
bit 3 in Fault Select 1 is set. To do this, you need to do the following:
1. Navigate through the HIM menu tree structure to the desired
parameter. In this example, you want to go to Fault Select 1
(parameter 20), which is located in the Fault Setup file and the
Fault Config group:
2. Press SEL to view the bit definition for the first bit (bit 0). Bit 0 is
located in the lower right. The bits are numbered from 15 to 8 on
the top row and 7 to 0 are on the bottom row. An x in any position
indicates that the bit is not defined.
3. Press SEL again to view the bit definition of bit 1:
4. Continue pressing SEL until you reach bit 3.
C-6
Using the Human Interface Module (HIM)
5. To change the value of bit 3 from a 0 to a 1, press either INC or
DEC:
6. Press ENTER to save your changes and exit the bit definitions.
If the cursor is a blinking underline instead of a flashing character,
you are either in Display mode or are trying to change a read-only
parameter.
Using the Process Mode
Process mode lets you monitor the values of two processes at one
time. To use Process mode, you need to:
1. Press any key from the status display. Choose Mode is shown.
2. Press INC or DEC to show Process.
3. Press ENTER. The following is displayed:
4. Decide which two of the following processes you want to
monitor:
5.
6.
7.
8.
1
Speed
4
Power
2
Motor current
5
Torque
3
Motor voltage
6
Frequency
Press INC or DEC to change the value of process variable 1.
Press SEL.
Press INC or DEC to change the value of process variable 2.
Press ENTER. You should see a display similar to the following:
If you want the Process Display to appear when drive power is
applied, simultaneously press the increment and decrement keys
while the Process Display is active.
To exit Process mode, press the Escape key.
Using the Human Interface Module (HIM)
C-7
Using the EEProm Mode
You can use EEProm mode to save values, recall values, reset values
to the factory defaults, upload a parameter profile from the drive to
the HIM, or download a parameter profile. To perform any of these
functions, you need to first enter EEProm mode by selecting it from
the Choose Mode prompt.
Saving Values/Recalling Values
The 1336 IMPACT drive automatically saves the values of the
parameters when you make a change. Therefore, you should not need
to use these functions in most situations. However, you can use these
functions to try to fix problems with the checksum value.
If you have a problem with the checksum, you can:
1. Select Recall Values.
2. Select Save Values.
3. Check the values of the parameters.
Resetting the Default Values
To reset the values of all parameters to the factory default values:
1. From the EEProm mode prompt, press INC or DEC until Reset
Defaults is displayed.
2. Press ENTER to restore all parameters to their original factory
setting.
3. Press Escape. Reprogram Fault is displayed.
4. Press the Stop key to reset the fault. If Input Mode was previously
set to a value other than 1, cycle drive power to reset.
Uploading a Parameter Profile
To upload a parameter profile from the drive to the HIM, you must
have a Series B HIM.
1. From the EEProm mode prompt, press INC or DEC until Drive –
> HIM is displayed.
2. Press ENTER. A profile name (up to 14 characters) is displayed
on line 2 of the HIM.
3. Change this name or enter a new name. Use SEL to move the
cursor to the left. Use INC or DEC to change the characters.
4. Press ENTER. An informational display is shown. This display
indicates the drive type and firmware version.
5. Press ENTER to start the upload. The parameter number
currently being uploaded is displayed on line 1 of the HIM.
Line 2 indicates the total progress. Press ESC to stop the upload.
6. Press ENTER when COMPLETE is displayed on line 2. If line 2
reports ERROR, refer to the Troubleshooting section.
C-8
Using the Human Interface Module (HIM)
Downloading a Parameter Profile
To download a parameter profile from the HIM to a drive, you must
have a Series B HIM.
Important: The download function is only available when a valid
profile is stored in the HIM.
1. From the EEProm mode prompt, press INC or DEC until HIM –>
Drive is displayed.
2. Press ENTER. A profile name (up to 14 characters) is displayed
on line 2 of the HIM.
3. Press INC or DEC to scroll to a second profile (if available).
4. Press ENTER when the desired profile name is displayed. An
information display is shown that indicates the version numbers
of the profile and the drive.
5. Press ENTER to start the download. The parameter number
currently being downloaded is displayed on line 1 of the HIM.
Line 2 indicates the total progress. Press ESC to stop the
download.
6. Press ENTER when COMPLETE is displayed on line 2. If line 2
reports ERROR, refer to the following table.
If you receive
this error:
Then:
Error 1
An EEPROM CRC error occurred.
Error 2
The profile is a different length than the master.
Error 3
You are downloading between different types of masters.
Error 4
The data is out or range or illegal.
Error 5
You attempted the download while the drive was running.
Error 6
You are downloading between different types of masters.
Using the Search Mode
Search mode lets you search through the parameter list and display all
parameters that are not at the factory default values. You can also
search for links that are not the factory defaults.
Search mode is only available with a Series A (version 3.0) or
Series B HIM.
To use Search mode:
1. From the status display, press any key. Choose Mode is shown.
2. Press INC or DEC to show Search.
3. Press ENTER.
4. To search through the parameter list, press INC or DEC or until
Parameters is displayed. To search through the links, press INC
or DEC until Links is displayed.
5. Press ENTER. The HIM searches through all parameters and
displays any parameters/links that are not at their factory defaults.
6. Press INC or DEC to scroll through the list.
Using the Human Interface Module (HIM)
C-9
Using the Control Status Mode
Control Status mode lets you enable/disable the drive logic and check
the fault and warning queues.
Control Status mode is only available with a Series A (version 3.0)
or Series B HIM.
Using Control Logic
The Control Logic option lets you disable the drive logic mask to
prevent a serial fault when the HIM is removed with the drive power
applied.
To use Control Logic:
1. From the status display, press any key. Choose Mode is shown.
2. Press INC or DEC to show Control Status.
3. Press ENTER.
4. Press INC or DEC until Control Logic is displayed.
5. Press ENTER.
6. Press SEL.
7. Press INC or DEC to select either Disabled (or Enabled).
8. Press ENTER. The logic mask is now disabled (or enabled).
Viewing the Fault Queue/Warning Queue
To view either the fault or the warning queue:
1. Press any key from the status display. Choose Mode is shown.
2. Press INC or DEC to show Control Status.
3. Press ENTER.
4. Press INC or DEC until Fault Queue or Warning Queue is
displayed.
5. Press ENTER.
6. Press INC or DEC until View Queue is displayed.
7. Press ENTER.
The fault queue can contain up to 32 faults. The 1336 IMPACT drive
reports the faults using the following format:
Fault name
I n v
O v e r T e m p
F
2 0 2 8
Fault queue
indicator
Fault code
number
T r i p
Trip indicator
T r p
1
Position in
fault queue
The trip indicator is only present if this fault caused the drive to trip.
The last number (1) indicates this fault’s position within the fault
queue.
C-10
Using the Human Interface Module (HIM)
A marker is placed in the queue when the first fault occurs after a
power up sequence. This power up marker is as shown.
P w r
F
U p
M a r k e r
0
1 1
The 1336 IMPACT drive keeps track of the time that has elapsed
since power up. The drive uses this information as a time stamp so
that you can tell when a fault occurred in relation to when the drive
was powered up. To view the time stamp, you need to use Test Data 2
(parameter 94) and Test Select 2 (parameter 95). You need to enter
one value into Test Select 2 to view the time in hours since power up
and another value to view the minutes and seconds. These values are
listed in the Test Select 2 description in Chapter 11, Parameters
As an example, if you want to know when the fault in position 12
occurred in relation to when the drive was powered up, you would
need to do the following:
1. Enter a value of 11112 in Test Select 2 (parameter 95).
2. Look at the value of Test Data 2 (parameter 94). This value
represents the number of hours after power up that the fault in
position 12 occurred.
3. Enter a value of 11212 in Test Select 2.
4. Look at the value of Test Data 2 to see the number of minutes and
seconds after power up that the fault in position 12 occurred.
To clear the fault queue, select Clear Queue from the Fault Queue
options.
To view the warning queue, select Warning Queue from the Control
Status options. The remaining steps are the same as for the fault
queue.
Using the Password Mode
Password mode lets you enable password protection and change the
password. By default, the password is 0, which disables password
protection.
To use Password mode:
1. Press any key from the status display. Choose Mode is shown.
2. Press INC or DEC to show Password.
3. Press ENTER.
4. Press INC or DEC until Modify is displayed.
5. Press ENTER. Enter Password is displayed.
6. Press INC or DEC to scroll to your desired new password. With a
Series A (Version 3.0) or Series B HIM, SEL moves the cursor.
7. Press ENTER to save your password.
8. Press ENTER again to return to Password mode.
9. Press INC or DEC until Logout is displayed.
10. Press ENTER to log out of Password mode.
Using the Human Interface Module (HIM)
C-11
With a Series A (Version 3.0) or Series B HIM, you can program
Password mode to be displayed when drive power is applied. To do
this, you need to press the Increment and Decrement keys
simultaneously while the Password display is shown.
