Allen-Bradley 1336 FORCE AC DRIVE SERIES A User Manual
Allen-Bradley 1336 FORCE AC DRIVE SERIES A is a microprocessor controlled Digital AC Drive designed for industrial applications. It offers high performance, advanced features, and robust protection for a variety of motor control needs. This drive supports various communication interfaces and has nonvolatile memory for parameter settings.
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BRADLEY ue kia x a re PO o o E o ED CO AD PO о ae ee E EC = a E. a E ALLEN 1336 FORCE" iented Control ield Or F 500 HP О З/О КМ / 7. b- 5 A) 1CS User Manual (Ser 2. es о Ч es = : ee = E > en oo о о E e. я о о о о: с Ро Е 0 КН, о | | e oh SE sia ee a DE en 28 2 ie я so e. es 3 a E ae E a an Ta SE 7 a i О Е Le О Ни e. 2 о 2 о о о e. xr te ЗЕ E e Lo HAE is = i ни о tu ies a i Cu ЗВ т Important User Information Because of the variety of uses for this equipment and because of the differences between this solid-state equipment and electromechanical equipment, the user of and those responsible for applying this equipment must satisfy themselves as to the acceptability of each application and use of the equipment. In no event will Allen-Bradley Company be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment. The illustrations shown in this manual are intended solely to illustrate the text of this manual. 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 upon the illustrative uses and applications. No patent liability is assumed by Allen-Bradley Company with respect to use of information, circuits or equipment described in this text. Reproduction of the content of this manual, in whole or in part, without written permission of the Allen-Bradley Company is prohibited. The information in this manual is organized in numbered chapters. Read each chapter in sequence and perform procedures when you are instructed to do so. Do not proceed to the next chapter until you have completed all procedures. 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: e Identify a hazard. ¢ Avoid the hazard. e 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. Introduction Installation/Wiring Start-Up Table of Contents 1336 FORCE User Manual Chapter 1 Manual Objectives ..........._—.—eeonmceeconvcccrraaeranvecooceo. 1-1 Who Should Use ThisManual ................................ 1-1 Terminology ........... eee ea 1-1 Standard Drive Features ..................... iia... 1-2 Performance Specifications ................. iii... 1-2 OpPLIONS «oti i ee eee eee a. 122 Protective Features ..........._o_.eeexerenernerecnorereracr earn 1-3 Environmental Specifications ................. cin... 1-3 Electrical Specifications .................. iii... 1-3 Feedback Devices . ......... iii ii iia 1-4 Chapter 2 Chapter Objectives «tiie eee ieee eee 2-1 Mounting ........ ee eee ee 0 2-1 DIMENSIONS . «vv tivities 2-2 Input Power Conditioning .............. iii... 2-5 AC Supply Source ....... coi ee eee 2-5 Power WIiring ......... iii ee ee ea 2-5 Grounding Procedures ............... ii... 2-6 Wire Size and Type 20000000000 ee iti cae 2-8 Lug Kits 20000000000 RER a 2-10 AC Input Line Fuses RE 2-11 Drive Output Disconnection ......................... PUT 2-11 Control Wiring 120000000004 a 4 4 4 4 4 4 aa eee eee ee ea a a a aa 0 0 2-12 Encoder Connections .......0002000000 0042 a a sa aa a ee a a eee ee 2-13 Brake Control Connections .........._eeeoeorecorerererere.. 2-13 CAN Connections .........e.e_eeeereoeocrrecreriacreconero 2-13 Power WIring ........o.eoorreeorecorreocoororeoner ere e. 2-14 Control & Signal Wiring ...........ñec__eeocericroeorrecarec.. 2-22 SWItCh Settings . o.oo ie eee 2-23 Starting & Stopping the Motor .......0.000000000000 00000000000 2-24 Chapter 3 Introduction ................ iia. AAA 3-1 Safety Precautions ........2222020 004 ea se a ae ea ee a ae a sea een 3-1 Required Tools éz Equipment ...........oo_ee_eecerecoroeoreee, 3-2 Drive Information ........r—eñe.orecrooreeorveeorereenra recae 3-3 General ...........eocreecoccooorecrorocorevecacecrooreecnae 3-4 Pre-Power Checks ..........—e—eeerecerrrorerorecerorrorecveno 3-4 Communication Configuration . ......... ccna. 3-5 Power-On Checks . .... oo iin 3-9 Startup Configuration Procedure ................. it. 3-11 Table of Contents 1336 FORCE User Manual Troubleshooting Programming Parameters Derating Information ii Chapter 4 General ........ eee ea 4-1 Required Equipment . .......... ii i iii 4-1 Fault Descriptions ........reñeoeew_eeeoreororcrerecorenarveceoo 4-2 Fault /Waming Handling ................. iii... 4-6 Motor Control Board Faults & Warnings ....................... 4-6 Current Processor Faults & Warnings .......................... 4-8 Velocity Processor Faults & Warnings ........................ 4-12 Auto-Commissioning Test Procedure ......................... 4-15 Velocity Loop Autotune ..........._—eñeoeeoecooorocooccrereaeero 4-27 Power Device Troubleshooting .............................. 4-29 Chapter 5 Introduction ........................... eee eee 5-1 Terminology . coi ee eee a 00 5-2 Parameter Table Structure ............ cc. iii... 5-3 Parameter Table (Numerical) ............. cian. 5-4 Parameter Descriptions ..........o_eoeereonrrevoroooronererne.. 3-9 PLC Comm Parameters .........ooeoererorrrerocoooeeoorea 5-51 Appendix A General ..........eooere..e.oneracocarecaoreroaeaaeororaeo A-1 Derating Guidelines ..........—..oerervenererer0orereor vere. A-2 Carrier Frequency and Ambient Temperature Derating ............ A-2 Altitude Derating ........... iii a ae ea 00 А-5 High Input Voltage Derating .................. cio... А-5 Manual Objectives Who Should Use This Manual Terminology Chapter 1 Introduction The purpose of this manual is to provide the user with the necessary information to install, program, start up and maintain the 1336 FORCE Digital AC Drive. This manual should be read in its entirety before operating, servicing or initializing the 1336 FORCE Drive. This manual is intended for qualified service personnel responsible for setting up and servicing the 1336 FORCE AC Drive. You must have previous experience with and a basic understanding of electrical terminology, programming procedures, required equipment and safety precautions before attempting any service on the 1336 FORCE Drive. FORCE Drive and the associated machinery should plan or implement the installation, start-up, and subsequent maintenance of the Drive. Failure to comply may result in personal injury and/or equipment damage. A ATTENTION: Only personnel familiar with the 1336 can result in component damage or a reduction 1n product life. Wiring or application errors such as undersizing the motor, incorrect or inadequate AC supply or excessive ambient temperatures may result in damage to the Drive or motor. A ATTENTION: An incorrectly applied or installed Drive A ATTENTION: This Drive 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 ESD control procedures are not followed. If you are not familiar with static control procedures, reference Allen-Bradley Publication 8000-4.5.2, Guarding against Electrostatic Damage or any other applicable ESD protection handbook. Detailed definitions of industrial automation and technical terms used throughout this manual may be found in the INDUSTRIAL AUTOMATION GLOSSARY - a guide to Allen-Bradley technical terms, Publication AG-7.1. Chapter 1 Introduction Standard Drive Features Performance Specifications Options The Bulletin1336 FORCE Field Oriented AC Drive is a microprocessor controlled Digital AC Drive with the following features: 7.5 to 500 HP four quadrant operation at 0 — 250 HZ constant torque High Performance Digital Velocity 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 Nonvolatile Parameter Storage Extensive diagnostics, including both logic board and power structure tests Time stamped nonvolatile Fault/Warning Queue Real Time Clock Reference Time Stamp Run Time Accumulator Enclosed construction Multiple Communication Interfaces Complete Encoder Interface Drive to Drive Interface Speed Regulation to 0.001% of top speed. Torque Regulation to + 5% of rated motor torque. Power Loss Ride—Thru capability of two seconds. Flying Start: Capability of starting into a spinning motor. Torque Linearity 1% PLC Communication Adapter Board which provides: — 4 Analog Inputs +/-10V — 4 Analog Outputs +/- 10V — +/— 10V Reference voltages — RIO/DHTM+ Communications (2 channels selectable) — Function Blocks — Trending DriveTools™: PC Windows TM based programming software compatible with the 1336 FORCE Drive and also other Allen—Bradley 1336 and 1395 products. Dynamic Braking AC Motor Contactor Protective Features Environmental Specifications Electrical Specifications Chapter 1 Introduction The 1336 FORCE Drive incorporates the following protective measures: e Programmable Motor Overload Protection (I°T) investigated by UL to comply with NEC Article 430. e Programmable Inverter Overload Protection (IT) e Overspeed Detection, even when operating as a torque follower. e Programmable Stall Detection e Peak output current monitoring to protect against excessive current at the output due to a phase to ground or phase to phase short. e Ground fault monitoring e DC Bus Voltage monitoring to protect against under/over voltage conditions. e Motor Temperature Estimator e Power Structure Heatsink Temperature Monitoring The following environmental guidelines apply to both the 1336 FORCE Drive and all devices and accessories connected to the Drive. e Ambient Operating Temperature: IP00, Open: 0 to 50 degrees C (32 to 122 degrees F). IP20, NEMA Type 1 Enclosed: 0 to 40 degrees C (32 to 104 degrees F). IP65, NEMA Type 4 Enclosed: 0 to 40 degrees C (32 to 104 degrees F). e Storage Temperature (all constructions): —40 to 70 degrees C (40 to 158 degrees F). e Relative Humidity: 5 — 95% non—condensing e Altitude: 1000m (3300 ft) without derating. e Shock: 15g peak for 11ms duration (+ 1.0 ms). e Vibration: 0.0006 inches (0.152 mm) displacement. 1G peak. e Input Voltage Rating: 200 — 240VAC, Standalone, 3 Phase, +10%, —15% nominal 380 — 480VAC, Standalone, 3 Phase, +10%, —15% nominal 500 — 600VAC Standalone, 3 Phase, +10%, —-15% nominal 513 — 621 VDC, Common Bus, +10%, —15% nominal 776 VDC, Common Bus, +10%, —15% nominal e Input Power Rating: 10 — 134 KVA (230V) 9 — 437 KVA (380V) 12 — 552 KVA (460V) 9/11 — 575/690 KVA (500/600V) Chapter 1 Introduction Feedback Devices 1-4 Input Frequency: 50/60HZ (+3HZ) Standard Output Voltage*: Three frame sizes are available. Each frame size is line dependent and can power a motor between the following voltages: 200 — 240 Vac (line dependent) 380 — 480 Vac (line dependent) 500 — 600 Vac (line dependent) *If voltage required for your application is not shown, contact Allen-Bradley for specific application. Output Current: 17 — 625A Output Power: 6.8 - 115 KVA (230V) 11 - 190 KVA (380V) 12 - 208 KVA (415V) 13.5 — 231 KVA (460V) 17 — 289 KVA (575V) Output Horsepower (Continuous): 7.5 —500HP Overload Capability: Continuous ~ 100% Fundamental current 1 minute ~ 150% Output Frequency Range: 0 —- 250 HZ Output Waveform: Sinusoidal (PWM) Max. Short Circuit Current Rating : 200,000A rms symmetrical, 600 volts (when used with specified AC input line fuses as detailed in Table 2-C). Ride Through: 2 seconds minimum Efficiency: 90% typical Encoder: Incremental, dual channel; 12 volts, 500mA, isolated with differential transmitter, 102.5 KHz max. Quadrature: 90° +27° @ 25°C, Duty Cycle: 50% + 10%, A-B 845H or equal. Chapter Objectives Mounting Chapter 2 Installation Wiring Chapter 2 provides the information needed tp properly mount and wire the 1336 FORCE Drive. Since most start-up difficulties are the result of incorrect wiring, every precaution must be taken to assure that the wiring 1s completed as instructed. All items must be read and understood before the actual installation begins. IMPORTANT: The end user is responsible for completing the installation, wiring and grounding of the 1336 FORCE drive and for complying with all National and Local Electrical Codes. proper installation. The National Electrical Code and any other governing regional or local code will overrule this information. The Allen-Bradley Company cannot assume responsibility for the compliance or the 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. A ATTENTION: The following information is merely a guide for The 1336 FORCE drive is delivered in a NEMA Type 1 enclosure that must be mounted so that there is sufficient space at the top, sides and front of the cabinet to allow for heat dissipation as shown in Figure 2.1. Figure 2.1. Mounting Requirements t = ИУ > 152.4 mm A E (6.0 in) ei æi @ ALLEN-BRADLEY 101.6 mm 3 > 152.4 mm (6.0 in.) v Chapter 2 Installation Wiring Figure 2.2. [P20 (NEMA Type 1) Dimensions — Frames B,C,D Z — A уно | А >| | J = Ш) ALLEN-BRADLEY Mounting Hole Detail | 7.0 (0.28) A E B — 7.0(0.28) | 12.7 (0.50) Y —_— + >| 12.7 (0.50) BB Ty + \_ «< CC >| Mounting Holes (4) — See Detail Drive Output Rating Frame | 200 Thru 240 | 380 Thru 480 | 500 Thru 600 | Ref. | 7.5 - 15HP 7.5 - 30HP 75-20HP |B 11 - 19kW 11 - 38kW 10 - 24kW 20 - 30HP 40 - 60HP 25 - 60HP С 26 - 32kW 47 - 61kW 30 - 62kW 40-60HP | 60-150HP 75-125HP | D 48 - 72kW 76 - 143kW 85 - 137kW 75 - 100HP 150-250HP | 150-250HP | E 96 - 129kW 191 - 259KW 157 - 283KW 300 - 500HP 300 - 600HP F 349 - 534KW | 344 - 667KW All Dimensions in Millimeters and (Inches) All Weights in Kilograms and (Pounds) Frame 1.2 Knockouts Shipping Reference A | 3-Dual Size, 1-Fixed Weight B 276.4 476.3 225.0 212.6 461.0 32.00 7.6 131.1 180.8 71.9 28.6/34.9, 22.2 22.7 kg (10.88) (18.75) (8.86) (8.37) (18.15) (1.26) (0.30) (5.16) (7.12) (2.83) (1.125/1.375,0.875) (50 bs.) С 301.8 701.0 225.0 238.0 685.8 32.00 7.6 131.1 374.7 71.9 28.6/34.9, 22.2 38.6 kg ‚ (11.88) (27.60) (8.86) (9.37) (27.00) (1.26) (0.30) (5.16) (14.75) (2.83) (1.125/1.375, 0.875) (85 Ibs.) D 381.5 1240.0 270.8 325.9 1216.2 27.94 11.94 131.1 3 71.9 3 108.9 kg (15.02) (48.82) (10.66) (12.83) (47.88) (1.10) (0.47) (5.16) (2.83) (240 Ibs.) 2 KW/HP are constant torque (CT) ratings. 