Once you set the password, the Program/EEProm modes and the
Control Logic/Clear Queue menus are password protected and are not
displayed in the menu. To access these modes, you need to:
1. Press any key from the status display. Choose Mode is shown.
2. Press INC or DEC to show Password.
3. Press ENTER.
4. Press ENTER. Enter Password is displayed.
5. Press INC or DEC until your correct password is displayed. With
a Series A (Version 3.0) or Series B HIM, SEL moves the cursor.
6. Press ENTER.
You can now access the Program and EEProm modes. To prevent
future access to program changes, you need to logout:
1. Press any key from the status display. Choose Mode is shown.
2. Press INC or DEC to show Password.
3. Press ENTER.
4. Press INC or DEC until Logout is displayed.
5. Press ENTER to log out of Password mode.
Creating a Link
You create links at the destination parameter. To create a link:
1. Go to the parameter that you want to receive the information.
2. Enter the number of the source parameter.
The following example uses a Human Interface Module (HIM) to
create a link. For this example, SP An Output (parameter 139) is the
destination parameter that is linked to Motor Torque %
(parameter 86), which is the source parameter. To create this link:
1. From the Choose Mode prompt, use INC or DEC to select Links.
2. Press INC or DEC to select Set Links. The HIM automatically
scrolls through the linear parameter list until it finds a parameter
that you can link.
3. Use INC or DEC to scroll through the parameter list until you
come to the destination parameter that you want to link. In this
example, you would use INC or DEC until you reach
parameter 139. The display should be similar to the following:
4. Press SEL. The display should now be similar to the following:
C-12
Using the Human Interface Module (HIM)
5. Press INC or DEC to go to the parameter that you want to provide
the information. In this case, parameter 86 — Motor Torque %.
6. Press ENTER.
7. Press ESC when you have finished to exit the Set Links mode.
Removing a Link
To remove a link, you need to:
!
ATTENTION: Be careful when removing links. If the
source parameter has already written a value to the
destination parameter, the destination parameter retains
the value until you explicitly remove it. For some
parameters, this may produce undesirable results.
1. From the Choose Mode prompt, use INC or DEC to select Links.
2. Press INC or DEC to select Set Links.
3. Use INC or DEC to scroll through the parameter list until you
come to the destination parameter that you want to link.
4. Press SEL.
5. Enter 0.
6. Press ENTER.
7. Press ESC when you have finished to exit the Set Links mode.
HIM Compatibility Information
If your HIM was shipped with your 1336 IMPACT drive, it should be
fully compatible with your drive. However, if you are using a HIM
that you purchased before purchasing your IMPACT drive, you
should read this section and understand which features your HIM
supports and which are not supported.
If your HIM is older
than:
Version 1.07 Series B
Version 1.06 Series B
Then your HIM does not support:
• The ability for the HIM to remove one decimal point from
parameters with values too large to display.
•
•
•
•
•
Version 1.07 Series B enhancement.
The reset function.
The ability to change the process display.
Enhanced parameter value changing.
A number accelerator. As you hold a button down longer
to change a value/parameter, the number will increase
incrementally faster.
Version 1.04 Series B
• Version 1.06 Series B enhancements.
• The ability to download information to a different size
drive.
Version 1.01 Series B
• Version 1.04 Series B enhancement.
• The copy cat function.
• The ability to escape out of the Search and Link
functions.
• The display of the trip fault for the fault display.
• Support for the start up procedure.
Using the Human Interface Module (HIM)
If your HIM is older
than:
Then your HIM does not support:
•
•
•
•
•
•
Version 3.00 Series A
C-13
•
•
•
•
•
•
•
•
Version 1.04 and 1.01 Series B enhancements.
The ability to display enums.
The ability to change any digit of parameter values.
The first fault displayed anywhere in the menu structure.
The ability to change any digit of a password value by
using the Select key.
The choice of process variables if more than one process
is available.
The ability to clear all links.
Additional parameter text for links.
The Search menu structure.
The Control Status menu structure.
The ability to enable/disable the logic mask.
The menu for the fault queue.
The menu for the warning queue.
The file/group structure.
To determine what version of the HIM you have, turn your module
over (remove it from the drive first, if necessary). The version is
located on the back of the HIM.
Removing the HIM
For handheld operation, you can remove the module and place it up to
10 meters (33 feet) from the 1336 IMPACT drive.
!
ATTENTION: Some voltages present behind the drive
front cover are at incoming line potential. To avoid an
electric shock hazard, use extreme caution when
removing/replacing the HIM.
Important: Removing a HIM (or other SCANport device) from a
drive while power is applied causes a Serial Fault, unless SP Enable
Mask (parameter 124) or Fault Select 1 (parameter 20) have been set
to disable this fault or Control Logic (from the Control Status menu)
has been disabled (only available on a Series A, version 3.0 or
Series B HIM). Setting bit 1 of SP Enable Mask to 0 disables Serial
Fault from a HIM on port 1. It also disables all HIM control functions
except Stop. Setting bit 9 of Fault Select 1 to 0 disables the serial fault
from the HIM on port 1 but still allows HIM control.
!
ATTENTION: Hazard of personal injury or equipment
damage exist. If you initiate a command to start motor
rotation (command a start or jog) and then disconnect
the programming device, the drive will not fault if you
have the SCANport communications fault set to be
ignored for that port.
C-14
Using the Human Interface Module (HIM)
To remove the HIM, you need to:
1. Either remove the power or clear the port bit, which corresponds
to the port the HIM is attached to, in SP Enable Mask
(parameter 124) or Fault Select 1 (parameter 20) to prevent the
drive from faulting.
2. Remove the front cover of the drive.
3. Slide the module down out of its cradle.
To use the module from anywhere up to 10 meters (33 feet) from your
drive, you need to:
1. Connect the appropriate cable between the HIM and the
communications port (adapter 2, 3, 4, or 5) or adapter 1 (the HIM
cradle).
2. Set SP Enable Mask to enable the port that you plugged the HIM
into and/or Fault Select 1 (parameter 20).
To replace the module, follow these steps:
1. Slide the module up into its cradle.
2. Replace the front cover of the drive.
3. Apply power, set SP Enable Mask or set Fault Select 1.
Appendix
D
Derating Guidelines
Chapter Objectives
A number of factors can affect drive ratings. Appendix D contains the
derating guidelines for the 1336 IMPACT drive. If your drive is
affected by more than one factor, contact Rockwell Automation.
This catalog number:
1336E-AQF05 – 50
1336E-A010
1336E-A015
1336E-A020
1336E-A025
1336E-A040
1336E-A050
1336E-A060
1336E-A075
1336E-A100
1336E-BRF05 – 100
1336E-B015
1336E-B020
1336E-B025
1336E-B030
1336E-B040
1336E-BX040
1336E-B050
1336E-BX060
1336E-B075
1336E-B100
1336E-B125
1336E-B150
1336E-BX150
1336E-B200
1336E-B250
1336E-BP300
1336E-BP350
1336E-BP400
1336E-BP450
1336E-B500
1336E-B600
1336E-B700C
1336E-B800C
1336E-C075
1336E-C100
1336E-C125
1336E-C150
1336E-C200
1336E-C250
1336E-CP350
1336E-C400
1336E-CP400
1336E-C450
1336E-C500
1336E-C600
1336E-C650
1336E-C700C
1336E-C800C
Is shown in:
Figure D.1
Figure D.2
Figure D.3
Figure D.4
Figure D.5
Figure D.6
Figure D.7
Figure D.8
Figure D.9
Figure D.10
Figure D.1
Figure D.11
Figure D.2
Figure D.12
Figure D.3
Figure D.4
Figure D.13
Figure D.5
Figure D.5
Figure D.14
Figure D.15
Figure D.16
Figure D.9
Figure D.16
Figure D.10
Figure D.17
Figure D.18
FIgure D.19
Figure D.20
Figure D.21
Figure D.22
Figure D.23
Figure D.24
Figure D.24
Figure D.25
Figure D.26
Figure D.27
Figure D.28
Figure D.29
Figure D.30
Figure D.38
Figure D.31
Figure D.39
Figure D.32
Figure D.37
Figure D.38
Figure D.39
Figure D.39
Figure D.39
D-2
Derating Guidelines
Derating Guidelines
Standard rating for enclosed drive in 40˚C ambient and open drive in 50˚C ambient.
Derating factor for enclosed drive in ambient between 41˚C and 50˚C.
Figure/Catalog Number
Derate
Figure D.1
AQ05-50 and
BRF05-100
100%
98%
96%
94%
% of Drive
Rated Amps
92%
90%
88%
86%
84%
0
1
2
3
4
9
8
7
6
5
10
11
12
Carrier Frequency in kHz
Figure D.2
A010 and B020
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
1
2
3
4
5
6
7
8
9
10
11
12
9
10
11
12
9
10
11
12
9
10
11
12
Carrier Frequency in kHz
Figure D.3
A015 and B030
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
60%
55%
50%
1
2
3
4
5
6
7
8
Carrier Frequency in kHz
Figure D.4
A020 and B040
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
60%
1
2
3
4
5
6
7
8
Carrier Frequency in kHz
Figure D.5
A025, B050, and
BX060
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
60%
55%
50%
45%
1
2
3
4
5
6
7
8
Carrier Frequency in kHz
Derating Guidelines
D-3
Standard rating for enclosed drive in 40˚C ambient and open drive in 50˚C ambient.
Derating factor for enclosed drive in ambient between 41˚C and 50˚C.
Figure/Catalog Number Derate
Figure D.6
A040
100%
98%
% of Drive
Rated Amps
96%
94%
92%
90%
4
2
6
Carrier Frequency in kHz
Figure D.7
A050
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
4
2
6
Carrier Frequency in kHz
Figure D.8
A060
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
60%
4
2
6
Carrier Frequency in kHz
Figure D.9
A075 and B150
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
1
2
3
4
5
6
5
6
Carrier Frequency in kHz
Figure D.10
A100 and B200
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
1
2
3
4
Carrier Frequency in kHz
D-4
Derating Guidelines
Standard rating for enclosed drive in 40˚C ambient and open drive in 50˚C ambient.
Derating factor for enclosed drive in ambient between 41˚C and 50˚C.
Figure/Catalog Number Derate
Figure D.11
B015
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
1
2
4
3
5
7
6
8
9
10
11
12
9
10
11
12
Carrier Frequency in kHz
Figure D.12
B025
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
60%
55%
1
2
4
3
5
7
6
8
Carrier Frequency in kHz
Figure D.13
BX040
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
1
2
4
3
5
7
6
8
Carrier Frequency in kHz
Figure D.14
B075
100%
98%
96%
% of Drive
Rated Amps
94%
92%
90%
4
2
6
Carrier Frequency in kHz
Figure D.15
B100
100%
95%
90%
% of Drive
Rated Amps
85%
80%
75%
70%
65%
2
4
Carrier Frequency in kHz
6
9
10
11
12
Derating Guidelines
D-5
Standard rating for enclosed drive in 40˚C ambient and open drive in 50˚C ambient.
Derating factor for enclosed drive in ambient between 41˚C and 50˚C.
Figure/
Catalog No.
Figure/
Catalog No.
Derate
Figure D.16
B125 and
BX150
Derate
Figure D.17
B250
100%
95%
100%
95%
90%
% of Drive
Rated Amps
90%
% of Drive
Rated Amps
85%
80%
75%
85%
80%
75%
70%
70%
65%
65%
4
2
6
60%
1
Carrier Frequency in kHz
4
3
2
5
6
Carrier Frequency in kHz
Figure D.18
BP300
Figure D.19
BP350
100%
90%
% of Drive
Rated Amps
100%
90%
% of Drive
Rated Amps
80%
70%
80%
70%
60%
60%
50%
50%
4
2
Figure D.21
BP450
100%
90%
% of Drive
Rated Amps
100%
90%
% of Drive
Rated Amps
80%
70%
80%
70%
60%
60%
50%
50%
4
2
Figure D.23
B600
95%
100%
95%
90%
90%
% of Drive
Rated Amps
85%
80%
80%
70%
70%
65%
65%
1
1
4
3
2
100%
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
0
1000
2000
2
3
Carrier Frequency in kHz
Carrier Frequency in kHz
% of Drive
Rated Amps
85%
75%
75%
Figure D.24
B700C and
B800C
6
Carrier Frequency in kHz
100%
% of Drive
Rated Amps
4
2
6
Carrier Frequency in kHz
Figure D.22
B500
6
Carrier Frequency in kHz
Carrier Frequency in kHz
Figure D.20
BP400
4
2
6
3000
Carrier Frequency in Hz
4000
5000
6000
% of Drive Rating 700 HP
% of Drive Rating 800 HP
4
D-6
Derating Guidelines
Standard rating for enclosed drive in 40˚C ambient and open drive in 50˚C ambient.
Derating factor for enclosed drive in ambient between 41˚C and 50˚C.
Figure/
Catalog No.
Figure D.25
C075
Figure/
Catalog No.
Derate
Figure D.26
C100
100%
% of Drive
Rated Amps
Derate
98%
100%
98%
% of Drive
Rated Amps
96%
94%
96%
94%
92%
92%
90%
90%
4
2
Figure D.28
C150
100%
95%
% of Drive
Rated Amps
100%
95%
90%
90%
% of Drive
Rated Amps
85%
80%
75%
85%
80%
75%
70%
70%
65%
65%
4
2
1
6
Carrier Frequency in kHz
Figure D.29
C200
3
2
4
5
6
Carrier Frequency in kHz
Figure D.30
C250
100%
95%
100%
95%
90%
% of Drive
Rated Amps
6
Carrier Frequency in kHz
Carrier Frequency in kHz
Figure D.27
C125
4
2
6
90%
% of Drive
Rated Amps
85%
80%
75%
85%
80%
75%
70%
70%
65%
65%
60%
60%
55%
55%
50%
50%
45%
45%
1
3
2
4
5
40%
6
1
Carrier Frequency in kHz
3
2
4
5
6
Carrier Frequency in kHz
Figure D.31
C400
Figure D.32
C450
100%
95%
100%
95%
90%
90%
% of Drive
Rated Amps
% of Drive
Rated Amps
85%
80%
85%
80%
75%
75%
70%
70%
65%
65%
1
2
3
Carrier Frequency in kHz
4
1
2
3
Carrier Frequency in kHz
4
Derating Guidelines
D-7
Standard rating for enclosed drive in 40˚C ambient and open drive in 50˚C ambient.
Derating factor for enclosed drive in ambient between 41˚C and 50˚C.
Figure/
Catalog No.
Figure/
Catalog No.
Derate
Figure D.33
CP350
Figure D.34
CP400
100%
90%
% of Drive
Rated Amps
Derate
100%
90%
% of Drive
Rated Amps
80%
70%
60%
80%
70%
60%
50%
50%
4
2
6
Carrier Frequency in kHz
Figure D.35
CPR450
6
Carrier Frequency in kHz
Figure D.36
C500
100%
90%
% of Drive
Rated Amps
4
2
100%
95%
90%
80%
% of Drive
Rated Amps
70%
60%
85%
80%
75%
50%
4
2
70%
6
Carrier Frequency in kHz
65%
1
4
3
2
Carrier Frequency in kHz
Figure D.37
C600
Figure D.38
C650
100%
95%
100%
95%
90%
90%
% of Drive
Rated Amps
% of Drive
Rated Amps
85%
80%
85%
80%
75%
75%
70%
70%
65%
65%
60%
60%
55%
55%
1
2
3
55%
4
1
Carrier Frequency in kHz
Figure D.39
C700C and
C800C
90%
80%
70%
60%
50%
40%
30%
20%
10%
0%
0
1000
2000
3
Carrier Frequency in kHz
100%
% of Drive
Rated Amps
2
3000
Carrier Frequency in Hz
4000
5000
6000
% of Drive Rating 700 HP
% of Drive Rating 800 HP
4
Derating Guidelines
Due to drive losses, the output voltage to the motor is affected by the
AC input voltage to the drive. This reduced motor voltage may
require more motor torque, and therefore current, to achieve rated
motor horsepower. Though most applications do not require full rated
motor horsepower at full speed, the following information is provided
to assist with proper motor/drive selection.
1.
2.
3.
For 460V motors, operate with a minimum 480V Input AC line voltage.
Size the motor with the capability to operate with 8% more current.
Purchase a motor designed to operate at 440V.
Figure D.40
All Drive Ratings
100%
% of Drive
Rated Amps
90%
80%
0
1000
(3300)
2000
(6600)
3000
(9900)
m
4000
(13200) (ft)
Altitude
Figure D.41
Required Only for the following drives:
1336E-A/B/C-025 - 18.5 kW (25 HP) at 8 kHz
1336E-A/B/C - 22 kW (30 HP) at 6-8 kHz
1336E-A/B/C - 45 kW (60 HP) at 6 kHz
1
100%
% of Drive
Rated Amps
90%
80%
240, 480, or 600V
Nominal
+2%
+4%
+6%
+8%
+10%
Input Voltage
Figure D.42
Drive Ratings
Line Derating
120%
100%
80%
%
D-8
60%
40%
20%
0%
0%
10% 20% 30% 40% 50% 60% 70%
80% 90% 100% 105% 110% 115% 120% 125% 130% 135% 140% 145% 150%
Speed
Appendix
E
CE Conformity
EMC Directive
This apparatus is tested to meet Council Directive 89/336
Electromagnetic Compatibility (EMC) using a technical construction
file and the following standards:
• EN 50081-1, -2 — Generic Emission Standard
• EN 50082-1, -2 — Generic Immunity Standard
Declarations of Conformity to the European Union Directives are
available. Please contact your Allen-Bradley Sales Representative.
Marked for all applicable directives1
Emissions
Immunity
EN 50081-1
EN 50081-2
EN 55011 Class A
EN 55011 Class B
EN 50082-1
EN 50082-2
IEC 801-1, 2, 3, 4, 6, 8 per EN50082-1, 2
1 Note: Installation guidelines stated below must be adhered to.
Important: The conformity of the drive and filter to any standard
does not guarantee that the entire installation will conform. Many
other factors can influence the total installation and only direct
measurements can verify total conformity.
Requirements for Conforming
Installation
The following six items are required for CE conformance:
1. Standard 1336 IMPACT Drive 0.37 – 485 kW (0.5 – 650 HP) CE
compatible.