3 Not available at time of publication NOTE: Frame sizes A1,A2 and A3 are Not available in the FORCE product 2-2 Frame !- Reference À E 511.0 (20.12) 1498.6 (59.00) C Max. 424.4 (16.71) N 4775 14478 168 40.1 3 (18.80) (57.00) (0.66) (1.61) Chapter 2 и Installation Wiring Mounting Hole Detail 7.0 (0.28) > Y ___ 7.0 (0.28) | 12.7 (0.50) |] 12.7 (0.50) Bottom View May Vary with HP Figure 2.3. IP 20 (NEMA Type 1) Dimensions — Frame E = | - / CM | 1 RW}! | —— - 10: 08000 : С Con O a | | 1 | 0 ОЕ | | i | N © (©) ALLEN-BRADLEY PF 37.9 UT (1.49) Ш O | | | |! | TH 14 No 1 | Кн! | LH 10 B = =0 oa | || | L 110 РЕ ВЕ - ПОЛЕ | OEI | 110 | 10 + - y o y + 860.6 (33.88) All Dimensions in Millimeters and (Inches) All Weights in Kilograms and (Pounds) Shipping Weight 186 kg (410 165.) Knockouts MO 3-Dua! Size, 1-Fixed 3 3 2 kW/HP are constant torque (CT ratings) 3 Not available at time of publication 2-3 2-4 Chapter 2 Installation/Wiring Figure 2.4. IP 20 (NEMA Type 1) Dimensions - Frame F 63.5 (2.50) Removable Lifting Angle > y © © o a of À 2324.1 (91.50) Conduit Access Area | < 635.0 (25.00) All Dimensions in Millimeters and (Inches) All Weights in Kilograms and (Pounds) Input Power Conditioning AC Supply Source Power Wiring Chapter 2 Installation/Wiring Typically the 1336 FORCE is suitable for direct connection to a correct voltage, three-phase, AC power line. There are however certain power line conditions which may introduce the possiblity of drive input power component malfunction. To reduce the possiblity of these malfunctions, a line reactor or isolation type transformer may be required. The basic rules for determining if a line reactor or isolation type transformer is required are as follows: 1. Ifthe AC line supplying the drive has power factor correction capacitors connected, an AC line reactor or isolation transformer must be connected between the capacitor bank and the input to the drive. 2. Ifthe AC line experiences transient power interruptions or significant voltage spikes, an AC line reactor or isolation type transformer should be used. 3. If the AC input power system does not have the neutral or one phase referenced to ground (i.e. it is an ungrounded system), an isolation transformer with the neutral of the secondary grounded is highly recommended. If the line to ground voltage on any phase can exceed 125% of the normal line to line voltage, an isolation transformer with the neutral of the secondary grounded is always required. 4. A line reactor or Isolation transformer may be required if the AC Drive shares the same line as a line commutated SCR converter or a line commutated DC Drive. 11-667 kW (7.5-500HP) drives are suitable for use on a circuit capable of delivering up to a maximum of 200,000 rms symmetrical amperes, 600 volts maximum when used with the AC input line fuses specified in Table 2.C. The 1336 FORCE 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. ATTENTION: To guard against personal injury and/or equip- A ment damage caused by improper fusing, use only the recommended line fuses specified in Table 2.A. Branch circuit breakers or disconnect switches cannot provide this level of protection for drive components. Input and output power connections are performed through terminal block TB1 on the Base Driver Board for Frame Size B drives. For frame sizes C,D,E and F, there are terminal blocks located on the bottom of the drive where both the input and output power connections are to be made. Chapter 2 installation/Wiring Grounding Procedures 2-6 The purpose of grounding is to: * Limit dangerous voltages on exposed parts to ground potential in the event of an electrical fault. * To facilitate proper overcurrent device operation when ground fault conditions are incurred. * To provide for electrical interference suppression. Improper grounding could lead to electrical noise problems, which could result in unstable drive operation. The general grounding concept for the 1336 FORCE is shown in Figure 2.5 and explained below. Safety Ground (PE) — Is the safety ground required by most codes. The ground bus can be connected to adjacent building steel (girder, joist) or a floor ground grid, provided grounding points comply with NEC regulations and Local Codes. IMPORTANT: Multiple connections are permitted, but Do Not ground (PE) and signal (TE) grounds together at the drive. The minimum distance between Signal (TE) and Safety Ground (PE) is 10 feet (3 meters). The safety ground bus requires a maximum of 1 ohm resistance to ground. Power Feeder — Each power feeder from the substation transformer to the drive must be provided with properly sized ground cables. Simply utilizing the conduit or cable armor as a ground is not adequate. The conduit or cable armor and ground wires should be bonded to substation ground at both ends. Each transformer enclosure and/or frame must be bonded to ground at a minimum of two locations. Motor Connection — Each AC motor frame must be bonded to grounded building steel within 20 feet (6 meters) of its location and tied to the Drive PE via ground wires within the power cables and/or conduit. Bond the conduit or cable armor to ground at both ends. The PE ground wire size on the 1336 FORCE must be the same size as the motor conductors. Signal Ground (TE) — Must be connected to an earth ground by a insulated continuous separate lead . The PLC®I/O Communication Link must be run in separate grounded steel conduit. The conduit should be bonded to ground at both ends. Ground the cable shield at the drive end only. Encoder Connections — Must be routed in grounded steel conduit. The conduit must be grounded at both ends. Ground the cable shield at the Drive end only. IMPORTANT: The Encoder Cable Shield must NOT be grounded at the Encoder end. Chapter 2 Installation Wiring Figure 2.5. 1336 FORCE Grounding Practices 1336 FORCE Control Board TE TE 10 Ft Minimum TB1 PE PE DC+DC- Li: Le Ls Mi Mz Ms . 8 Connect to earth ground such as a dedicated ground rod or grid etc. To Ground of Power Feed Encoder PE Connect to building steel or dedicated PE ground PE Connect to building steel or dedicated PE ground IMPORTANT: 1. Connect encoder shield at Drive, NOT at encoder. 2. Ground cable from Inverter P.E. must be № Signal Ground connected at Drive and Motor. 3. Ground wire from drive to motor must run inside a shield. 4. Shielded motor leads are preferred. \PE/ Power Safety Ground 5. The motor cable shield must be grounded at the Drive and the motor. Chapter 2 Installation/Wiring Wire Size and Type Wire sizes must be selected individually, observing all applicable safety and NEC and local regulations. 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. Shielded type wire is recommended in control circuits for protection against interference. A shielded wire is required for all signal wires. The recommended conductor size must be a minimum of 16 AWG. The best interference suppression is obtained with a wire having an individual shield for every twisted pair. Table 2-A provides a listing and description of cable types and wiring recommendations. Figure 2.6 shows recommended cable shielding. Figure 2.6. Cable Shielding Recommendations 1241 1242 Shield 3682 3083 8271 8281 Shield 8291 8301 Shield 8311 8321 2 Conductor Shielded Cable Shield Connection > 2 Conductor Shielded Cable Multi-Conductor Shielded Cable with Individual Shielded twisted Pairs codes outline provisions for safely installing electrical equipment. Installation must comply with specifications regarding wire types, conductor sizes, branch circuit protection and disconnect devices. Failure to do so may result in personal injury and/or equipment damage. A ATTENTION: The National Electrical Code (NEC) and local 2-8 Table 2-A. Chapter 2 Installation Wiring Cable and Wiring Recommendations Minimum Spacing in Inches between Classes — Wiring Steel Conduit/Tray — Spacing Category | Class, Signal Definition Signal Examples Cable Type 1 23/4 5/6 7/8 9/10/11 Notes Power 1 AC Power (600V or greater) | 2.3kV 3/Ph AC Lines | per NEC & Local Codes | 0 3/9 13/9 | 3/18] Note6 | 1/2/5 2 AC Power (less than 600V) | 460V 3/Ph AC Lines _| per NEC & Local Codes 3 DC Power Reg.DC Motor Field | per NEC & Local Codes 3/9 | 0 3/6 | 3/12 Note 6 y 1/45 4 DC Power DC Motor Armature per NEC & Local Codes Control | 5 115V AC/DC Logic Relay Logic/PLC I/O | per NEC & Local Codes =. Motor Thermostat 3/9 | 3/6 |0 3/9 | №1 6 | 1/2/5 115V AC Power Power Supplies, Instruments 6 | 24V AC/DC Logic PLC VO per NEC & Local Codes Analog Signals, Reference/Feedback | Shielded Cable — Belden Signal |, | DC Supples Signal, 510 24V DC | 8735, 8737, 8404 31e 19919 178 1 2888 (Process) Digital (low speed) TTL Digital 11/0, Encoder, Counter | Shielded Cable — Belden 8 | (high speed) Pulse Tach 9728, 9730 Serial RS-232, 422 to Shielded Cable — Belden 9 Communication Terminals/Printers RS-232 — 8735, 8737 Signal RS-422 — 9729, 9730 Note 6 1/3 0 (Comm) 11 Serial Communication PLC Remote 1/0, Twinaxial Cable —, A-B (greater than 20k baud) PLC Data Highway 1770-CD 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 3 inches (76 mm) apart — Ina cable tray, the two groups of leads are to be 6 inches (152 mm) apart Spacing Notes: 1. Both outgoing and return current carrying conductors are to be pulled in same conduit or laid adjacent in tray. . Cables of the following classes can be grouped together. A. Class 1; Equal to or above 601 volts B. Classes 2,3, and 4 may have their respective circuits pulled in the same conduit or layered in the same tray. C. 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 NEC 310 D. Classes? 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. E. Classes 9, 10 and 11may 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 communication faults. The application may dictate separate spacing. 3. All wires of class 7 thru 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 6. Spacing of communication cables classes 2 thru 6 is: CONDUIT SPACING THRU AIR 115 Volts — 1 inch 115 Volts — 2 inches 230 Volts — 1.5 inches 230 Volts — 4 inches 460/575 Volts — 3 inches 460/575 Volts — 8 inches 575 volts — proportional to 6” 575 volts proportional to 12" per 1000 volts. per 1000 volts General Notes 1. Steel conduit is recommended for all wiring classes. (Classes 7-11). 2. Spacing shown between classes is the minimum required for parallel runs less than 400 feet. Greater spacing should be used where possible. 3. 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. 4. Power wire is selected by load. 16AWG is the minimum recommended size for control wiring. Chapter 2 Installation/Wiring Lug Kits The Lug Kits that must be used with the 1336 FORCE drive are detailed in Table 2-B. For proper installation of Lug Kits refer to the respective Lug Kit instruction sheet. Table 2-B. Recommended Lug Kits Nominal Input Voltage Used With Standalone Used With Common Bus Lug Kit HP AC Line VAC Drive Catalog No. Drive Catalog No. Catalog No. 75 200 — 240 1336S/T — A75A 1336S/T — Q75A 1336-LUG-AQ75 100 200 — 240 1336S/T — A100A 1336S/T — Q100A 1336-LUG-AQ100 125 380 — 480 1336S/T — BX150A 1336S/T — RX150A 1336-LUG-BRX150 150 380 — 480 1336S/T — B150A 1336S/T — R150A 1336-LUG-BR150 200 380 — 480 1336S/T — B200A 1336S/T — R200A 1336-LUG-BR200 250 380 — 480 1336S/T — B250A 1336S/T — R250A 1336-LUG-BR250 300 380 — 480 1336S/T — B300A 13365/Т - ВЗООА 1336-LUG-BR300 350 380 — 480 1336S/T — B350A 1336S/T — R350A 1336-LUG-BR350 400 380 — 480 1336S/T — B400A 1336S/T — R400A 1336-LUG-BR400 450 380 — 480 1336S/T — B450A 1336S/T - R450A 1336-LUG-BR450 500 380 — 480 1336S/T — B500A 1336S/T — R500A 1336-LUG-BR500 150 500 — 600 1336S/T — C150A 1336S/T — C150A 1336-LUG-CW150 200 500 — 600 1336S/T — C200A | 1336S/T — C200A 1336-LUG-CW200 250 500 — 600 1336S/T — C250A 1336S/T — C250A 1336-LUG-CW250 300 500 - 600 13365/T — C300A 1336S/T — C300A 1336-LUG-CW300 350 500 - 600 1336S/T — C350A 1336S/T — C350A 1336-LUG-CW350 400 500 — 600 1336S/T — C400A 1336S/T — C400A 1336-LUG-CWa400 500 500 — 600 133ES/T - C500A 1336S/T — C500A 1336-LUG-CW500 overheated connections. Lug kits are specifically designed for use with ratings listed. Use lug kits to avoid hazards and maintain UL certification. A ATTENTION: Hazard of fire or equipment damage exist from AC Input Line Fuses Drive Output Disconnection Chapter 2 Installation/Wiring The input fuses are supplied by the user and must be UL Class CC, T, J (7.5-250 HP), Type SPP, FWP or A70Q (300-500HP) or equivalent. The recommended fuse types are detailed in Table 2—C. Table 2-C. Maximum Recommended AC Line Fuse Ratings (User supplied, fast acting or slow blow) Drive HP 230V 460V 575V Catalog No. Rating Rating Rating Rating 1336 T—xx007 7.5 40A 20A 15A 1336T-xx010 10 60A 30A 20A 1336T-xx015 15 70A 35A 25A 1336 T-xx020 20 90A 45A 35A 1336T-xx025 25 120A 60A 40A 1336 T-xx030 30 140A 70A S50A 1336T—xx040 40 150A 90A 60A 1336 T-xx050 50 200A 100A 80A 1336 T-xx060 60 250A 125A 90A 13361—xx075 75 300A 150A 110A 1336T-xx100 100 400A 200A 150A 1336T—xx125 125 500A 250A 175A 1336T-xx150 150 600A 300A 225A 1336T—xx200 200 400A 350A 1336T—xx250 250 450A 400A 1336T-xx300 300 450A 400A 1336T-xx350 350 500A 450A 1336 T—xx400 400 600A 500A 1336 T-xx450 450 800A 600A 1336T-xx500 500 800A 800A IMPORTANT: Any disconnecting means wired to Drive output terminals M1,M2 and M3 must be capable of disabling the Drive if opened during Drive operation. If opened during Drive operation, the Drive will fault. It is recommended that the Drive Enable be removed before the contactor is opened. When the Drive Enable is removed, the Drive will stop modulating. 