2. Factory installed EMC enclosure (-AE option) or field installed
EMC Enclosure Kit (1336x-AEx — see page E-2).
3. Filter as called out on the following page.
4. Grounding as shown on page E-3.
5. Input power (source to filter) and output power (filter to drive and
drive to motor) wiring must be braided, shielded cable with a
coverage of 75% or better, metal conduit or other with equivalent
or better attenuation, mounted with appropriate connectors. For
shielded cable it is recommended to use a compact strain relief
connector with double saddle clamp for filter and drive input and
compact strain relief connector with EMI protection for motor
output.
6. Control (I/O) and signal wiring must be in conduit or have
shielding with equivalent attenuation.
E-2
Filter
CE Conformity
Filter Selection
Filter Catalog
Number
1336-RFB-7-A
1336-RFB-16-A
1336-RFB-30-A
1336-RFB-27-B
1336-RFB-48-B
1336-RFB-80-C
1336-RFB-150-D
1336-RFB-180-D
1336-RFB-340-E
Three-Phase
Volts
Frame
Reference
Used with…
200 – 240V
1336E-AQF05 – AQF10
A1
380 – 480V
1336E-BRF05 – BRF20
A1 – A2
200 – 240V
1336E-AQF15 – AQF20
A2
380 – 480V
1336E-BRF30 – BRF50
A2 – A3
200 – 240V
1336E-AQF30 – AQF50
A3
380 – 480V
1336E-BRF75 – BRF100
A4
200 – 240V
1336E-A007
B
380 – 480V
1336E-B007 – B015
B
200 – 240V
1336E-A010 – A015
B
380 – 480V
1336E-B020 – B030
B
200 – 240V
1336E-A020 – A030
C
380 – 480V
1336E-BX040 – BX060
C
200 – 240V
1336E-A040 – A050
D
380 – 480V
1336E-B060 – B100
D
200 – 240V
1336E-A060
D
380 – 480V
1336E-B125 – BX150
D
200 – 240V
1336E-A075 – A125
E
380 – 480V
1336E-B150 – B250
E
1336-RFB-475-G
380 – 480V
1336E-BX250 – B350
G
1336-RFB-590-G
380 – 480V
1336E-B400 – B450
G
1336-RFB-670-G
380 – 480V
1336E-B500 – B600
G
Not available
380 – 480V
1336E-B700 – B800
H
EMC Enclosure Kit Selection
Enclosure Kit Catalog Number
Frame
Reference
200 – 240V Rating
380 – 480V Rating
500 – 600V Rating
A1, A2, A3
1336E-AE3
1336E-AE3
—
A4
1336E-AE2
1336E-AE2
1336E-AE2
B
1336E-AE4
1336E-AE4
1336E-AE4
C
1336E-AE5
1336E-AE5
1336E-AE5
D
1336E-AE6
1336E-AE6
1336E-AE6
E
1336E-AE7
1336E-AE7
1336E-AE7
F–H
Not Available
RFI Filter Installation
Important: Refer to the instructions supplied with the filter for
details.
The RFI filter must be connected between the incoming AC supply
line and the drive input terminals.
CE Conformity
E-3
RFI Filter Leakage Current
The RFI filter may cause ground leakage currents. Therefore a solid
ground connection must be provided as shown below.
!
ATTENTION: To guard against possible equipment
damage, RFI filters can only be used with AC supplies
that are nominally balanced and grounded with respect
to ground. In some installations, three-phase supplies are
occasionally connected in a 3-wire configuration with
one phase grounded (Grounded Delta). The filter must
not be used in Grounded Delta supplies.
Electrical Configuration
Conduit/4-Wire Cable
R (L1)
RFI
Filter
S (L2)
ESC
SEL
JOG
T (L3)
PE
Ground Rod/Grid
or Building Structure Steel
Grounding
Shield Terminated in Cable
Clamp on A Frame Drives
RFI Filter Grounding
Important: Using the optional RFI filter may result in relatively high
ground leakage currents. Surge suppression devices are also
incorporated into the filter. Therefore, the filter must be permanently
installed and solidly grounded (bonded) to the building power
distribution ground. Ensure that the incoming supply neutral is solidly
connected (bonded) to the same building power distribution ground.
Grounding must not rely on flexible cables and should not include
any form of plug or socket that would permit inadvertent
disconnection. Some local codes may require redundant ground
connections. The integrity of all connections should be periodically
checked.
E-4
CE Conformity
Mechanical Configuration
Filter Mounting
Important: A positive electrical bond must
be maintained between drive and filter at
all 4 corners. Star washers can be
eliminated if a positive electrical
bond is assured.
Three-Phase Input 1
Important: Drive and filter must be
mounted to a common back plane
with a positive electrical bond and
in close proximity to one another.
Star Washers
Flat Washer
Three-Phase
Input 1
Bolt
Access
Panel
Bolt
To Motor 1
Cable Supplied with Filter
1
Conduit 1
To Motor 1
1336 IMPACT
1336 IMPACT
Frames A1 - A4 2
Frames B & C 2
1 Input power (source to filter) and output power (filter to drive and drive to motor) wiring must be in conduit or have shielding/armor with
equivalent attenuation. Shielding/armor must be bonded to the metal bottom plate. See requirements 5 & 6 on page E-1.
2 Refer to the Filter Selection table on page E-2 for frame references and corresponding catalog numbers.
CE Conformity
E-5
Filter Mounting, Continued
Important: Drive and filter must be
mounted to a common back plane with
a positive electrical bond. Spacing is
determined by Conduit Box.
Three-Phase
1
Input
Filter Mounting
Bracket
Three-Phase
1
Input
Access Panel and
Input Terminal Block
Lower Access Panel
To Motor 1
Conduit Box
To Motor
1
Conduit Box
Filter Mounting
Bracket
1336 IMPACT
(Through-the-Wall Mounting)
Frames D & E
2
1
1
Nipple/Fitting
1336 IMPACT
(Conventional Mounting)
Frames D & E
2
1 Input power (source to filter) and output power (filter to drive and drive to motor) wiring must be in conduit or have shielding/armor with
equivalent attenuation. Shielding/armor must be bonded to the metal bottom plate. See requirements 5 & 6 on page E-1.
2 Refer to the Filter Selection table on page E-2 for frame references and corresponding catalog numbers.
E-6
CE Conformity
Filter Mounting, Continued
Important: A positive electrical bond must be maintained
between the enclosure and filter (including brackets),
fans, and drive. To assure a positive electrical bond,
any paint near all mounting points must be
removed.
All Dimensions in Millimeters and (Inches)
Important: Cooling fans are required for proper
drive operation. Refer to the User-Supplied
Enclosures section in Chapter 2 for CFM
recommendations.
Typical Connection
to Drive
75.0
(2.95)
Mounting Brackets
AC Input Terminals
831.0
(32.72)
Important: This information represents the
method used to mount 1336-RFB-475, 590 & 670
filters in an Allen-Bradley supplied EMC enclosure. User
supplied EMC enclosures must follow all of the guidelines
shown. Illustrations are only intended to identify structural
mounting points and hardware shapes. You must design and
fabricate steel components based on the actual mounting
configuration, calculated loads and enclosure specifications. Refer to
Chapter 2 for drive mounting requirements.
Typical Bracket
for Stability
1336 IMPACT
(Typical Mounting)
Frame G 2
1 Input power (source to filter) and output power (filter to drive and drive to motor) wiring must be in conduit or have shielding/armor with
equivalent attenuation. Shielding/armor must be bonded to the metal bottom plate. See requirements 5 & 6 on page E-1.
2 Refer to the Filter Selection table on page E-2 for frame references and corresponding catalog numbers.
CE Conformity
E-7
Required Knockout Assignments
Dimensions are in Millimeters and (Inches)
Frames A1 through A4
Control I/O
Motor Output
Filter Input
Control I/O
Frames B and C
Filter Input
Motor Output
SCANport
SCANport
22.2/28.6 (0.88/1.13) - 3 Plcs.
Frame D
Filter Input
22.2 (0.88) - 1 Plc.
28.6/34.9 (1.13/1.38) - 3 Plcs.
22.2 (0.88) - 1 Plc.
Frame E
Motor Output
Control I/O
Filter Input
Control I/O
Motor Output
SCANport
(Side of Drive)
SCANport
34.9/50.0 (1.38/1.97) - 1 Plc.
34.9 (1.38) - 3 Plcs.
62.7/76.2 (2.47/3.00) - 2 Plcs.
88.9/104.8 (3.50/4.13)
2 Plcs.
12.7 (0.50)
3 Plcs.
E-8
Notes:
CE Conformity
Appendix
F
Spare Parts Information
Current 1336 IMPACT drive spare parts information including
recommended parts, catalog numbers and pricing can be obtained
from the following sources:
Allen-Bradley home page on the World Wide Web at
http://www.ab.com
then select…
“Drives” followed by…
“Product Information” and…
“Service Information…”
Select document(s) 1060.pdf (230V drives) and/or 1070.pdf (460
and 575V drives).
• Standard Drives “AutoFax” service — an automated system that
you can call to request a “faxed” copy of the spare parts
information (or other technical document).
Simply call 440-646-6701 and follow the phone prompts to request
document(s) 1060 (230V drives) and/or 1070 (460 and 575V drives).
F-2
Notes:
Spare Parts Information
Index
Numerics
Autotune/Dgn Sel, 11-51, 13-2
2/3 wire control, 8-4
4 – 20 mA application, 9-11
400% motor current, 9-7 to 9-8
B
A
Absolute Overspd, 11-17, B-31
Accel Time 1, 11-20, B-8
Accel Time 2, 11-20, B-8
add/subtract function, 10-10 to 10-12
alarms See warnings
An In 1 Offset, 11-33
An In 1 Scale, 11-33
An In 1 Value, 11-33
wiring, 2-21
An In 2 Filter BW, 11-54
An In 2 Offset, 11-34
An In 2 Scale, 11-34
An In 2 Value, 11-33
wiring, 2-21
An In1 Filter BW, 11-54
An Out 1 Offset, 11-35
An Out 1 Scale, 11-35
An Out 1 Value, 11-34
wiring, 2-23
An Out 2 Offset, 11-35
An Out 2 Scale, 11-35
An Out 2 Value, 11-35
analog I/O See I/O, analog
autotune
Autotune Errors, 11-53, 13-7, 13-8
Autotune Speed, 11-50
Autotune Status, 11-48, 13-13
Autotune Torque, 11-49
Autotune/Dgn Sel, 11-51, 13-2
checking status of, 11-48
defined, 13-1
faults, 13-7, 13-8
flux current test, 13-8
inductance test, 13-6
inertia test, 13-9
multiple opens, 13-5
open transistor faults, 13-5
phase rotation tests, 13-5
power structure tests, 13-2
resistance test, 13-7
running individual tests, 13-2
software fault, 13-5
speed loop overview, B-35, B-38
status, 11-48, 13-13
transistor diagnostic tests, 13-2
Autotune Errors, 11-53, 13-7, 13-8
Autotune Speed, 11-50, 13-9, 13-10
Autotune Status, 11-48, 13-13, B-37
Autotune Torque, 11-49, 13-9, 13-10, B-21
band function, 10-26
bandwidth
adjusting, 13-11
brake chopper, 9-3
braking, 9-3 to 9-6
bus regulator, 9-4
DC braking, 9-6
enable, 11-12
dynamic braking, 9-3
flux braking, 9-5
enable, 11-12
motor currents, B-23
bus cycles >5, 11-15, 11-16, 12-4, 12-18
bus drop, 11-15, 11-16, 12-4, 12-18
bus regulator
braking, 9-4
explained, B-21
bus undervoltage, 11-15, 11-16, 12-4, 12-18
bus voltage tracker
explained, 12-21
setting slew rate, 11-12
Bus/Brake Opts, 11-12, 12-16, 12-18
for braking, 9-3 to 9-6
for fast flux up, 12-20
force precharge, 12-20
select slew rate, 12-21
C
cable
common mode core, 2-9
guidelines for length, 2-2 to 2-4
output reactor, 2-9
shielding requirements, 2-20
terminator, 2-3 to 2-4
catalog number explained, 1-3
CE conformity, E-1
chopper brake, 9-3, 11-12
Clr Flt/Res Mask, 11-41
Command Spd Sts, 11-28
common mode cores, 2-9
communications fault, 8-7
communications gateway, connecting, 2-24
contents of manual, 1-2
control interface option See L Option
current limits explained, B-23
Current Rate Lim, 11-28, B-37
D
Data In A1, 11-45
Data In A2, 11-45
Data In B1, 11-45
I-2
Data In B2, 11-45
Data In C1, 11-46
Data In C2, 11-46
Data In D1, 11-46
Data In D2, 11-46
Data Out A1, 11-46
Data Out A2, 11-46
Data Out B1, 11-47
Data Out B2, 11-47
Data Out C1, 11-47
Data Out C2, 11-47
Data Out D1, 11-47
Data Out D2, 11-47
datalinks, 8-10 to 8-13, 11-45 to 11-47
DC Brake Current, 9-6, 9-7, 11-28
DC Brake Time, 9-6, 11-28
DC braking, 9-6
enabling, 11-12
DC Bus Voltage, 11-29
DC hold, 9-6
enable, 11-12
Decel Time 1, 11-20, B-8
Decel Time 2, 11-20, B-8
decelerating methods, 9-3 to 9-6
definitions, 1-3
derating guidelines, D-1
dimensions
A1 – A4, 3-5 to 3-6
B – H, 4-12 to 4-18
Dir/Ref Mask, 11-40
Dir/Ref Owner, 11-41
drive
fault detection overview, B-27
drive units
converting to rpm, 10-22
Drive/Inv Status, 11-13
Drive/Inv Sts 2, 11-60
Droop Percent, 11-21, B-18
dwell
start speed, 11-59, B-5
start time, 11-59, B-5
stop time, 11-14
dynamic braking, 9-3
E
electrical interference, 2-28
Enc Pos Fdbk Hi, 11-72
Enc Pos Fdbk Low, 11-72
encoder, 5-11
making connections, 2-16
encoder feedback, 9-2
selecting, 11-24
Encoder PPR, 11-11, B-26
encoderless, 9-2, 12-29
selecting, 11-24
Error Filtr BW, 11-49, 13-11, B-18, B-37
F
fan voltage, 4-10
Fast Flux Level, 11-28
fast flux up
enable, 11-12
explained, 12-20
Fault Select 1, 8-7, 11-15, 12-18
Fault Select 2, 11-16, 12-5 to 12-6, 12-24
Fault Status 1, 11-71
Fault Status 2, 11-71
faults, 12-2
Absolute Overspd, 12-10, B-31
Analog Spply Tol, 12-10, B-31
Autotune Diag, 12-8
Autotune Errors, 11-53, 13-7, 13-8
Bus Cycle >5, 12-14
Bus Drop, 12-14
Bus Undervlt, 12-14
clear queue, 12-7, C-10
configuring, 11-15, 11-16, 12-4 to 12-6
Desaturation, 12-14
Diff Drv Type, 12-10
EE Checksum, 12-10
External Flt In, 12-11
Feedback Loss, 12-27, B-29
Ground Fault, 12-14
HW Malfunction, 12-9, 12-15
Inv Overload, 12-9
Inv Overtemp Pnd, 12-9, B-31
Inv Overtemp Trp, 12-9, B-31
InvOvld Pend, 12-9
mA Input, 12-11
Math Limit, 12-11
explained, 12-24
Mtr Stall, 12-8, B-29
MtrOvld Pnd, B-29
MtrOvld Trp, B-29
MtrOvrld Pnd, 12-8
MtrOvrld Trp, 12-8
Open Circuit, 12-15
open transistor, 13-5
Overcurrent, 12-14
Overvoltage, 12-14
Param Limit, 12-11
explained, 12-22 to 12-24
precharge, 12-15
Prechrg Time, 12-14
ridethrough, 12-15
Ridethru Time, 12-14
SP 1 Timeout, 12-11
SP 2 Timeout, 12-12
SP 3 Timeout, 12-12
SP 4 Timeout, 12-12
SP 5 Timeout, 12-12
SP 6 Timeout, 12-12
SP Error, 12-12
Spd Fdbk Loss, 12-11
SW Malfunction, 12-10
viewing queue with HIM, 12-6
I-3
Fdbk Device Type, 9-1 to 9-3, 11-24, 13-11, B-13
Fdbk Filter BW, 11-25, B-15
Fdbk Filter Gain, 11-25, B-15
Fdbk Filter Sel, 11-25, 13-11, B-14, B-37
for notch filters, B-23
features provided, 1-1
feedback device
choosing filter, B-14
choosing source, 9-1 to 9-3, B-13
setting PPR rating, 11-11
Feedback Loss Fault, 12-27
filtering, RFI, E-3
flux braking, 9-5 to 9-6
enabling, 11-12
motor currents, B-23
Flux Current, 11-50, B-26
flux See fast flux up
Flux/Trim Owner, 11-43
flying start
using, 9-14, 9-16, 9-17
frame designators defined, 1-4
Freq Track Filtr, 11-54
Fstart Select, 11-69
Fstart Speed, 11-70
Func 1 Eval Sel, 10-4, 11-62
Func 1 Mask/Val, 11-61
Func 2 Eval Sel, 10-4, 11-63
Func 2 Mask/Val, 11-63
Func 3 Eval Sel, 10-4, 11-65
Func 3 Mask/Val, 11-64
function block
add/subtract, 10-10 to 10-12
band, 10-26
evaluating inputs, 10-4
hysteresis, 10-23 to 10-25
logical add/subtract, 10-26 to 10-27
logical multiply/divide, 10-27 to 10-28
maximum/minimum, 10-12 to 10-14
multiply/divide, 10-18 to 10-20
overview, 10-1 to 10-3
scale, 10-20 to 10-23
state machine, 10-8 to 10-10
timer delay, 10-5 to 10-8
up/down counter, 10-14
Function In1, 11-61
Function In10, 11-73
Function In2, 11-62
Function In3, 11-64
Function In4, 11-65
Function In5, 11-66