2-11 Chapter 2 Installation/Wiring Control Wiring 2-12 Base Driver Board Control Signals Drive to Drive Interface ATTENTION: When user installed control and signal wiring with an insulation rating of less than 600V is used, this wiring must be routed inside the drive enclosure so that it is separated from any other wiring and uninsulated live parts. Failure to do so could result in equipment damage or unsatisfactory Drive performance. Encoder, Brake and Control Area Network connections are performed on the Motor Control Board (Fig. 2.7). The maximum and minimum wire size accepted by TB10 and TB11 on the Motor Control Board is 3.3 and 0.06 mm? (12 and 30 AWG). Maximum torque for both terminal blocks is 0.79 N-m (7 Ib—in.). Use copper wire only. Figure 2.7. Terminal Block Locations Motor Control Board DGND +5V AGND- VP CP o E Enable Indicator Indicator Tm Ji ? TP1 TP2 TP3 TP4 TP5 Bn 88 TP8 DI D2 D3 D4 D5 14 12 Encoder Feedback J3 (J3 & J4 must be set 12 for same voltage 5 © в [292] не ÓN Ja ww TB10 1 TP26 TP27 12V1S0 ISO COM O RTD LO HI TB11 LANGUAGE VCC MODULE Jumper | +5VDC | +12VDC Purpose J3 1-2 2-3 Encoder Voltage Selection 4 J4 1-2 2-3 Encoder Voltage Selection PLC Comm Board Interface D1 | Green| Drive Enable ON — Drive Running, OFF — Drive Not Running D? | Green| VP Indicator ON — No Faults, OFF - See D3 D3| Red VP indicator Refer to Fault Codes in Table 4.A D4 | Green| CP Indicator ON — No Faults, OFF — See D5 D5 | Red CP Indicator Refer to Fault Codes in Table 4.A Encoder Connections Brake Control Connections Drive to Drive Communication (CAN Connections) Chapter 2 Installation/Wiring The Encoder connections are made at terminal block TB10 on the Motor Control Board as detailed in Figure 2.8. Figure 2.8. Encoder Connections Encoder TB10 Encoder À Encoder À Encoder B Encoder B +12 Volts - Common Shield | The TB 10 connector on the Motor Control Board (Figure 2.9) can be used to connect an optional Dynamic brake circuit. Figure 2.9. Dynamic Brake Control Circuit Connections (Currently for Allen-Bradley Development use only). TB10 4 |F— Shunt+ - Shunt ~ — Shunt Shield A | | a | (= NI IMPORTANT: If you are using an Allen-Bradley brand brake this connection would not be used, as Allen-Bradley brakes are self monitoring. The TB11 connector on the Motor Control Board (Figure 2.10) is used to connect the Control Area Network. Figure 2.10. CAN Connections TB11 — САМУСС —— CAN H — CANL | САМ ТМ Г ТО 2-13 Chapter 2 Installation/Wiring Power Wiring On 7.5 to 30 HP drives, input and output power connections are performed through a 10 position terminal block, TB1 located on the Gate Driver Board (see Figure 2.12 for location). On drives larger than 30 HP, input and output power connections are made at seperate terminal strips located at the bottom of the drive. The 40 to 200 HP drive connections are illustrated in Figure 2.11. These configurations of TB1 are stud terminations and require the use of lug type connectors to terminate the field installed conductors. Cat. No. 1336-LUG-XXXX Lug Kits are available for use with these configurations of TB1. The wire size used is determined by selecting the proper lug kit based on the Cat. No. of the drive. Refer to Table 2.B to determine the correct lug kit for your application. Figure 2.11. Terminal Block TB1 Frame Size B a C Stand Alone & Common Bus Applications ® О ® РЕ PE DC DC R 5 Т U V W GRD GRD + — (Lt) (L2) (13) (M1) (72) (13) Dynamic Brake Required | | | | | sin nput Fusing To Motor Required Branch‘ Circuit Disconnect AC Input Line Chapter 2 Installation/Wiring Figure 2.11. cont. Terminal Block TB1 Frame Size D Stand Alone Application O O © ©) re JE] | EY] | ESO TEST DC+ DC- РЕ = PE TE Brake Brake S T U V W (L1) (L2) (L3) (T1) (T2) (T3) AS AN AR AR A 7 ее © © © © ololo oo DS] | De] | Te] eso)! peso) | Seo Required | Y | | Input Fusing To Motor Required Branch‘ Circuit Disconnect AC input Line Frame Size E Standalone Applications 119 e ooo OOOO OOO OOO PESO PES PE peu pen | = | Ted DES] | DS] | JE TE | +DC -DC | PE PE | R-L1 S-L2 T-L3 | U-M1 V-M2 W-M3 BUS INPUT OUTPUT Required ‘ Y y Input Fusing To Motor | Required Branch* | Circuit Disconnect qd | AC Input Line | User supplied. Chapter 2 Installation/Wiring Figure 2.11. cont. Terminal Block TB1 Frame Size D Common Bus Application © PS AD AR FA FA 0092020 2 HIER ENE TEST HE TEST 120 120 PEZ | РЕ = ТЕ VAC RTN DC - Mi M2 M3 lalalala! O O O O IESO | ESO | TEST | TEST To Motor Frame Size E Common Bus Applications С DI A AN AD || 72 у @ © © | о © | | © | e | © 20 0 © © 3 ol O 120 | PESO pes peso Fed | res | ле pes VAC TE PE De DC Mi M M INPUT OUTPUT To Motor 1 User supplied. Figure 2.11. cont. Terminal Block TB1 (typical terminal layout — located at top of drive) O otto оО © O ollo ONO © R S T (L1) (12) (LS) Required * Input Fusing | Required Branch Circuit Disconnect a Frame Size F AC Input Line Stand Alone dd Chapter 2 Installation/Wiring Drive Cabinet © I | © KA © © © ( ) | © © © e <| = O — = — — — = N —" — = o Se” — |® — 6 — e To Motor Chapter 2 Installation/Wiring 2-18 Figure 2.11. cont. Terminal Block TB1 (typical terminal layout — located at top of drive) O OO © O OJIO © DC+ DC- Brake Brake Frame Size F | Common Bus Drive Cabinet © © wa ТР © 7=N (À 1=XN || JA ONO, © ©& | © =| ® < O = © — = — — — = N — — = o “= <— © — 6 “18 (located at bottom of drive) Chapter 2 Installation/Wiring Figure 2.12. Frame Size B Gate Driver Board Connections Motor Control Board Interface + BUS -BUS Motor ‚E10, E17 Bus Switcher —t—» Fuse FAN Precharge Resistor PE GNDGND + Required Input Fusing To Motor Required Branch Circuit Disconnect ! | { AC Input Line 2-19 Chapter 2 Installation/Wiring Figure 2.13. Frame Size C Gate Driver Board Connections J2 [me] Ground Fault C.T. Motor Control | Bus Board , Interface — Discharge _J6 | Current e | Connection Feedback ——» e o Lower Interface e IGBT's O o o a J7 Main Switcher (Bus Volts > 24Vdc) Ta! © o Connection © «+ to Upper Switcher — e Fuse F1 © e O ‚ o Ext 24V TB4 — Supply Input J10 J9 E 1 [e e] [= eevee] Î Î Bus Input Standalone or Commonbus Precharge Board Interface 2-20 Chapter 2 Installation/Wiring Figure 2.14. Frame Size D, E&F Gate Driver Board Connections Ground [a e | Fault o > | | J2 CT Logic Level Supply Motor Control Board J1 US Interface U4 1 J6 U2 o e Current e Feedback Pie U11 Interface e e a U6 U7 Main Switcher (Bus Volts > 24Vdc) Bus Switcher Fuse — F1 J10 J9 J12 J3 J8 J11 J4 J5 «© ZA F EZ Connection = to External Discharge Resistor Connection = to Lower IGBTs Connection — to Upper IGBT's Auxiliary Г 24V DC Input 120V [o e eme] Fan Connection | | Bus Standalone or Common Bus Input Precharge Board Interface 2-21 Chapter 2 Installation/Wiring Control & Signal Wiring If your 1336 FORCE Drive is equipped with a PLC Comm Adapter Board, | terminal blocks TB20 & TB21 located at the bottom center of the PLC Comm Board (Figure 2.16) are used for control and signal wiring (Drive Permissives). Connector TB21 provides the interface for Analog Input and Output reference signals as detailed in Figure 2.15. The maximum and minimum wire size accepted by TB20, TB21, Channel A and Channel B is 3.3 amd 0.06 mm? (12 and 30 AWG). Maximum torque for these terminal blocks is 0.79 N-m (7 Ib. —in.). Only copper wire may be used. Figure 2.15. Reference Signal Connections TB20 TB21 Drive Enabie (NO) QUT1 | : Motor Thermoguard (NC) COM! ; Normal Stop (NC) OUT? External Fault (NC) COM2 OUT3 COM3 OUT4 Input Common | Fault Output (NC) COM4 Fault Output (COM) IN14 HEHEHE Fault Output (NO) №- Oo IN2+ ik — EEE IN2— ad N IN3+ mh Ww IN3-— IN4+ IN4— +10V COM ||| —10V Pin jumper J3 on the PLC Comm Board Enables or Disables the BRAM Write function as follows: Jumpered 1 — 2 = Enabled Jumpered 2 — 3 = Disabled The PLC Comm Board 120V/24V jumper settings for 1/0 circuits (J8 — J11) are detailed in the 1336 FORCE PLC Communications Adapter User Manual 1336 FORCE — 5.7. 2-22 Chapter 2 Instaliation/Wiring Figure 2.16. PLC Comm Board Connections Ч ; TP1 TP2 ТРЗ TP4 TP5 4/0 o e e... (AB, O иг из и4 US esr | uc” Moe MODULE Interface BRAM CHAHigh CHALow CHBHigh CHB Low AP 13 Enable Communication Modes STATUS 510 Upa DP Status Bos D2 § D4 O CHA 0 ] Status P6 o 07 u — Status DO DIO B DOMINO шт RIO ADAPTER == м [===] Channel А = Port 1 RIO Channel B J5 Fault Qut Port 2 Ext Fault J7 Norm Stop Mtr Thermo Drv Enable e Drive Permissives ADC Inputs DAC Inputs Switch Settings There are DIP switches & jumpers located on the PLLC Communications Board that have been preset at the factory. If there becomes a need to reconfigure the switches or jumpers the 1336 FORCE PLC Communications Adapter User Manual should be consulted. 2-23 Chapter 2 Installation/Wiring Starting & Stopping the Motor 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 input power is removed, there will be a loss of inherent regenerative braking effect and the motor will coast to a stop. An auxiliary braking method may be A ATTENTION: The 1336 FORCE Drive control circuitry includes required. Figure 2-17. Control Scheme TB20 120V/24V —— (PLC Comm Adapter Board) $ © Drive Enable 120/24V ? - © Motor Thermo 120/24V © Stop 120/24V* o le Ext Fault 120/24V Input Common © Input Common O Fault NC © Fault Com © Fault NO Note: Terminal Blocks TB20 & TB21 are pull apart terminal blocks to aid in making cable connections. Both terminal blocks will accept wire sizes from 30-12 AWG (0.06 - 3.3 тит). "This is a configurable stop, see parameter 59 under the Drive Logic group for Start and Stop options. 2-24 Introduction Safety Precautions Chapter Start-Up This chapter describes the procedure for the proper start up and tuning of the 1336 FORCE AC drive. Among the procedures you must perform in this chapter are the following: e Pre-power checks e Power-on checks e Communication Configuration e Parameter Programming e Motor and Feedback Polarity Checks e Drive Tuning and Calibration A ATTENTION: Only qualified personnel familiar with the 1336 FORCE AC Drive and its associated machinery should plan and implement the installation, startup and subsequent maintenance of the Drive. Failure to comply may result in personal injury and/or equipment damage. A ATTENTION: Working with energized industrial control equip- ment can be hazardous. Severe injury or death can result from electrical shock, burn, or unintended actuation of controlled equip- ment. Hazardous voltages may exist in the cabinet even with the circuit breaker in the off position. Multiple sources of power may be connected to this drive. Recommended practice is to disconnect and lock out control equipment from power sources, and discharge stored energy in capacitors, if present before coming in contact with any equipment in this cabinet. During startup it will be neces- sary to work in the vicinity of energized equipment. The Safety Related Practices of NFPA 70E, “ELECTRICAL SAFETY FOR EMPLOYEE WORKPLACES” must be followed at all times. DO NOT work alone on energized equipment! ATTENTION: Potentially fatal voltages may result from im- proper useage of an oscilliscope and other test equipment. The oscilliscope chassis may be at potentially fatal voltage if not properly grounded. Avoid using the oscilloscope to measure high voltage signals. In most cases the waveform can be obtained from a low level test point. If an oscilliscope is used to measure high voltage waveforms, use only a dual channel oscilliscope in the differential mode with X—100 probes. It is recommended that the oscilliscope be used in the A minus B Quasi-differential mode with the oscilliscope chassis grounded to an earth ground. Refer to equipment safety instructions for all test equipment before using with the 1336 FORCE Drive. 3-1 Chapter 3 Startup ATTENTION: This Drive contains ESD (Electro—Static Dis- charge) sensitive devices. Static control precautions are required when installing, testing, servicing or repairing this assembly. These precautions should be applied when working with logic boards AND any components in the power section. A properly grounded wrist strap should be worn when contacting any compo- nent in the drive. If you are not familiar with static control proce- dures, before servicing, reference Allen-Bradley Publication 8000-4.5.2, Guarding against Electrostatic Damage or any other applicable ESD protection handbook. Required Tools and Equipment The following equipment is required for start-up and tuning. e Digital Multimeter (DMM) capable of 1000V DC/750V AC, with input resistance of at least 1 megohm. e Hand Tachometer used to monitor motor velocities. e User Manuals for optional equipment. e DriveTools Software (optional) This start-up seguence specifies using hand instruments such as multimeters, tachometers, ammeters and an oscilliscope to carry out this startup test procedure. If you have the optional Drive Tools software for the 1336 FORCE Drive, it can be used to simplify the startup procedure. This option can be used to set input commands, manipulate parameters and verify frequencies and voltage levels. IMPORTANT: With a Series A 1336 FORCE drive it is necessary to use either a PLC or DriveTools to carry out the Startup. Performing a Startup sequence with any programming terminal such as a GPT or HIM SHOULD NOT be attempted with a Series A drive. 3-2 Drive Information Chapter 3 Startup During Startup the following information should be recorded for reference. It is important that an accurate list of drive components be maintained and referred to when contacting service personnel. Table 3-A. Data Checks — DRIVE NAMEPLATE DATA Catalog Number: Serial Number: Series: AC Input Volts AC Output Volts Horsepower Rating: kw Amps Amps MOTOR NAMEPLATE DATA: Catalog Number: Serial Number: Series: AC Input Volts Amps Horsepower Rating: kw Poles: RPM: Hz: ENCODER NAMEPLATE DATA: Catalog Number: Serial Number: Series: Input Power Supply: Volts Input Signal Level: Output Type: Pulses Per Rev: PPR Maximum Speed: Maximum Frequency: Volts MOTOR CONTROL BOARD: Board Revision Level: PLC COMM BOARD: Board Revision Level: GATE DRIVER BOARD: Board Revision Level: STANDARD ADAPTER BOARD: Board Revision Level: PLC Comm Adapter Board Jumper Settings: U2: 1 2 3 4 5 6___ US: 14 __2 3 47 5 6 U4: 1 2 83 a4 5 6. UB: 1 2 3 _d4 B5, 6 33 Chapter 3 Startup General Only qualified electrical technicians and/or electrical engineers familiar with solid state controls and circuitry should attempt a 1336 FORCE start-up. Figure 3.1 outlines the sequence that is required to start-up the 1336 FORCE Drive. Figure 3.1. Bulletin 1336 FORCE Start-Up Sequence | PRE-POWER CHECKS | | | | ] A External | Internal | Communication | ; Wiring C Checks Drive Checks Configuration : |LIVE-POWER CH ECKS| | 1 | Voltage Standard | Measurements 70 Checks ; = PARAMETER PROGRAMMING | | POLARITY CHECKS | | Encoder | DRIVE TUNING | Pre-Power Checks Pre—Power checks are meant to identify any problems prior to applying 34 voltage to the system. The drive should be checked for any damage that may have occurred during shipment and installation. You should also verify that all jumpers and configuration controls are properly applied tor the application at hand. Finally, you must check all wiring external to the drive for accuracy and reliability. External Wiring Checks: 1. Verify that all external I/O wires are properly terminated in the terminal blocks. A full point — to — point continuity check should be performed on all I/O wiring connected to the drive. 