Function In6, 11-66
Function In7, 11-67
Function In8, 11-67
Function In9, 11-73
Function Output1, 11-69
Function Output2, 11-69
Function Sel, 11-68
functions
determining ownership, 8-5
masking, 8-6
ownership of, 8-3
fusing requirements
A1 – A4 frames, 3-4
B – H frames, 4-11
Fwd Speed Limit, 11-20, 13-9, B-7
G
gains
integral, 13-10, B-17
Kf, 13-13, B-18
Ki, 13-10, B-17
Kp, 13-10, B-17
proportional, 13-10, B-17
scaling, B-18
speed overshoot, 13-13
gateway See communications gateway
grounding your drive, 2-14 to 2-17
H
heat dissipation requirements, 2-9
HIM See Human Interface Module (HIM)
Human Interface Module (HIM)
basics, 6-4
compatibility information, C-12
control status mode, C-9
creating links, 6-12, C-11
description, C-1
display mode, C-5
changing bit definitions, C-5 to C-6
downloading parameter profile, C-8
EEProm mode, C-7
menu tree, C-4
password mode, C-10 to C-12
process mode, C-6
program mode, C-5
removing, C-13
resetting default parameter values, C-7
search mode, C-8
uploading parameter profile, C-7
viewing fault/warning queues, 12-6, C-9
hysteresis function, 10-23 to 10-25
I
I/O
analog, 9-8 to 9-11
associated parameters, 7-1
offset for input, 7-4 to 7-6
offset for output, 7-6 to 7-8
scale for input, 7-4 to 7-6
scale for output, 7-6 to 7-8
setting SCANport parameters, 8-14
setting up, 7-1 to 7-8
configuring
I-4
4 – 20 mA, 7-8
analog, 7-4 to 7-8
L Option, 7-12
output relay, 7-10
pulse input, 7-11 to 7-12
hard wiring, 2-21
analog inputs, 2-21
analog outputs, 2-23
discrete outputs, 2-23
reference signal connections
frames A1 – A4, 3-3
frames B – H, 4-8
I2T See motor overload
Id Offset, 11-73
inertia
measuring, B-36
input fusing, 2-27
input/output ratings, A-4
Int Torque Ref, 11-73
internal drive units, 7-1
inverter
current rating, 11-11
over temperature, 11-16, 11-17, 12-5
overload overview, B-32
voltage rating, 11-11
Inverter Amps, 11-11
Inverter Dgn1, 11-52, 13-4
Inverter Dgn2, 11-52, 13-4
inverter overload, 11-16, 11-17, 12-5
Inverter Volts, 11-11
Iq %, 11-31, B-26
Iq Offset, 11-73
IT inverter protection, B-33
J
jog
selecting references, B-5
Jog Speed 1, 11-19
Jog Speed 2, 11-19
Jog1/Jog2 Owner, 11-42
K
Kf Freq Reg, 11-53
Kf Speed Loop, 11-49, 13-11, 13-13, B-18, B-37
Ki Freq Reg, 11-53
Ki Speed Loop, 11-48, 13-12, B-18, B-37
Kp Freq Reg, 11-53
Kp Speed Loop, 11-48, 13-12, B-18, B-37
L
L Option
available functions, 5-3
changing input mode, 5-8
choosing mode, 5-4
configuring, 7-12
connections, 5-6 to 5-7
description, 5-2
encoder, 5-11
examples of, 5-9 to 5-10
requirements
L4, 5-11
L5, 5-12
L6, 5-13
L7E, 5-14
L8E, 5-15
L9E, 5-16
wiring, 5-8
L Option In Sts, 11-38
L Option Mode, 9-14, 11-37
Language Select, 11-10
Leak Inductance, 11-50
Line Undervolts, 11-17, 12-16, 12-19
links
creating, 6-12, C-11
pre-defined, 6-13
removing, 6-13, C-12
understanding, 6-12
Logic Cmd Input, 11-60
Logic Input, 9-7
Logic Input Sts, 8-1 to 8-3, 11-13, B-5
Logic Options, 9-7, 11-14, B-7
logical add/subtract function, 10-26 to 10-27
logical multiply/divide function, 10-27 to 10-28
loss of communications, 8-7
lug kits, 4-6
M
mA In Filter BW, 11-54
mA input
loss of connection, 11-15, 11-16, 12-4
mA Input Offset, 11-34
mA Input Scale, 11-34
mA Input Value, 11-34
mA Out Offset, 11-36
mA Out Scale, 11-36
mA Out Value, 11-35
manuals
related, 1-3
masking functions, 8-6
math limit, 11-16, 11-17, 12-5
Max Fwd Spd Trim, 11-24
Max Mtr Current, 9-8, 11-59
Max Rev Spd Trim, 11-24
maximum/minimum function, 10-12 to 10-14
Min Flux Level, 11-26, 13-11, B-21
Min Speed Limit, 11-69
Mop Increment, 9-14, 11-38
Mop Value, 9-14, 11-38
MOP, using, 9-14
motor cables
I-5
selecting, 2-18 to 2-20
motor control board overview, B-2
Motor Current, 11-29
motor feedback source, 9-1 to 9-3
Motor Flux %, 11-30, B-21
Motor Frequency, 11-30, B-26
motor information
cables
length of, 2-2
selecting, 2-18 to 2-20
changing audible noise level, 11-11
choosing feedback source, 9-1 to 9-3
current rating, 11-10
frequency rating, 11-10
horsepower rating, 11-10
motor poles, 11-11
speed (rpm), 11-10
voltage rating, 11-10
motor overload, 11-16, 11-17, 12-5
Motor Overload %, 11-17
Motor Poles, 11-11, B-26
Motor Power %, 11-30
motor simulation mode, 11-24
Motor Speed, 11-28
Motor Stall Time, 11-17, B-29
motor stalled, 11-16, 11-17, 12-5
Motor Torque %, 11-29
Motor Voltage, 11-29
Motor Voltage %, 11-73, 11-74, 11-75, 11-76, 11-77, 11-78, 11-79,
11-80, 11-81, 11-82, 11-83, 11-84
mounting your drive, 2-10
MOV ratings, 2-26
multiply/divide function, 10-18
N
Nameplate Amps, 11-10
Nameplate HP, 11-10
Nameplate Hz, 11-10
Nameplate RPM, 11-10
Nameplate Volts, 11-10
Ncfg Flt Status, 11-70
Neg Mtr Cur Lim, 9-7, 11-27, 13-9, B-22, B-23
Neg Torque Lim, 11-27, B-21, B-22
Notch Filtr Freq, 11-55, B-23
Notch Filtr Q, 11-55, B-23
NTC foldback protection, B-33
O
open circuit, 11-15, 11-16, 12-4
options available, 1-2
output devices See I/O
output reactor guidelines, 2-2 to 2-4
output relay, configuring, 7-10
ownership of drive functions, 8-3
P
parameter limit, 11-16, 11-17, 12-5
parameters
Absolute Overspd, 11-17, B-31
Accel Time 1, 11-20, B-8
Accel Time 2, 11-20, B-8
alphabetical listing, 11-8
An In 1 Offset, 11-33
An In 1 Scale, 11-33
An In 1 Value, 11-33
An In 2 Offset, 11-34
An In 2 Scale, 11-34
An In 2 Value, 11-33
An In1 Filter BW, 11-54
An In2 Filter BW, 11-54
An Out 1 Offset, 11-35
An Out 1 Scale, 11-35
An Out 1 Value, 11-34
An Out 2 Offset, 11-35
An Out 2 Scale, 11-35
An Out 2 Value, 11-35
Autotune Errors, 11-53, 13-7, 13-8
Autotune Speed, 11-50, 13-9, 13-10
Autotune Status, 11-48, 13-13, B-37
Autotune Torque, 11-49, 13-9, 13-10, B-21
Autotune/Dgn Sel, 11-51, 13-2
Bus Options, 12-18
Bus/Brake Opts, 11-12, 12-16 to 12-18
for braking, 9-3 to 9-6
for fast flux up, 12-20
force precharge, 12-20
select slew rate, 12-21
Clr Flt/Res Mask, 11-41
Command Spd Sts, 11-28
conventions, 11-9
Current Rate Lim, 11-28, B-37
Data In A1, 8-8, 11-45
Data In A2, 8-8, 11-45
Data In B1, 8-8, 11-45
Data In B2, 8-8, 11-45
Data In C1, 8-8, 11-46
Data In C2, 8-8, 11-46
Data In D1, 8-8, 11-46
Data In D2, 8-8, 11-46
Data Out A1, 8-8, 11-46
Data Out A2, 8-8, 11-46
Data Out B1, 8-8, 11-47
Data Out B2, 8-8, 11-47
Data Out C1, 8-8, 11-47
Data Out C2, 8-8, 11-47
Data Out D1, 8-8, 11-47
Data Out D2, 8-8, 11-47
DC Brake Current, 9-6, 9-7, 11-28
DC Brake Time, 9-6, 11-28
DC Bus Voltage, 11-29
Decel Time 1, 11-20, B-8
Decel Time 2, 11-20, B-8
destination explained, 6-12
Dir/Ref Mask, 11-40
I-6
Dir/Ref Owner, 11-41
downloading profile, C-8
Drive/Inv Status, 11-13
Drive/Inv Sts 2, 11-60
Droop Percent, 11-21, B-18
Enc Pos Fdbk Hi, 11-72
Enc Pos Fdbk Low, 11-72
Encoder PPR, 11-11, B-26
Error Filtr BW, 11-49, 13-11, B-18, B-37
Fast Flux Level, 11-28
Fault Select 1, 8-7, 8-8, 11-15, 12-4 to 12-5, 12-18
Fault Select 2, 11-16, 12-5 to 12-6, 12-24
Fault Status 1, 11-71
Fault Status 2, 11-71
Fdbk Device Type, 9-1 to 9-3, 11-24, 13-11, B-13
Fdbk Filter BW, 11-25, B-15
Fdbk Filter Gain, 11-25, B-15
Fdbk Filter Sel, 11-25, 13-11, B-14, B-37
for notch filters, B-23
file and group organization, 11-1
Flux Current, 11-50, B-26
Flux/Trim Owner, 11-43
Freq Track Filtr, 11-54
Fstart Select, 11-69
Fstart Speed, 11-70
Func 1 Eval Sel, 10-4
Func 1 Eval/Sel, 11-62
Func 1 Mask/Val, 11-61
Func 2 Eval Sel, 10-4, 11-63
Func 2 Mask/Val, 11-63
Func 3 Eval Sel, 10-4
Func 3 Eval/Sel, 11-65
Func 3 Mask/Val, 11-64
Function In1, 11-61
Function In10, 11-73
Function In2, 11-62
Function In3, 11-64
Function In4, 11-65
Function In5, 11-66
Function In6, 11-66
Function In7, 11-67
Function In8, 11-67
Function In9, 11-73
Function Output1, 11-69
Function Output2, 11-69
Function Sel, 11-68
Fwd Speed Limit, 11-20, 13-9, B-7
Id Offset, 11-73
Int Torque Ref, 11-73
Inverter Amps, 11-11
Inverter Dgn1, 11-52, 13-4
Inverter Dgn2, 11-52, 13-4
Inverter Volts, 11-11
Iq %, 11-31, B-26
Iq Offset, 11-73
Jog Speed 1, 11-19
Jog Speed 2, 11-19
Jog1/Jog2 Owner, 11-42
Kf Freq Reg, 11-53
Kf Speed Loop, 11-49, 13-11, 13-13, B-18, B-37
Ki Freq Reg, 11-53
Ki Speed Loop, 11-48, 13-12, B-18, B-37
Kp Freq Reg, 11-53
Kp Speed Loop, 11-48, 13-12, B-18, B-37
L Option In Sts, 11-38
L Option Mode, 9-14, 11-37
Language Select, 11-10
Leak Inductance, 11-50
Line Undervolts, 11-17, 12-16, 12-19
Logic Cmd Input, 11-60
Logic Input, 9-7
Logic Input Sts, 8-1 to 8-3, 11-13, B-5
Logic Options, 11-14, B-7
mA In Filter BW, 11-54
mA Input Offset, 11-34
mA Input Scale, 11-34
mA Input Value, 11-34
mA Out Offset, 11-36
mA Out Scale, 11-36
mA Out Value, 11-35
Max Fwd Spd Trim, 11-24
Max Mtr Current, 9-8, 11-59
Max Rev Spd Trim, 11-24
Min Flux Level, 11-26, 13-11, B-21
Min Speed Limit, 11-69
Mop Increment, 9-14, 11-38
Mop Value, 9-14, 11-38
Motor Current, 11-29
Motor Flux %, 11-30, B-21
Motor Frequency, 11-30, B-26
Motor Overload %, 11-17
Motor Poles, 11-11, B-26
Motor Power %, 11-30
Motor Speed, 11-28
Motor Stall Time, 11-17, B-29
Motor Torque %, 11-29
Motor Voltage, 11-29
Motor Voltage %, 11-73, 11-74, 11-75, 11-76, 11-77, 11-78, 1179, 11-80, 11-81, 11-82, 11-83, 11-84
Nameplate Amps, 11-10
Nameplate HP, 11-10
Nameplate Hz, 11-10
Nameplate RPM, 11-10
Nameplate Volts, 11-10
Ncfg Flt Status, 11-70
Neg Mtr Cur Lim, 9-7, 11-27, 13-9, B-22, B-23
Neg Torque Lim, 11-27, B-21, B-22
Notch Filtr Freq, 11-55, B-23
Notch Filtr Q, 11-55, B-23
numerical listing, 11-5
Pos Mtr Cur Lim, 9-7, 11-27, 13-9, B-22, B-23
Pos Torque Lim, 11-27, B-21, B-22
PTrim Feedback, 11-21, B-11
PTrim Filter BW, 11-22
PTrim Hi Limit, 11-23, B-12
PTrim Ki, 11-22, B-11
PTrim Kp, 11-23, B-11
PTrim Lo Limit, 11-23, B-12
PTrim Out Gain, 11-24
PTrim Output, 11-21, B-11
I-7
PTrim Preload, 11-22, B-11
PTrim Reference, 11-21, B-11
PTrim Select, 11-22, B-11
Pulse In Offset, 7-11 to 7-12, 11-39
Pulse In PPR, 7-11 to 7-12, 11-38
Pulse In Scale, 7-11 to 7-12, 11-38
Pulse In Value, 7-11 to 7-12, 11-39
PWM Frequency, 11-11
PwrUp Flt Status, 11-70
Ramp/ClFlt Owner, 11-43
Regen Power Lim, 11-27, 13-9, B-21
for bus regulator braking, 9-3
Relay Config 1, 7-10, 11-36
Relay Config 2, 7-10, 11-56
Relay Config 3, 7-10, 11-57
Relay Config 4, 7-10, 11-58
Relay Setpoint 1, 7-10, 11-37
Relay Setpoint 2, 7-10, 11-56
Relay Setpoint 3, 7-10, 11-57
Relay Setpoint 4, 7-10, 11-58
resetting to default, C-7
Rev Speed Limit, 11-20, 13-9, B-7
Run Inhibit Sts, 11-14
Scaled Spd Fdbk, 11-24
S-Curve Percent, 11-21, B-8
Service Factor, 11-11
Slave Torque %, 11-26, B-22
Slip Gain, 11-50, B-26
source explained, 6-12
SP 2 Wire Enable, 8-4, 11-54
SP An In1 Scale, 8-15, 11-44
SP An In1 Select, 8-15, 11-44
SP An In1 Value, 8-15, 11-44
SP An In2 Scale, 11-45
SP An In2 Select, 11-44
SP An In2 Value, 11-44
SP An Output, 8-15, 11-45
SP Enable Mask, 11-39
Spd Desired BW, 11-49, 13-10, 13-11, B-18
Spd Error, 11-72
Spd Reg Output, 11-72
Spd/Trq Mode Sel, 7-12, 11-26, B-22
Speed Ref 1, 11-18
Speed Ref 1 Frac, 11-18
Speed Ref 2, 11-18
Speed Ref 3, 11-18
Speed Ref 4, 11-18
Speed Ref 5, 11-19
Speed Ref 6, 11-19
Speed Ref 7, 11-19
Speed Scale 1, 11-18
Speed Scale 7, 11-19
Start Dwell Spd, 11-59, B-5
Start Dwell Time, 11-59, B-5
Start/Jog Mask, 11-40
Start/Stop Owner, 11-42
Stator Resistnce, 11-50
Stop Dwell Time, 11-14
Test Data 1, 11-31
check for fluxing time, 12-20
for calculated undervoltage, 12-19
for precharge status, 12-19
Test Data 2, 11-31
for math limit fault, 12-25 to 12-27
for parameter limit fault, 12-22
Test Select 1, 11-31
check for fluxing time, 12-20
for calculated undervoltage, 12-19
for precharge status, 12-19
Test Select 2, 11-32
for math limit fault, 12-25 to 12-27
for parameter limit fault, 12-22
Torque Limit Sts, 11-30, B-21
Torque Ref 1, 11-26, B-22
Total Inertia, 11-48, 13-10, 13-11
Trans Dgn Config, 11-51, 13-3
uploading profile, C-7
Vd Max, 11-51
Vq Max, 11-51
Warning Select 1, 8-7, 8-8, 11-16, 12-4 to 12-5, 12-18
Warning Select 2, 11-17, 12-24
Warning Status 1, 11-71
Warning Status 2, 11-72
Zero Speed Tol, 11-15
password, C-10
Pos Mtr Cur Lim, 9-7, 11-27, 13-9, B-22, B-23
Pos Torque Lim, 11-27, B-21, B-22
power
applying, 6-2
before applying, 6-1
connecting to drive, 2-25
input fusing, 2-27
requirements for frames A1 – A4, 3-4
requirements for frames B – G, 4-11
isolation-type transformer requirements, 2-27
line reactor requirements, 2-27
understanding limits, B-21
wiring, 2-17
frames A1 – A4, 3-1
frames B – G, 4-1
precharge
checking status of, 12-19
common bus, 11-12
configuring faults/warnings for, 12-18
disable multiple, 11-12
explained, 12-15
force exit, 11-12
options for, 11-12
timeout, 11-15, 11-16, 12-4, 12-18
process trim
enable, 11-22
explained, B-11
overview, B-10
preset integrator option, 11-22
PTrim Feedback, 11-21, B-11
PTrim Filter BW, 11-22