2. Verify that the incoming power connections are properly connected and tight. Also verify that the power source is properly sized and protected for your particular drive. Communication Configuration Chapter 3 Startup 3. Verify that the motor power connections are properly connected and tight. Motor Phasing should be checked, 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 will be double checked later in this procedure. 4. 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 J3 and J4 on the Main Control Board (Figure 2.7) must be set for the desired output. Phasing of the encoder should be checked in that A and /A, B and /B are properly terminated. This phasing will be double checked later in this procedure. 5. Verify that the standard I/O inputs on the PLC Comm Board are configured for the proper input voltage level. The Standard I/O can be configured for operation at 24V DC or 120V AC. To select the proper voltage set the jumpers on J3, J6, J7 and J8 across pin 1 and 2 if the input voltage level is 120V AC, and across pins 2 and 3 if the input voltage level is 24V DC. Drive to Drive Communication — Drive to Drive Communication (D2D) provides high speed communications between drives based on a Control Area Network (CAN) chip. D2D is capable of connecting up to 64 Drives together using three different transfer rates, 125K (64 nodes), 250K (64 nodes), and 500K (32 nodes) baud. Hardware Setup — The hardware setup for D2D consists of a shielded cable going from CN+ and CN- between the drives. The shields are to be tied together and grounded at one point. Place a 120Q terminating resistor on both ends of the cable. The 8 —18 VDC that powers the D2D is to be supplied by the customer. Figure 3.2 shows a typical D2D connection. Recommended cable is Device—Net cable (Belden YR 29832). Figure 3.2. Drive to Drive Hardware Connection | (Customer Supplied) RN +15V DRIVE 1 | ОВМЕ 2 ТВ 11 | 12052 3-6 Chapter 3 Startup Transmit Receiv Communication — The D2D allows each drive to transfer two words and receive two words from two different drives for a total words received of four (Figure 3.3). Figure 3.3. D2D Communication el pe | Receive 2 Node Address — The node address for the transmit is the address at which the drive will transmit its two words of data. The node address for each of the receives is the address of the drive which you wish to receive two words of data from. If the node address is set to zero then the transmit or receive is disabled. It is up to you to make sure there are no duplicate transmit node addresses. If duplicate addresses exist, you must change one address. Refer to the example in Figure 3.4. Figure 3.4. Node Address Transmittal Drive #1 | Drive #3 Drive #4 Note that a drive cannot receive its own address and both receives cannot be set to the same address unless it is zero. Data Indirect — The indirect function for the transmit indicates to the D2D transmit (TX) where it should take data from. The receive it indicates to the D2D receive (RX) where it should put its data. Indirect parameters can have either VP parameters entered into them, or they can have indirect data parameters entered into them as shown in the following exampies. Transmitter Example: P14 Drive Transmit indirect 1 — Any VP Parameter or — P20 (Drive Xmit Data 1) P20 would then have a value or be linked to a non VP parm. Chapter 3 Startup Receiver Example: P16 Drive Receive Indirect 1 — Any VP Parameter or — P22 (Receive 1, Data 1) P22 would then have a value or a non VP parm linked to it. Data — The D2D TX and RX data exists as non VP parameters in the parameter table. This allows data outside the Motor Control Board to get access to the D2D. Data parameter examples were shown in the previous transmitter and receiver examples. Master/ Slave Drive to Drive Communication — Figure 3.5 illustrates an example of D2D applied to a master/slave drive set up. The master drive receives its speed reference from a speed pot wired to analog input 1 on a PLC Comm board. P339 (Analog In1) is linked to P101 (Ext Vel Ref) on the master drive. P392 (Analog In 1 Offset) and P393 (analog In1 Scale) are set accordingly. Analog Input 1 must be passed from the master drive to the slave drive and connected to the P101 (Ext Vel Ref) using the D2D protocol. Setting up the Master drive requires that a transmit address be chosen. An address 1 is chosen in this example. P14 (Drive Xmit Indirect 1) will have a value of 20 entered into it (Which means look to P20 (Drive Xmit Data 1)). P20 (Drive Xmit Data 1) must be linked to P339 (Analog In1). This is Where the data comes from that will be transmitted. Figure 3.5. Master/Slave Communication Example Master P11 Drive Xmit Address — Transmitter Station Address — 1 P14 Drive Xmit Indirect 1 — VP Parm. or P20 —20 P20 Drive Xmit Data 1 — Non VP Parm Linked — 339 (Analog In 1) P339 (Analog In 1) linked P101) (Ext Vel Ref) P392 (Analog In1 Offset) P393 (Analog In 1 Scale) Analog Inputs Drive to Drive © 0 - 10V Slave P12 Drive Receive 1 Address — Transmitter you are getting data from — 1 P16 Drive Receive Indirect 1 — VP Parm. or P22 —101 (Ext Vel Ref) P102 (Vel Scale Factor) Used to Control Gear Ratio Drive to Drive 3—7 Chapter 3 Startup 3-8 ChA HI (U2) The slave drive is set up by first setting P12 (Drive Receive 1 Address). P12 contains the address of the tranmitter that you wish to receive data from. In this example, a value of 1 is entered, indicating that data should be read from transmitter 1. P16 (Drive Receive Indirect 1) should be set to P101 (Ext Vel Ref). It should be noted that the typical transmission time from the master to the slave is between 4ms to 6ms using links, otherwise using indirects it is only 2ms to 4ms. PLC Comm Plug Configuration - The PLC Comm Adapter incorporates an Allen-Bradley Communication Plug which is preset. Verify that the Plug (Figure 3.6) is configured correctly for your application by checking the PLC Comm Adapter User Manual. Figure 3.6. PLC Comm Adapter Plug Configuration ChA LO ChB HI ChB LO U3) ( U4) ( US) luna 12345678 TNE 12345678 12345678 12345678 DIP SWITCHES Power On Chapter 3 Startup After all pre-power checks have been completed, the incoming power may be applied. The application of power for each system can be different. Make sure you know the safety controls associated with the system. Power should only be applied if you have a thorough understanding of the 1336 FORCE Drive and the associated system design. 1. Measure the incoming line voltage between L1 and L2, L2 and L3, and L1 and L3. Use the DMM on AC Volts, highest range (1000 VAC). 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 the drive rating is correct for the application, if it is, adjust the incoming line voltage to within +/~10%. Record these measurements in the Voltage Measurement Table. Measure the Motor Control Board Power Supply voltages. Record the measurements in the Voltage Measurement Table 3B. Measure the PLC Comm Board Power Supply voltages. Record the measurements in the Voltage Measurement Table 3B. If a Standard Adapter Board is supplied, measure the Standard Adapter Board Supply Voltages. Record the measurements in the Voltage Measurement Table 3B. Measure the Standard I/O input voltage. This voltage is user selectable and should be either 120VAC or 24VDC nominally. Record the voltage level in Table 3—B. Table 3-B. Voltage Measurement Table Test Points Expected Voltage Measured Voltage Li to L2 L2 to L3 L1 to L3 TP3 to TP4 Rated AC Line 4. 1 13 to 17V TP26 to TP27 10.4 to 13.6V TP4 to TP5 TP19 to TP14 J2 to J2 J4 to J4 Standard 1/0 V 120VAC +/-10% J3, 8, 9 or 10 to J3 or 24VDC +/-10% 4 11 to 17V 10.5 to 13V 3-9 Chapter 3 Startup Communication Configuration: The Standard I/O of the 1336 FORCE Drive should be checked to verify proper operation. The Standard I/O is used to interface control circuits into the drive. It is very important that this interface is functioning properly. 1. The DRIVE ENABLE (TB20 terminal 1) on the PLC Comm Board input allows the drive to honor a START command and allows the transistor firing commands to be enabled. D21 on the PLC Comm board, a green LED, reflects the present state of the DRIVE ENABLE. If D21 is illuminated, then the drive is enabled and the transistors will be allowed to fire. Parameter 54 bit 1 also reflects the status of the DRIVE ENABLE input. 2. The EXTERNAL FAULT (TB20 terminal 4) PLC Comm input allows the you to tie a signal into the 1336 FORCE that will be monitored by the Velocity Processor (VP). If the input voltage is removed, the VP will issue a fault or warning based on the configuration of that fault and the red LED D16 on the PLC Comm board will be illuminated. When Input voltage is applied, D12 will not be illuminated. 3. The MOTOR THERMOGUARD (TB20 terminal 2) input allows you to tie a signal from the thermo-switch in the motor into the 1336 FORCE that will be monitored by the Velocity Processor (VP). The red LED D18 will illuminate if an overtemp condition occurs. 4. The NORMAL STOP (TB20 terminal 3) input is stop command that will stop the drive according to the specified Stop Mode. The drive responds the same way it would if the STOP bit were set in any Logic Command. The red LED D13 reflects the present state of the STOP input. When a Stop is in effect the LED is illuminated and the Drive is not allowed to run. 5. The FAULT OUT (TB20 terminals 8,9,10) input is a Form C relay contact. Red LED D11 reflects the status of relay contact. If the LED is illuminated the contact is not energized. Startup Configuration Procedures Chapter 3 Startup After you have completed all wiring and power up the drive, the parameter configuration procedure must be completed in a two step sequence. ATTENTION: Failure to complete the parameter configura- tion in Steps 1 and 2 could result in injury to personnel, or- “damage to the drive and the motor, when attempting to perform the remaining steps in the Configuration Procedure. You must perform parameter configuration in the following order: 1. Set P310 to a value of 1. This will allow access to the Advanced Programming Parameters. 2. Enter the values for all Inverter Parameters (220 — 227). IMPORTANT: The carrier frequency (Parm 222) for 125 HP and larger drives must remain at 4 Khz or lower. If the carrier frequency is increased, the output current must be derated due to heating effects caused by the increase in carrier frequency. 3. Enter the values for all Motor Parameters (228 — 235). 4. Perform the Phase Rotation test only after entering all Inverter and Motor parameter values. ATTENTION: During Startup 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, un- couple the motor from the load and place a guard around the motor shaft. Phase Rotation Test: Typically the default values are adequate to perform the phase rotation test. Toggle the start bit in the logic command in order to start the test. When using default values, the motor shaft will rotate at approximately 85 RPM for a 4 pole, 60 Hz motor. Interpreting Phase Rotation Results: 1. In phase rotation, the motor should turn in the direction you define. If the motor turns in the wrong direction, reverse any two motor leads. 2. In phase rotation with the motor now turning in the correct direction, the sign of the velocity feedback (P146) should be positive. If it is negative, reverse the A and /A (NOT A) encoder leads or the B and /B (NOT B) leads. 3. If no motor rotation occurs, refer to the troubleshooting section of the manual. 3-11 Chapter 3 Startup 3-12 Torque Block Tuning: The Torque Block can be tuned by setting bits 2 thru 5 in parameter 256 to a value of one, and executing a Start command. During this test the Drive enable light will come on for approximately 1 minute with no motor rotation. After this one minute time period, shaft rotation will occur. Once the shaft stops rotating, the Drive enable light Will go out, and bits 2 thru 5 in Parameter 256 will be set to a value of zero. This indicates a successful Torque Block tune. If the Drive faults during the Torque Block tuning, verify the Motor and Inverter data and re-execute the test. If continued problems occur, refer to the Troubleshooting section; Sequential Torque Block tuning. Velocity Loop Tuning: You must use the following sequence when tuning the Velocity Loop: 1. Set Parameter 53 to a value of 1 (Bit 0 = 1). This sets the drive in velocity mode. 2. Set Parameter 40 (Autotune Torque Limit) to a value of 75%. 3. Set Parameter 41 (Autotune Speed Limit) to a value of 75%. 4. Set Parameter 256 (Bit 6 = 1) to a value of 64. This will enable the Motor Inertia Test. 5. Toggle the Start bit in the logic command. IMPORTANT: this must be done within 30 seconds of entering a value in Parameter 256. While the Velocity Loop test is being performed, the motor will accelerate up to 20% of base speed, and then accelerate to the speed set in Parameter 40 before decelerating to zero speed. The Enable light will go off when the test is finished. 6. To update the velocity loop gains, set Bit 8 to a value of 1 in Parameter 256. The maximum bandwidth will appear in Parameter 44. 7. Enter the desired bandwidth in Parameter 43. Note: Both the Ki & Kp gains in Parameters 139 and 140 will change depending on the value entered in Parameter 43. NOTE: Parameter 141 KF will also affect the values that are calculated for both Parameter 139 and Parameter 140. Leave Kf = 1 for initial tune. 8. After you have entered the desired bandwidth in Parameter 43, and the gains have been updated in Parameters 139 and 140, set Parameter 256 back to a value of zero. Chapter 3 Startup 9. Now you will be able to start the drive in Velocity Mode. Begin by giving the Drive a small speed reference. Slowly increase the drive speed reference, observing both Parameter 146 (Velocity Feedback) and Parameter 167 (Internal Torq Ref). Both of these parameters should be stable during steady state conditions. If they are not, adjust Kp and Ki accordingly, if the steady state condition cannot be obtained, perform another Velocity Loop Tuning sequence. After you are able to succcessfully run the motor in velocity mode by itself, it should be connected to the process and the system inertia test should be performed, System Inertia Test: With the motor connected to process, the following test sequence must be followed: 1. Set Bit 7 to a value of 1 in parameter 256. 2. After the appropriate value is set in Parm 256, a Start command should be given to the drive. When started, the motor will accelerate up to 20% of base speed, and then accelerate to the speed set in parameter 40 before decelerating to zero speed. The enable light will go off when the test is finished, and the value in P256 will be set to a value of 0. 3. After successful completion of the inertia measurement, whether motor inertia or system inertia, Bit 8 of parameter 256 should be set. This allows bandwidth calculations to be made automatically. The bandwidth calculations are based on the value that is displayed in Parm 44 (maximum Bandwidth). Parm 43 (Desired Bandwidth) 1s where the user will enter the desired Bandwidth display in X. XX rad/ sec. Both Parm 139 (Velocity KI Gain) and 140 (Velocity KP Gain) gains will change according to the bandwidth entered in Parm 43. Parm 43 must be less than or equal to the value displayed in Parm 44. NOTE: Parameter 141 (Velocity Feedforward) will also affect the values that are calculated for both Parm 139 & 140. Leave Kf =1 for Initial tune. 4. After you have entered the desired bandwidth in Parmeter 43, and the gains have been updated in Parameters 139 and 140, set Parameter 256 back to a value of zero. This will prevent Parm 139 and Parm 140 from changing if Parm 43 were to be accidentally changed. 5. Now you are ready to start the drive in Velocity Mode. The drive can be started using Preset Speed 1 (P119) for a reference by turning on Bits 13 & 1 in Parm 367. To stop the Drive enter a value of 1 in Parm 367. 3-13 Chapter 3 Startup 6. Begin by putting a small reference in Parm 119 (approximately 10% of Base Speed). Observe the motor shaft, making sure it has stable rotation. Slowly increase the drive speed reference observing both Parameter 146 (Velocity Feedback) and Parameter 167 (Torq Ref). Both of these parameters should be fairly stable during steady state conditions. If they are not, adjust Kp and Ki accordingly, if the steady state condition cannot be obtained, perform another Velocity Loop Tuning sequence. *** IF YOU ARE USING A PLC COMM BOARD The analog outputs on a PLC Comm Board can be used to link the Velocity Feedback (parm 146) and Torq Reference (Parm 167). When these outputs are linked, a chart recorder can be connected to the Analog Output channels. This will allow the user to record the drives response to given changes in the reference. 3-14 General Required Equipment Chapter 4 Troubleshooting Chapter 4 provides information to guide you in troubleshooting the 1336 FORCE. The 1336T (FORCE) Drive employs extensive diagnostics to aid in correcting many malfunctions that may occur in the system. This guide is designed to help you interpret the diagnostic response of the Drive when a malfunction occurs. Possible corrective measures will be explained to help you get the Drive repaired or functional as quickly as possible for most types of malfunctions. 1336 FORCE drive system and the associated machinery should perform troubleshooting or maintenance functions on the Drive. Failure to comply may result in personal injury and/or equipment damage. A ATTENTION: Only qualified personnel familiar with the During Start-up the following information should have been recorded for reference during troubleshooting. If it was not, record the following at this time: O Software Version numbers should be recorded for each board. These are necessary to assist on-site personnel or when calling for assistance. O Drive and motor nameplate data should have been recorded at start-up and maintained for ready reference during troubleshooting. Many systems do not allow for easy access to the motor after start-up. If the motor nameplate data was not recorded previously, do so at this time. For initial troubleshooting, a programming device is required to read fault codes. In addition to a programming device, the following should be available before initiating any troubleshooting procedures: Digital Multimeter (DMM) capable of 1000V DC/750VAC, with one megohm minimum input impedance. Clamp on Ammeter (AC/DC) with current ratings to 2X rated current output of 1336 FORCE AC Drive. Dual trace oscilliscope with differential capability, digital storage, two X10 and one X100 calibrated probes (optional but recommended). Hand tachometer used to monitor motor velocities. Programming Device Instruction Manual and Adapter Board Reference Manuals. во сн с 4-1 Chapter 4 Troubleshooting Fault Descriptions Fault Display — Faults are indicated by showing a decimal number of up to 5 characters relating to the fault (Figure 4.1) or by flashing LED sequences on the Motor Control Board. The fault will be displayed until a Drive reset is initiated. Refer to Tables 4.A & 4.B for a listing and description of the various faults. When applicable, a possible solution will also be provided. Figure 4.1 Typical Fault Description Display Fault Code Definition - The fault code is a 5 character decimal number that is defined as follows: SAXXX _S= Source Designator À = Area Designator XXX = Internal Fault Code (0 thru 999) The Source Designator (S) is the 1st digit of the number: 0 = Main Board Velocity Processor (VP) 1 = Main Board Current Processor (CP) 2 = Reserved 3 = Adapter Processor (PLC Comm etc.) 4 = Domino Processor (DP) 5 = Reserved Area Designator (A) is the 2nd digit of a number: 0 = General 1 = Motor 2 = Inverter 3 = Mtr Control 4 = Adapter 5 = External Device 6 = Communications 7 = Reserved 8 = Reserved 9 = Converter/Brake Internal Fault Code (XXX) The internal fault codes (last three digits of number) are identified in Table 4.A thru 4.C. Chapter 4 Troubleshooting Table 4.A 1336 FORCE Motor Control Fault Descriptions Fault # LED Description Parameter # Bit # 13000 CP, Red 1 blink CP EPROM Fault 80 00 13001 CP, Red 2 blink CP Internal RAM Fault 80 01 13002 CP, Red 3 blink CP External RAM Fault 80 02 13003 CP, Red 4 blink CP Stack RAM Fault 80 03 13004 CP, Red 5 blink VP MBI Failure (Dual Port) 80 04 03008 VP, Red 1 blink VP EPROM Fauit 80 08 03009 VP, Red 2 blink VP Internal RAM Fault 80 09 03010 VP, Red 3 blink VP External RAM Fault 80 10 03011 VP, Red 4 blink VP Stack RAM Fault 80 11 03012 VP, Red 5 blink CP MBI Failure (DualPort) 80 12 03013 VP, Red 6 blink AP MBI Failure (MECO DualPort) 80 13 03014 VP, Red steady Power Driver Board EEPROM Fault 80 14 12016 CP, Solid Red Bus Overvoltage 81 00 12017 CP, Solid Red Transistor Desat 81 01 12018 CP, Solid Red Ground Fault 81 02 12019 CP, Solid Red 10С 81 03 14020 CP, Solid Red SW Malfunction (AP Hndshk) 81 04 16021 CP, Solid Red Master/Slave Cable Loss 81 05 16022 CP, Solid Red Master/Slave Enable Timeout 81 06 04024 VP, Solid Red AP Handshake Error 81 08 03025 VP, Flashing Red Absolute Overspeed 81 09 03026 VP, Flashing Red Analog Supply Tolerance 81 10 12027 CP, VP, Flash Red Diagnostics Failure 81 11 12028 VP, Solid Red Inverter Overtemperature Trip 81 12 13029 VP, Solid Red Software Malfunction - VP 81 13 12032 CP, Flashing Red Ridethrough Timeout 82 00 12033 CP, Flashing Red Precharge Timeout 82 01 12034 CP, Flashing Red Bus Drop 82 02 12035 CP, Flashing Red Bus Undervoltage 82 03 12036 CP, Flashing Red Bus Drop Cycles >3 82 04 05048 VP, Flashing Red Velocity Feedback Loss 83 00 02049 VP, Flashing Red Inverter Overtemp Pending 83 01 01050 VP, Flashing Red Motor Overtemp 83 02 01051 VP, Flashing Red Motor Overload Pending 83 03 01052 VP, Flashing Red Motor Overload Tripped 83 04 01053 VP, Flashing Red Motor Stalled 83 05 05054 VP, Flashing Red External Fault Input 83 06 03057 VP, Flashing Red Parameter Limit 83 09 03058 VP, Flashing Red Math Limit 83 10 09059 VP, Fiashing Red Dynamic Brake Overtemperature 83 11 02060 VP, Solid Red AC Contactor Failure 83 12 02061 VP, Flashing Red Inverter Overload pending (IT) 83 13 06062 VP, Flashing Red Drive to Drive Error 83 14 4-3 Chapter 4 Troubleshooting 4-4 Note: The first digit in the 5 character fault number for PLC Comm Board faults indicates the source as follows: 0 = Velocity Processor (VP) 1 = Current Processor (CP) 2 = Adapter Processor (PLC Comm etc.) 3 = Domino Processor (DP) The Area Designator (2nd digit) and internal fault codes (last three digits) remain the same as described under the Fault Code Definition on page 4-2. Table 4.B 1336 FORCE PLC Comm Adapter Fault Descriptions Fault # Description | Fault Text 24000 Faults Cleared/No Fault exists Clear Faults 24009 Soft Fault —- Adapter BRAM checksum fault Adpt BRAM Cksm 24012 Soft Fault - Main Board Bram checksum fault Main BRAM Cksm 34001 DP-PSD RAM code SW Malfunction 34002 DP-RAM SW Malfunction 34003 DP-Checksum (code) SW Malfunction 34004 Domino interface SW Malfunction 34005 DP/AP dual port RAM SW Malfunction 24013 Nard Fault — Integrity Check on Board Failed SW Malfunction 24014 Hard Fault — Integrity Check on Board Failed SW Malfunction 24015 Hard Fault — Integrity Check on Board Failed SW Malfunction 24016 Hard Fault — Integrity Check on Board Failed SW Malfunction 24017 Hard Fault ~ Integrity Check on Board Failed SW Malfunction 24018 Hard Fault - Integrity Check on Board Failed SW Malfunction 25023 No Adapter Language Module Present No AP LM exists 25024 No Main Board Language Module present No MC LM exists 24025 PLC Comm Bd SW/LM version mismatch AP SW/LM Rev Err 24026 Soft Fault — Dip switch settings on Adapter incorrect Adptr Config Err 34001 Hard Fault - Integrity Check on Board Failed HW Malfunction 34002 Hard Fault - Integrity Check on Board Failed HW Malfunction 34003 Hard Fault — Integrity Check on Board Failed HW Malfunction 34004 Hard Fault — Integrity Check on Board Failed HW Malfunction 34005 Hard Fault - Integrity Check on Board Failed HW Malfunction 34006 ChA Protocol Fault ChA Protocol 34007 ChB Protocol Fault ChB Protocol 34008 ChA Baud Rate ChA Baud Rate 34009 ChB Baud Rate ChB Baud Rate 34010 ChA Rack Size ChA Rack Size 34011 ChB Rack Size ChB Rack Size 34012 ChA Module Group ChA Module Group 34013 ChB Module Group ChB Module Group 34014 RIO redundant-diff rack size Redund Rack Size 34015 RIO redundant-diff protocols Redund Diff Prot 34016 Hard Fault — Integrity Check on Board Software Failed HW Malfunction Chapter 4 Troubleshooting Table 4.B 1336 FORCE PLC Comm Adapter Fault Descriptions cont. Fault # Description Fault Text 36019 ChA Duplicate DH+ Node Addr's ChA Dup Nodeaddr 36020 ChB Duplicate DH+ Node Addr's ChB Dup NodeAddr 24027 FB INTERNAL ERROR FB Internal Err 24028 FB INVALID LINK ERROR Invalid FB Link 24029 FB 1/0 LIMIT ERROR FB 1/0 Lim Err 24030 FB MEM ALLOCATION ERROR FB Mem Alloc Err 24031 FB Event Value ERROR FB Event Value Err 24032 FB BLOCK NUMBER LIMIT ERROR At FB Block Lim 24034 FB BRAM CHECKSUM ERROR FB BRAM CHECKSUM ERROR 24035 FB INTERNAL ERROR FB Internal Err 24036 FB EXECUTION TIME LIMIT FB Exe Time Lim 24037 FB BRAM is Not Initialized Init FB BRAM Fit 26038 Device connected to Scanbus Port 1 disconnected SB PT 1 Timeout 26039 SB Port 2 timeout SB PT 2 Timeout 26040 SB Port 3 timeout SB PT 3 Timeout 26041 SB Port 4 timeout SB PT 4 Timeout 26042 SB Port 5 timeout SB PT 5 Timeout 26043 SB Major Fault SB Comm Fault 36021 ChA Comm loss ChA Comm Loss 36022 ChB Comm loss ChB Comm Loss 36023 ChA Reset program test ChA Prg/Res/Test 36024 ChB Reset program test ChB Prg/Res/Test 36025 Ch A Rack Fault Ch A Rack Fault 36026 Ch B Rack Fault Ch B Rack Fault 24044 FB Near Memory limit WARN 0 FB Near Mem Lim 24045 FB lilegal event downloaded WARN 1 FB DNLD Bad Evnt 24036 FB WARN 2 24037 FB WARN 3 24038 FB WARN 4 24040 FB WARN 5 | 24039 FB EVENT LIST CHECKSUM WARN 6 24041 FB WARN 7 24042 FB WARN 8 24046 FB Bad Packet Number FB BAD PKT NUM 24048 FB lllega! Event Download WARN FB DNLD Bad Event 24049 FB Block Number Warning FB DNLD BLK 4 Warn 24050 FB Event List checksum warning FB Dnid Cksm Wrn 24052 FB Near execution limit warn FB NEAR EXEC LIM 4-5 Chapter 4 Troubleshooting Fault/Warning Handling 4-6 The lights on the motor control board indicate the status of the Current and Velocity processors. Both the Current and Velocity processors have both Green and Red LED's associated with their status. Table 4.D displays the meaning of the CP and VP status lights. Table 4.C CP and VP Status VP LED CP LED Status Meaning D2 D4 Solid Green Drive Hard Fault D2 D4 Flashing Green Drive Soft Fault D3 D5 Flashing Red Drive Warning D3 D5 Solid Red No Fault Hard Fault — A Drive hard fault is a fault that trips the Drive causing it to coast to a stop. This type of fault requires the user to perform a Drive Reset to remove the fault. Soft Fault — A Drive soft fault will also cause the drive to trip and coast to a stop. This type of fault can be removed by doing a Clear Faults command after the condition that caused the Drive to trip has been removed. Drive Warning — A Drive Warning is simply an undesirable condition that exists within the Drive. It will not