PTrim Hi Limit, 11-23, B-12
PTrim Ki, 11-22, B-11
PTrim Kp, 11-23, B-11
I-8
PTrim Lo Limit, 11-23, B-12
PTrim Out Gain, 11-24
PTrim Output, 11-21, B-11
PTrim Preload, 11-22, B-11
PTrim Reference, 11-21, B-11
PTrim Select, 11-22, B-11
select speed inputs, 11-22
set output option, 11-22
trim limiter, 11-22
trim speed reference, 11-22
trim torque reference, 11-22
programmable relay
Relay Config 1, 11-36
Relay Config 2, 11-56
Relay Config 3, 11-57
Relay Config 4, 11-58
Relay Setpoint 1, 11-37
Relay Setpoint 2, 11-56
Relay Setpoint 3, 11-57
Relay Setpoint 4, 11-58
wiring, 2-23
PTrim Feedback, 11-21, B-11
PTrim Filter BW, 11-22
PTrim Hi Limit, 11-23, B-12
PTrim Ki, 11-22, B-11
PTrim Kp, 11-23, B-11
PTrim Lo Limit, 11-23, B-12
PTrim Out Gain, 11-24
PTrim Output, 11-21, B-11
PTrim Preload, 11-22, B-11
PTrim Reference, 11-21, B-11
PTrim Select, 11-22, B-11
publications
related, 1-3
Pulse In Offset, 7-11 to 7-12, 11-39
Pulse In PPR, 7-11 to 7-12, 11-38
Pulse In Scale, 7-11 to 7-12, 11-38
Pulse In Value, 7-11 to 7-12, 11-39
pulse input, 7-11 to 7-12
PWM Frequency, 11-11
PwrUp Flt Status, 11-70
R
Ramp/ClFlt Owner, 11-43
Regen Power Lim, 11-27, 13-9, B-21
for bus regulator braking, 9-3
Relay Config 1, 7-10, 11-36
Relay Config 2, 7-10, 11-56
Relay Config 3, 7-10, 11-57
Relay Config 4, 7-10, 11-58
Relay Setpoint 1, 7-10, 11-37
Relay Setpoint 2, 7-10, 11-56
Relay Setpoint 3, 7-10, 11-57
Relay Setpoint 4, 7-10, 11-58
relay wiring, 2-23
remote pot, 9-12 to 9-14
Rev Speed Limit, 11-20, 13-9, B-7
RFI filter, 2-28 to 2-29
grounding, 2-17
installing, 2-29
ridethrough
disable all, 11-12
explained, 12-15
timeout, 11-15, 11-16, 12-4, 12-18
rpm
converting to drive units, 10-22
Run Inhibit Sts, 11-14
S
scale function, 10-20 to 10-23
Scaled Spd Fdbk, 11-24
scaling, 9-8
SCANport
Clr Flt/Res Mask, 11-41
configuring controls, 8-3 to 8-7
connections for frames A1 – A4, 1-5
connections for frames B – H, 1-6
control ownership, 8-3
determining function ownership, 8-5
Dir/Ref Mask, 11-40
Dir/Ref Owner, 11-41
disabling control functions, 8-6
enabling control functions, 8-6
Flux/Trim Owner, 11-43
I/O image, 8-8
Jog1/Jog2 Owner, 11-42
logic evaluation block, 8-2
Logic Input Sts parameter, 8-1 to 8-3
loss of communications, 11-15, 11-16, 12-4
fault, 8-7
masking functions, 8-6 to 8-7
parameter interactions, 8-3
Ramp/ClFlt owner, 11-43
receiving analog input, 8-15
setting SP Errors, 8-8
setting up parameters, 8-14
SP 2 Wire Enable, 11-54
SP An In1 Scale, 11-44
SP An In1 Select, 11-44
SP An In1 Value, 11-44
SP An In2 Scale, 11-45
SP An In2 Select, 11-44
SP An In2 Value, 11-44
SP An Output, 11-45
SP Enable Mask, 11-39
Start/Jog Mask, 11-40
Start/Stop Owner, 11-42
supported messages, 8-13
used with Flex I/O Module, 8-12
used with RIO Communications Module, 8-12
used with SLC to SCANport module, 8-10
used with the DeviceNet Communications Module, 8-13
used with the Serial Communications Module, 8-11
using the capabilities, 7-10
I-9
S-Curve Percent, 11-21, B-8
Service Factor, 11-11
Slave Torque %, 11-26, B-22
Slip Gain, 11-50, B-26
software block diagram, A-6
SP 2 Wire Enable, 8-4, 11-54
SP An In1 Scale, 8-15, 11-44
SP An In1 Select, 8-15, 11-44
SP An In1 Value, 8-15, 11-44
SP An In2 Scale, 11-45
SP An In2 Select, 11-44
SP An In2 Value, 11-44
SP An Output, 8-15, 11-45
SP Enable Mask, 11-39
Spd Desired BW, 11-49, 13-10, 13-11, B-18
Spd Error, 11-72
Spd Reg Output, 11-72
Spd/Trq Mode Sel, 7-12, 11-26, B-22
specifications, A-1, A-5
speed
adjusting for changes in load, B-18
feedback overview, B-13
loss of feedback, 11-16, 11-17, 12-5
PI regulator overview, B-16 to B-18
reference selection overview, B-4 to B-9
selecting reference, B-5
tuning regulator, 13-10
Speed Ref 1, 11-18
Speed Ref 1 Frac, 11-18
Speed Ref 2, 11-18
Speed Ref 3, 11-18
Speed Ref 4, 11-18
Speed Ref 5, 11-19
Speed Ref 6, 11-19
Speed Ref 7, 11-19
speed regulation, 9-2
Speed Scale 1, 11-18
Speed Scale 7, 11-19
speed select table, 5-9
speed/torque selection, 11-26
speed/torque selection table, 5-10
Start Dwell Spd, 11-59, B-5
Start Dwell Time, 11-59, B-5
Start/Jog Mask, 11-40
Start/Stop Owner, 11-42
starting up your system, 6-7
state machine function, 10-8
Stator Resistnce, 11-50
stop
choosing, B-6
selecting coast, 11-14
selecting current limit, 11-14
selecting ramp, 11-14
Stop Dwell Time, 11-14
T
terminal blocks
location for frames A1 – A4, 1-5
location for frames B – H, 1-6
terms, 1-3
Test Data 1, 11-31
check for fluxing time, 12-20
for calculated undervoltage, 12-19
for precharge status, 12-19
Test Data 2, 11-31
for math limit fault, 12-25 to 12-27
for parameter limit fault, 12-22
Test Select 1, 11-31
check for fluxing time, 12-20
for calculated undervoltage, 12-19
for precharge status, 12-19
Test Select 2, 11-32
for math limit fault, 12-25 to 12-27
for parameter limit fault, 12-22
through-put time, B-38
timer delay function, 10-5 to 10-8
torque
block overview, B-24
limits explained, B-21
reference overview, B-19
selecting, B-22
Torque Limit Sts, 11-30, B-21
torque options, 11-30
Torque Ref 1, 11-26, B-22
Total Inertia, 11-48, 13-10, 13-11
Trans Dgn Config, 11-51, 13-3
troubleshooting
encoderless, 12-29
Run Inhibit Sts, 11-14
start up, 12-27
U
up/down counter, 10-14
V
Vd Max, 11-51
voltage reflection reduction, 2-5
Vq Max, 11-51
W
Warning Select 1, 8-7, 11-16, 12-18
Warning Select 2, 11-17, 12-5 to 12-6, 12-24
Warning Status 1, 11-71
Warning Status 2, 11-72
warnings, 12-2
Bus Cycle>5, 12-15
bus drop, 12-15
Bus Undervlt, 12-15
configuring, 11-16, 11-17, 12-4 to 12-6
External Flt In, 12-11
I-10
Inv Overload, 12-9
Inv Overtemp Pnd, 12-9
InvOvld Pend, 12-9
mA Input, 12-11
Math Limit, 12-11
explained, 12-24
Mtr Stall, 12-8
MtrOvrld Pend, 12-8
MtrOvrld Trp, 12-8
Open Circuit, 12-15
Param Limit, 12-11
explained, 12-22 to 12-24
Prechrg Time, 12-15
Ridethru Time, 12-15
SP 1 Timeout, 12-12
SP 2 Timeout, 12-13
SP 3 Timeout, 12-13
SP 4 Timeout, 12-13
SP 5 Timeout, 12-13
SP 6 Timeout, 12-13
SP Error, 12-13
Spd Fdbk Loss, 12-11
viewing queue with HIM, 12-6
Warning Select 2, 12-5 to 12-6
wiring the power, 2-17
Z
Zero Speed Tol, 11-15
Publication 1336 IMPACT-5.0 – April, 2002
Supersedes April, 2000
P/N 74103-700-01 (05)
Copyright © 2002 Rockwell Automation. All rights reserved. Printed in USA.
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