cause the Drive to trip. A Clear Faults command after the warning condition has been alleviated, will remove the warning. Everytime the Drive has any of the faults or warnings decribed above, a fault/warning message is logged in either the fault or warning queue. This is designed to aid in troubleshooting. Motor Control Board Faults & Warnings — There are two types of fault and warning queues for the Motor Control Board, configurable and nonconfigurable. Configurable Faults & Warnings — The configurable fault queue contains faults that can be set up to either trip the drive or provide only a visual warning while the drive continues to operate. Nonconfigurable Faults & Warnings — The nonconfigurable fault queue contains faults that the user can’t shut off. These faults are the result of a condition that could damage the Drive if allowed to persist. The non — configurable fault queue faults can be viewed in parameter 81 (Fig. 4.2). In addition to configurable & non—configurable faults, there are the “powerup faults”. Powerup Faults — The powerup faults appear in parameter 80 (Fig. 4.3). These faults primarily consist of problems that could occur with powerup of both the current and velocity processors. Adapter Board Faults — Adapter board faults are setup and displayed in separate parameters from the Motor Control Board. For a list of adapter board faults, refer to your adapter board manual. Chapter 4 Troubleshooting Figure 4.2 Bit# Parameter 81 (Non-configurable Fault Status) 15 1413 12 1110 9 8 7 6 54 3 2 1 O O0000000.0OOOODOOODO DC Bus Overvoltage Trip Transistor Desaturation Trip Jog Ramp Enable Ground Fault Trip Instantaneous Overcurrent Trip Adapter Comm Loss Master/Slave Enable Timeout Not Used Adapter Comm Loss detected by VP Absolute Overspeed Analog Power Supply Tolerance Autocommission or Transistor Diagnostic Fail Inverter Temperature Trip Software Malfunction detected by VP NOT USED NOT USED This word parameter indicates fault conditions in the Drive that CANNOT be configured as warnings. When a bit is set to “1”, the corresponding condition in the Drive is true, otherwise the condition is false. Bit 0-3 are detected by hard- ware and 4-15 are detected by software. Figure 4.3 Bite Parameter 80 (Powerup/Diagnostic Fault Status) / 15 1413 121110 9 8 7 6 54 3 2 1 0 OO 0000000. 0O0OOOOOOO0ODO | CP PROM Failure CP Internal RAM Failure CP External RAM Failure CP Stack RAM Failure CPAP Dualport RAM Failure NOT USED NOT USED NOT USED VP Prom Failure VP Internal RAM Failure VP External RAM Failure VP Stack RAM Failure VP/CP Dualport RAM Failure VP/AP Dualport RAM Failure Base Drive EE Failure NOT USED This word parameter indicates a fault condition which has been detected during power up or reset of the the drive. Where the bit is set to “1”, the corresponding condition in the Drive is true, otherwise the condition is false. 4-7 Chapter 4 Troubleshooting 4-8 Current Processor Faults & Warnings — Both the fault and warning queues are configurable for either the Current or the Velocity processor. You can configure which Current processor faults you want to trip the Drive by setting Parameter 86 (Figure 4.4). When the Drive trips on one of the faults set in parameter 86, the CP light on the Motor Control board will turn red. When the drive trips, it will coast the motor to a stop. Parameter 87 (Figure 4.5) has the same bit weights as parameter 86, but instead of tripping, the Drive will display a warning fault, which in turn causes the CP light to flash green, indicating a warning. The Drive will continue to run when there is a CP warning. Parameter 82 (Figure 4.6) displays which CP fault caused the Drive to trip, while parameter 84 displays any CP warnings that have occurred. Most of the setup for the current processor Fault/Warning configuration deals with DC Bus conditions. These Bus conditions deal with the Bus precharge and any type of ride through conditions. The Precharge and Ride Through functions are configured through parameter 223 (Precharge/Ridethrough Selection). This parameter is bit encoded as follows: PRECHARGE/RIDETHRU SELECTION PARAMETER 223 Bit 12 Set Enables Precharge as a Common Bus Inverter Bit13 Set Disables Bus precharge timeout and undervoltage faults while the drive is DISABLED (in HOME state) Bit14 Set Disables Disables Bit 15 Set Disables Disables PRECHARGE/RIDETHRU FAULT/WARNING SETPOINTS: Undervoltage Setpoint Parameter 224 Scaled in volts Bus Precharge Timeout Parameter 225 Scaled for seconds x 10 Bus Ridethru Timeout Parameter 226 Scaled for seconds x 1000 PRECHARGE and RIDETHRU FAULTS: The precharge and Ride Through faults are configured through parame- ters 86 & 87 CP Fault/Warning Configuration Select) as shown in Figures 4.4 and 4.5. To assist in determining the precharge and ride through operating modes software test point #27 (dRam_bus_status) gives the present operating conditions. The test point is bit encoded as follows: Chapter 4 Troubleshooting dRam Bus Status SOFTWARE TESTPOINT #27 Bit O Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Set Set Set Set Set Set Set Set Indicates Indicates Indicates Indicates Indicates Indicates Indicates Indicates Precharge has been completed Drive is in ride through Precharge initiated by ride through Not Used AC Line Status (valid only while in precharge) Bus rising or failing (valid only while in precharge) Low Bus Cap voltage: small drives only (valid only while in precharge) Precharge cannot be completed because bus is too low compared to the initial bus voltage at power up. The software test point can be monitored by first entering the dRam_bus_status number (#27) into the Test point selection parameter (e.g. #273). Then the data can be viewed in the corresponding Test point data parameter (e.g. #274). Figure 4.4 Parameter 86 (CP Fault/Warning Configuration Select (bits)) Bit# 15 1413 12 11 10 9 8 7 6 ооооооооооооососоо | Bus Ridethrough Timeout Bus Precharge Timeout Bus Drop (150 volts below nominal) Bus Undervoltage Bus Ridethru Cycles (5 ride thrus in a row) fault Reserved Reserved Reserved NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED This word parameter determines conditions detected by the Current Processor (CP) that will be reported as either a drive fault or drive warning condition. Each configuration bit matches the bit definitions of Parameters 82, 84 and 87. When a bit is set to “1”, the corresponding condition in the Drive will be reported as a FAULT, otherwise the condition is reported as a WARNING. 4-9 Chapter 4 Troubleshooting Figure 4.5 Bit# Parameter 87 (CP Warning/None Configuration Select (bits)) 15 1413 12 1110 9 8 7 6 54 3 2 1 O ооооооооооооососоо | Bus Ridethrough Timeout Bus Precharge Timeout Bus Drop (150 volts below nominal) Bus Undervoltage Bus Ridethru Cycles (5 ride thrus in a row) Reserved Reserved Reserved NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED This word parameter determines conditions detected by the Current Processor (CP) that will be reported as either a drive fault or drive warning or not reported at all (ignored). Each configuration bit matches the bit definitions of Parameters 82, 84 and 86. When a bit is set to “1”, the corresponding condition in the Drive will be reported as configured by parameter 86. If the bit is set to “0”, the condition is not reported. Chapter 4 Troubleshooting Figure 4.6 Bit# Parameter 82 (CP Configurable Fault Status) 151413121110 9 8 7 6 54 3 2 1 0 O0000000.OOOODOOODO Bus Ridethrough Timeout Bus Precharge Timeout Bus Drop (150 volts) Bus Undervoltage Bus Ridethru Cycles > 5 Reserved Reserved Reserved NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED This word parameter indicates conditions detected by the Current Processor (CP) that have been configured to report as a Drive fault condition. Each configuration bit matches the bit definitions of parameters 84, 86 and 87. When a bit is set to “1”, the corresponding condition in the Drive is true, otherwise the condition is false. Figure 4.7 Bit# Parameter 84 (CP Configurable Warning Status (bits)) 151413121110 9 8 7 6 54 3 2 1 0 OO 0000000OOOOOOOO0ODO | Bus Ridethrough Timeout Bus Precharge Timeout Bus Drop (150 volts) Bus Undervoltage Bus Ridethru Cycles > 5 Reserved Reserved Reserved NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED This word parameter indicates conditions detected by the Current Processor (CP) that have been configured to report as a Drive warning condition. Each configuration bit matches the bit definitions of parameters 82, 86 and 87. When a bit is set to “1”, the corresponding condition in the Drive is true, otherwise the condition is false. Chapter 4 Troubleshooting Velocity Processor Faults & Warnings — You can configure which velocity processor faults you want to trip the drive by setting Parameter 88 (Figure 4.8). When there is a velocity processor fault, the VP light on the motor control board will blink red (soft fault) for configurable VP faults. When this happens, the drive will shut off and coast the motor to a stop. VP faults can be viewed in parameter 83 (Figure 4.9). Configurable VP warnings can be setup in Parameter 89 (Figure 4.10) and viewed in parameter 85. When a configurable VP warning exists, the VP light will be flashing green, but the drive will continue to run. Velocity processor warning faults can be viewed in parameter 85 (Figure 4.11). Figure 4.8 Bit Parameter 88 (VP Fault/Warning Configuration Select (bits)) | 15 1413 121110 9 8 7 6 5 4 3 2 1 0 оооооооооооооосоо | Feedback Loss Inverter Overtemp Pending Motor Overtemperature Tripped Motor Overioad Pending — HT Motor Overload Trip — IIT Motor Stalled External Fault NOT USED NOT USED Parameter Limit Math Limit Dynamic Brake Resistor Overtemperature AC Motor Contactor Failure Inverter Overload Pending (IT) Drive-to-Drive communication fault Inverter Overload Trip (IT) This word parameter indicates conditions detected by the Velocity Processor (VP) that have been configured to report as a Drive warning condition. Each configuration bit matches the bit definitions of Parameters 83, 85 and 89. When a bit is set to “1”, the corresponding condition in the Drive will be reported as a FAULT, otherwise the condition is reported as a WARNING. 4—12 Chapter 4 Troubleshooting Figure 4.9 Bit# Parameter 83 (CP Configurable Fault Status) 15 1413 121110 9 8 7 6 54 3 2 1 0 оооооооооооооосоо Feedback Loss Inverter Overtemp Pending Motor Overtemperature Tripped Motor Overload Pending — IIT Motor Overload Trip —1IT Motor Stalled External Fault NOT USED NOT USED Parameter Limit Math Limit Dynamic Brake Resistor Overtemperature AC Motor Contactor Failure Inverter Overload Pending (IT) Drive-toDrive Communication Fault Inverter Overload Trip (IT) This word parameter indicates conditions detected by the Velocity Processor (VP) that have been configured to report as a Drive fault condition. Each configuration bit matches the bit definitions of Parameters 85, 88 and 89. When a bit is set to “1”, the corresponding condition in the Drive is true, otherwise the condition is false. Figure 4.10 Bits Parameter 89 (VP Warning/None Configuration Select (bits)) 151413121110 9 8 7 6 54 3 2 1 0 O O GQ O OA QQ O OQOGOONOQOODO | Feedback Loss Inverter Overtemp Pending Motor Overtemperature Tripped Motor Overload Pending — IIT Motor Overload Trip — HT Motor Stalled External Fault NOT USED NOT USED Parameter Limit Math Limit Dynamic Brake Resistor Overtemperature AC Motor Contactor Failure Inverter Overload Pending (IT) Drive-toDrive Communication Fault Inverter Overload Trip (IT) This word parameter indicates conditions detected by the Velocity Processor (VP) that will be reported as either a drive fault or warning or not reported at all (ignored). Each configuration bit matches the bit definitions of Parameters 83, 85 and 88. When a bit is set to “1”, the corresponding condition in the Drive will be reported as configured by parameter 88. When the bit is set to “0”, the condition in is not reported. 4-13 Chapter 4 Troubleshooting Figure 4.11 Bits Parameter 85 (VP Configurable Warning Status (bits)) | 15 1413 121110 9 8 7 6 54 3 2 1 0 O G QO0 QA OQ GQ O.OQOOOGOOODO | Feedback Loss Inverter Overtemp Pending Motor Overtemperature Tripped Motor Overload Pending — IIT Motor Overioad Trip — IT Motor Stalled External Fault NOT USED NOT USED Parameter Limit Math Limit Dynamic Brake Resistor Overtemperature AC Motor Contactor Failure Inverter Overload Pending (IT) Drive-to-Drive communication fault NOT USED This word parameter indicates conditions detected by the Velocity Processor (VP) that have been configured to report as a Drive warning condition. Each configuration bit matches the bit definitions of Parameters 83, 88 and 89. When a bit is set to “1”, the corresponding condition in the Drive is true, otherwise the condition is false. Chapter 4 Troubleshooting Auto-Commissioning Test Procedure Auto-Commissioning is a procedure which involves the running of a group of tests on the motor/drive combination. Some of these tests check the Drive hardware and others configure Drive parameters for torque control with the attached motor. A ATTENTION: Power must be applied to the Drive and the motor must be connected for some of the following 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. Test Overview: Auto-Commissioning includes 6 tests, all of which can be performed on a motor which is either coupled or decoupled from load. These tests include: 1. Power Structure and Transistor Diagnostics: These routines allow you to determine if any problems exist in the power structure of the drive and to determine the probable cause of these problems. The diagnostic software determines hardware problems through a series of system tests. These tests are parameter dependent with the test results dependent 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 for proper interpretation of whether a real problem does exist. The transistor diagnostics can be enabled to run before a start, or the diagnostics can be run independently by configuring the commissioning routines. Bits 6, 7 and 8 of parameter 59 (Logic Options) enables Transistor Diagnostics. Transistor Diagnostics requires current running thru the motor, so a user enable transistion is required to run the tests in all cases. Transistor diagnostics options are listed in Figure 4.2. Chapter 4 Troubleshooting Figure 4.12 Bite Parameter 59 (Logic Options) i 151413121110 9 8 7 6 5 4 3 2 1 O 000000 0B.OOOOOOODO | Start Type A | Start Type B_ Jog Ramp Enable = 1/Jog Coast; = 0/ Regen Stop Maint. Start, Regen STOP Maint Start, COAST STOP Momentary Start, ————— Maintain START, Regen Stop ss = OC о = © — © > STOP Input Type A** B A 0 0 Coast STOP Input Type B 0 1 Normal Do Power Up Diagnostics 1 0 I-Limit Do Flux Up Diagnostics 1 ! Coast Do Start Diagnostics 1/ User Torque Mode; 0/ Zero Torque 1/ Stopped when zero speed; 0/ Zero Torque 1/ AC Motor Contactor Present 1= Bipolar Vel. Ref.; 0 = Unipolar Vel Ref. 1/ Disable Bumpless Torque Calc. NOT USED NOT USED Setting bit 6 of Parameter 59 will run Diagnostics once after the first power up and enable. Setting bit 7 of Parameter 59 will run Diagnostics before each flux up of the motor. Setting bit 8 of Parameter 59 will run Diagnostics before each start of the drive. To run the Transistor Diagnostics independently use the Autotune/Diagnostics Selection parameter 256, and set bit 0 to a value of 1. Toggle the Start bit in the logic command. The green Enable light (D21 on PLC Comm Board) will turn on briefly and then turn off. This will run only the transistor diagnostics and leave the drive disabled after the diagnostics have completed. Parameter 256 will be automatically set to zero after the diagnostics have run. Since these test results are system dependent, you have the option of disabling tests that may give questionable or nuisance faults. The tests are disabled through parameter 257 (Transistor Diagnostics Configuration) as shown in Figure 4.13. Chapter 4 Troubleshooting Figure 4.13 Bite Parameter 257 (Transistor Diagnostics Configuration) | 15 1413 121110 9 8 7 6 5 4 3 2 1 O ооооооооооооооооо | Disables Current feedback phase U offset tests Disables Current feedback phase W offset Tests Disables Shorted Power Transistor Tests Disables Ground Fault Tests Disables Open Transistor, Open Motor, Open Current Feedback, Open Gate Drive & Open Bus Fuse Tests RESERVED, Always leave as 0 Disables Power Transistor U upper for all tests Disables Power Transistor U lower for all tests Disables Power Transistor V upper for all tests Disables Power Transistor V lower for all tests Disables Power Transistor W upper for ali tests Disables Power Transistor W lower for all tests RESERVED, Always leave as 0 RESERVED, Always leave as 0 RESERVED, Always leave as 0 RESERVED, Always leave as 0 The disabling of individual transistors or any combination of transistors is available for specific module testing in the power structure. You must leave all transistors enabled under most conditions. The results of the transistor diagnostic tests are given in parameters 258, 259 and in software test point #27. Each of the results is bit encoded as shown in Figure 4.14 and 4.15. 4—17 Chapter 4 Troubleshooting Figure 4.14 Bits Parameter 258 (Inverter Diagnostics Result #1) | 15 1413 12 1110 9 8 7 6 5 4 3 1 O0O0O0O0O0O0O0 0O0O0OOO0OOO | SET Indicates Software Fault SET Indicates no motor connected or open bus fuse SET Indicates phase U and W shorted SET Indicates phase U and V shorted SET Indicates phase U and W shorted Shorted modules Ground fault Fault before short mod ran. A hardware overvoltage fault occurred A hardware desat fault occurred A hardware ground fault occurred. A hardware phase overcurrent fault occurred Open power transistor(s) Current feedback faults NOT USED NOT USED Figure 4.15 Parameter 259 (Inverter Diagnostics Result #2) Bit# 151413 121110 9 8 7 6 5 4 3 1 оооооооооооооосоо | SET Indicates transistor U Upper shorted SET Indicates transistor U Lower shorted SET Indicates transistor V Upper shorted SET Indicates transistor V Lower shorted SET Indicates transistor W Upper shorted SET Indicates transistor W Lower shorted SET Indicates current feedback phase U offset too large SET Indicates current feedback phase W offset too large SET Indicates transistor U upper open SET Indicates transistor U lower open SET Indicates transistor V upper open SET Indicates transistor V lower open SET Indicates transistor W upper open SET Indicates transistor W lower open - SET Indicates current feedback phase U open SET Indicates current feedback phase W open. 4-18 Chapter 4 Troubleshooting If any hardware fault occurs during the open transistor testing, the hardware fault is saved and a Phase to Phase fault is set. All subsequent testing is stopped and some untested devices may be set as open. Typically the hardware fault should be fixed and then open tests rerun to determine if any opens exist. Open Transistor Faults — Open transistor faults could indicate an open anywhere in the control or power section that turns on a given transistor. The power transistor gate drive signal should be checked 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. You should also note that if the Bus voltage is too low, opens could occur (Bus voltage should be greater than 85% of nominal line). Multiple Opens — If there are multiple opens, it is possible that several additional faults may be indicated. For example; If transistor U upper AND U lower are open the test will also indicate that current feedback U phase is open. Since there is no way of running current through phase U, the current feedback device cannot be checked and therefore is listed as failed. Contact A-B Support Services 1f problems with the U phase are suspected. The type of installation often determines which parts of the transistor diagnostics may or may not work. As a result, the software should be treated only as an aid for testing the power structure. Nuisance Faults — If a software fault occurs, it usually indicates that an improper sequence of events has occurred. Either the software 1s unable to distinguish what is occurring, or there is noise in the system. Normally a software error would be an indication that the test should be rerun In cases of repeated faults, it may indicate a fault that cannot be directly identified (for example, a voltage breakdown in a snubber.) At this point you will have to determine through external measurements 1f the problem is real or if there 1s a noise problem. In cases where a specific test continually results in nuisance faults, that test can be disabled. Test Points — Software testpoint #28 (Fig.4.16) can give an indication of which software routine was running when a fault occurred and which hardware fault occurred during the test. The software testpoint can be examined by entering the test point number (#28) into a test point selection parameter (e.g. parameter 273). The test point data can then be viewed in the associated parameter (e.g. 274). Chapter 4 Troubleshooting Figure 4.16 Bits Software test point #28 sw_fault | 15 1413 12 1110 9 8 7 6 5 4 3 2 1 0000°©0©%© 0[20200[©00.00©00% 000 —Oo SET Indicates offset routine for phase U ran SET Indicates offset routine for phase W ran SET Indicates shorted transistor tests ran SET Indicates ground fault tests ran SET indicates ground fault modules ran SET Indicates open (Transistor, etc. . ) tests ran SET Indicates software fault #3 hard fault before open ran NOT USED SET Indicates a hardware overvoltage fault occurred SET Indicates a hardware desat fault occurred SET Indicates a hardware ground fault occurred SET Indicates a hardware phase overcurrent fault occurred SET Indicates software fault #2 Ifdbk coding error SET Indicates software fault #1 HSI interrupt ran too soon SET Indicates software fault during ground fault tests SET Indicates software error hard fault before short module Software Testpoint #29 (td_sm_counter) lists the last test run before transistor diagnostics stopped as follow: 0 => initialization 1=>LEMU 2=>LEMW 3 — 8 => shorted transistor tests Utop, bot then Vtop, bot then Wtop, bot 9 => tests stopped on fault 10 — 15 = > Shorted transistor tests Utop, bot then Vtop, bot then Wtop, bot 16 = > tests stopped on fault 17 => Conduction U>W LEM U 18 => Conduction U>W LEM W 19 => Conduction W > U LEM U 20 => Conduction W > U LEM W 21 => Conduction U>V LEM О 22 => Conduction V>ULEM U 23 => Conduction W > V LEM W 24 => Conduction V > W LEM W 25 = > Done Software Testpoint #30 lists the average on time measured in the last test. NOTE: The transistor diagnostics CANNOT be run through parameter 59 (logic options) in any master—slave drive operation. 4—20 Chapter 4 Troubleshooting Since the routines of the two drives may give incorrect results when running together, these options are disabled for all master—slave drives. The only way to start transistor diagnostics is to run each Drive through parameter 256 individually. Phase Rotation: For proper drive operation it is necessary to have: À. À specific phase sequence of the motor leads (M1 M2 M3, Mi M3 B. M2 etc.) À specific sequence of encoder leads (pulse À leads B etc.) These sequences determine the direction of rotation of the motor shaft on application of torque. An improper sequence can result in either the motor spinning the wrong direction or no production of torque. This test 1s used to ensure the above conditions by applying a positive torque and manually checking motor rotation and velocity feedback. Sequential Torque Block Tuning: Set parameter 256 Bit 2 to a value of 1. A. Inductance Test: Motor inductance is required to determine the references for the regulators that control torque. This test measures the motor inductance and displays it in Parameter 237. The motor should not rotate during this test although rated voltages and currents are present and the possibility of rotation exists. Toggle the Start bit in the logic command to start the test. The Drive enable light will go out when the test is complete. It runs for approximately 1 minute. When a reading is obtained in Parameter 237, record it and then perform the resistance test. If the test still faults, refer to inductance test faults Inductance Test Faults — Motor inductance is required to determine the references for the regulators that control torque. This test measures the motor inductance and displays it in Parameter 237. The motor must not rotate during this test. Typical values for per unit inductance are in the range of 15% to 25% motor impedance. The value in Parameter 237 reads in percent. If long wiring runs are used, the typical value should increase by the ratio of wiring inductance to motor inductance. Several special faults have been added to the motor inductance measuring routine. Should the drive trip while the inductance test is being run, the reason for the trip can be found by using a software testpoint. Place a value of 47 into Parameter #273 (Testpoint Selection #1) and then go to Parameter #274 to look at the results. The possible faults are detailed in Table 4.D. 4-21 Chapter 4 Troubleshooting Table 4.D Inductance Test Fault Descriptions Displayed Value Fault 1 Motor Not at Zero Speed 2 Sign Error 3 Motor Not at Zero Speed & Sign Error 4 Zero Current 5 Motor not at Zero Speed & Zero Current 6 Sign error & Zero Current 7 Motor Not at Zero Speed, Sign Error & Zero Current. Responses for faults: Motor Not At Zero Speed: If the motor is rotating during this test a improper result is likely. Make sure the motor is not rotating just prior to the test, or during the test. If this fault still occurs with no motor rotation present then investigate electrical noise creating encoder transitions. Noise could be caused by improper encoder grounding or noisy encoder power supply. Sign Error; If the average voltage is negative, a sign error fault is generated. The value obtained with a sign error is usually an improper result. Consider running the test again. Zero Current: If the rated motor current is set to zero the zero current fault is generated. Set the rated motor current to the correct value and run again. B. Resistance Test: Motor resistance is required to determine the references for the regulators that control torque. Set Parameter 256 Bit 3 to a value of 1. This selects Motor Flux Test. This test measures the motor resistance and displays it in Parameter 236. The motor will not rotate during this test, although rated voltages and currents are present and the possiblity of rotation exists. The test runs for approximately 10 seconds. Toggle the start bit in the logic command to start the test. The Drive Enable light will go out when the test is complete. When a reading is obtained in parameter 236, record it and perform the flux test. If the test still faults, refer to resistance test faults. Resistance Test Faults: Motor resistance is required to determine the references for the regulators that control torque. This test measures the motor resistance and displays it in Parameter 236. Typical values for per unit motor resistance are in the range of 1% to 3% as displayed in Parameter 236. The value in Parm 236 will increase as the length of wiring runs increase. 4-22 Chapter 4 Troubleshooting Several faults have been included to identify some problems that can occur in the resistance measuring routine. Should the drive trip while the resistance test is being run, the cause can be found using a software testpoint. Place a value of 46 into Parameter #273 (Testpoint Selection #1) and then go to Parameter #274 (Testpoint Data #1) to look at the results. The possible faults are detailed in Table 4.E. Table 4.E Resistance Test Fault Descriptions Displayed Value Fault 1 Motor Not at Zero Speed 2 Sign Error 3 Motor Not at Zero Speed & Sign Error 4 Not Used 5 Not Used 6 Not Used 7 Not Used 8 Zero Current 11 Motor not at Zero Speed, Sign Error &Zero Current 32 Software Error | 33 Motor not at Zero Speed, Software error 34 Sign Error, Software Error 35 Motor Not at Zero Speed, Sign Error & Software error 53 Motor Not at Zero Speed, Sign Error, Zero Current & Software Error Responses for faults: Motor Not At Zero Speed: If the motor is rotating during this test an improper answer is likely. Make sure the motor is not rotating just prior to the test, or during the test. If this fault still occurs with no motor rotation present then investigate electrical noise creating encoder transitions. Noise could be caused by improper encoder grounding or by a noisy encoder power supply. Sign Error: If the average voltage is negative, a sign error fault 1s generated. The value obtained with a sign error is usually an improper answer. Consider running the test again. Zero Current: If the rated motor current is set to zero the zero current fault is generated. Set the rated motor current to the correct value and run again. Software Error: A software fault is generated when an improper sequence of events has occurred. Consider running the test again. 4-23 OFT) CT Troubleshooting C. Flux Test: Rated motor flux is required in order to produce rated torque at rated current. Set Parameter 256 Bit 4 to a value of 1. This selects the Motor Flux Test. This test measures the amount of current required to produce rated motor flux and displays it in Parameter 238. The motor will accelerate to approximately base speed and then coast for several seconds. This cycle may repeat several times. The motor will then decelerate to a low speed before disabling. If the motor will not accelerate; increase parameter 40 (Torque Limit) until the motor accelerates. Parameter 41 (Speed Limit) will change the speed the motor accelerates to. The Phase Rotation, Inductance and Resistance Tests MUST be run before this test can be performed! Toggle the start bit in the logic command to start the test. The Drive enable light will go out when the test is complete. When a reading is obtained in Parameter 238, record it and then update the torque block gains. If the test still faults, refer to the flux test faults. Flux Test Faults: Rated motor flux is required in order to produce rated torque at rated current. This test measures the amount of current required to produce rated motor flux and displays it in Parameter 238. The motor will accelerate to approximately base speed and then coast for several seconds. This cycle may repeat several times. The motor will then decelerate to a low speed before disabling. ATTENTION: Both the Inductance Test and Resistance Tests must be run before running the Flux Test. Typical values for rated motor flux range from 20% to 50%. Several faults have been added to identify some problems that can occur in the flux test. Should the drive trip while the flux test is being performed, the cause can be found using a Software Testpoint. Place a value of 48 into Parameter #273 (Testpoint Selection #1) and then go to Parameter #274 (Testpoint Data #1) to look at the results. The possible faults are detailed in Table 4.F. Table 4.F Flux Test Fault Descriptions Displayed Value Fault Parameter 41 set to less thas 33% speed Parm 238 < 0 Current Parm 41 set to less than 33% speed & Parm 238 < 0 Current Parm 238 > 100% Drive current Parm 41 set to less than 33% speed & Parm 238 > 100& Drive Current Not Used Not Used — On сл $ © ГО = 4-24 Chapter 4 Troubleshooting Responses for faults: Parm 41 set to less than 33% speed: The Autotune speed must be set higher in order to get a meaningful result out of the flux test. Parm 238 < 0 Current: This indicates that either 1 or some of the parameters are incorrectly set, electrical noise is/was present, motor phasing could be incorrect or other problems exist. Parm 238 > 100% Drive Current: This identifies flux current greater than the drive rated current. This may be due to incorrect parameter settings, an undersized drive for the motor, or a problem motor. If you experience problems while running the Flux Test it may be necessary to verify that parameters are set properly. The parameters listed in Table 4.G are the parameters that directly effect the Flux Test. Table 4.G Flux Test Parameters Parameter Number Description Value/Comments 40 Autotune Torque Limit 100% allows 1 p.u. torque during accel 41 Autotune Speed +/-- 68% is the max. for the flux test, limited internally by the software. 127 Reverse Speed Limit Set this to the limit of the application, if set to 0, the motor may not accelerate. 128 Forward Speed Limit Set this to the limit of the application, if set to 0, the motor may not accelerate. 175 — Positive Torque Ref Limit Set this to the limit of the application, if set too low, the motor may not accelerate. 176 Negative Torque Ref Limit Set this to the limit of the application, if set too low, the motor may not accelerate. 177 Motoring Power Limit Set this to the limit of the application, if set too low, the motor may not accelerate. 178 Regen Power Limit If set too high, you may trip out on a Bus Overvolts (see note). 179 Positive Motor Current Ref Set this to the limit of the application, if set Limit too low, the motor may not accelerate. 180 Negative Motor Current Ref Set this to the limit of the application, if set Limit too low, the motor may not accelerate. 227 Cp Operating Options Set to 0 to allow the motor to coast to stop once the flux test is completed. Set to 128 to regen to stop even without a brake once the flux test is completed”. *Note: The option to regen to stop following identification of flux producing current should function properly with or without a brake or regeneration unit. However, if a bus overvoltage fault occurs during the regen to stop, the identified value of flux producing current can be retrieved and placed in P238 without re-running the flux identification test with the regen to stop disabled. The identified value of flux can be found by using Software Testpoint Parameter 273 and placing 58 into it. The value of flux can be read by the user in the corresponding testpoint data parameter #274. The value of 274 is the identified flux current and must then be entered into parameter 238. 4-25 Chapter 4 Troubleshooting C. Torque Block Update: To update the Torque Block gains, bit 5 in Parameter 256 must be set to 1, and then a Start command must be given to the drive. Bit 5 of parameter 256 will automatically be set back to zero. The values in parameters 240 thru 248 will now to be updated. 4. Calculations: This procedure takes the motor parameter information from Parameters 236, 237 and 238 along with the inverter and motor nameplate data and calculates the proper regulator references for torque control (Fig 4.17). Figure 4.17 Calculations Test я ней ный pull uni "ний чи! чай ml J "ний "En: LS | LUC EE Resistance Test Parameter 236 Éd IE Parameter 240 Lado зай чай ай Г mtd + ltd: 1 Parameter 241 a tao Inductance Test Parameter 237 _—— dal dla | | bado > ‘ НН д Jol | + oll lf gl ld Parameter 247 Flux Test —— —>| Parameter 238 FFF ñ bad | od qu atioi e ant а Parameter 248 = lod mall. + ай ml dl ad + MOTOR N.P. DATA de mba ml x, ol ok mas bl dea of To (Parm 228-235) MA lf ww и Л 1 A dba + ab calada aba INVERTERDATA | ji" 577) ЗН (Рагт 220-227 al ed ней mel ll ини о wlll À чай чей mala йа Lal ей med Ш 4-26 Velocity Loop Autotune Chapter 4 Troubleshooting The Velocity Loop Autotune procedure for the 1336 FORCE is designed to let you determine the maximum bandwidth for a particular system. You can select operation at any bandwidth at or below the maximum bandwidth that has been calculated. | The velocity regulator is a PI regulator with a Velocity Feed Forward term (Kr Parm 141). The Kr term is user chosen and describes the system response to a change in velocity reference only. By decreasing the value of Kr the overshoot of the system will be reduced. When Kr is 1.0 the velocity loop behaves like a normal PI loop with the overshoot equaling approximately 10%. If Kr is reduced to 0.7 (the recommended operating point) then the overshoot is typically less than 1%, if Kr is reduced even further to 0.5 (the lowest recommended value) the response becomes underdamped with no overshoot. The velocity loop KI term (parm 139) is the integral term of the PI regulator. The KI term is adjusted to remove any steady state instabilities. The velocity loop KP term (Parm 140) is the proportional term of the PI regulator. The KP term is adjusted to determine how the drive responds to a step change in load. IMPORTANT: If the velocity regulator is tuned too responsive, the motor and load could potentially chatter. If tuned non-responsive, the regulator will seem sluggish. The value for Kp will increase as the system inertia increases. For High inertia systems, Kp may be greater than for KI. For low inertia systems (systems with inertias under 1 Sec.) KI will typically be larger than KP. Figure 4.18 Velocity Regulator Functional Diagram KF 50% Velocity 0% Time The list of parameters that must be set to achieve proper velocity loop tuning is detailed in Table 4.H. 4-27 Chapter 4 Troubleshooting 4-28 Table 4.H Velocity Loop Parameters Parameter Number Description Value/Comments 40 Autotune Torque Limit 75% allows .75 Percent torque during accel 41 Autotune Speed 75% allows Autotune velocity to go to 0.75 Percent velocity 53 Torq Mode Select Set to Value of 1 for encoder fdbk 127 Reverse Speed Limit Set this to the limit of the application, if set to 0, the motor may not accelerate. 128 Forward Speed Limit Set this to the limit of the application, if set to 0, the motor may not accelerate. 150 Feedback Device Type Set to Value of 1 for encoder fdbk 175 Positive Torque Ref Limit Set this to the limit of the application, ¡f set too low, the motor may not accelerate. 176 Negative Torque Ref Limit Set this to the limit of the application, ¡f set too low, the motor may not accelerate. 177 Motoring Power Limit Set this to the limit of the application, if set too low, the motor may not accelerate. 178 Regen Power Limit If set too high may trip on a Bus Overvol- tage fault. 179 Positive Motor Current Ref Set this to the limit of the application, if set Limit too low, the motor may not accelerate. 180 Negative Motor Current Ref Set this to the limit of the application, if set Limit too low, the motor may not accelerate. 235 Encoder PPR Pulses Per Revolution Chapter 4 Troubleshooting Power Device Troubleshooting Testing power devices is a relatively fundamental procedure that may not be 100% accurate in all cases, but it will give you a good indication as to what components may be good or bad when tracing a problem. These measurements are for individual devices NOT connected within the power structure. The following examples contain typical readings that are received when testing power devices with a digital volt meter. These component tests are for modules found in the 1336 FORCE Drive only. Readings may vary by as much as +/— 30% from the values displayed in the examples when determining whether a part is functional. 4-29 Chapter 4 Troubleshooting 4-30 Figure 4.19. 3 Phase Diode Bridge Testing 3 Phase Diode Bridge DCV ACV \ / — + — “ e e Diode, Black Red DC+ Red DCV ACV \ / N — 0 .. Di d Q e lode Black Chapter 4 Troubleshooting DCV ACV NA Figure 4.20. SCR Testing DVM SCR Measurement Dev ACV >—Q € e Diode К, A: K2 A: К G: Black Red DVM Black LÍA | 71 4-31 Chapter 4 Troubleshooting Figure 4.21. IGBT Module Testing IGBT Module Black Red DVM DCV ACV \ / Black Red 4-32 DCV ACV NA — © e e Diod 100€) Chapter 4 Troubleshooting Figure 4.22. Twin Pack IGBT Testing Twin Pack IGBT Measuremen Black Red DVM DCV ACV \ / —Q + \ e > e Diode] e lode, Black Red 4-33 Chapter 4 Troubleshooting Figure 4.23, Blown Bus Fuse Test DCV ACV NA R —Q + \ Na ? Diode) Black Red 4-34 Introduction Chapter Programming Parameters This chapter contains the information required to assist the user in programming the 1336 FORCE drive for a specific application after initial start-up. Drives are shipped programmed with default values and are preconfigured for the options installed. Parameters O thru 288 are the parameters for the 1336 FORCE Motor Control Board. Parameters 300 and above cover the Adapter Board of the 1336 FORCE DRIVE. The 1336 FORCE parameters are also divided into the following types: Basic — Parameters that are available to the user (viewable) when the Drive is in the Basic Mode. Enhanced — Additional parameters that become available (in addition to the Basic Parameters) when the drive is in the Enhanced Mode. Parameters are divided into 19 blocks to help ease programming and operator access as follows: 1. System Data Block 2. Drive to Drive Interface Data 3. Process Trim Block 4. Autotune Block 5. Drive Logic Block 6. Dynamic Brake Block 7. Fault Block 8. Velocity Reference Block 9. Velocity Regulator Block 10. Velocity Feedback Block 11. Torque Reference Block 12. Inverter Configuration 13. Motor Nameplate Data 14. Motor Constants 15. Torque Regulator 16. Autotune /Diagnostics 17. Monitor Display 18. Torque Block Testpoint Selection 19. Temporary Block 5-1 Chapter 5 Programming Parameters Terminology 5-2 The definition of terms related to the parameter table include: Configuration — The process of linking Sink to Source parameters. Configuration Parameters — Parameters used to transfer data between the drive control and external devices. The Configuration Parameters are categorized into two types: 1. Source Parameters — Parameter used as a source of data. 2. Sink Parameters — Parameter used to receive data input. All parameters in the 1336T can be used for evaluation (sink or source) and some can be modified dynamically (sink only) to meet application requirements. Drive Units — The actual value of the parameter as it is stored within the Drive parameter table. The drive units may be converted to engineering units or to hexidecimal for display using the Programming Terminal, or may be displayed directly in drive units. All internal values in the drive are in terms of Per Unit numbering. Engineering Units — A label given to parameter data which specifies what units are to be used to display the parameter value on the Programming Terminal. Examples of engineering units include: RPM, % etc. Non-Volatile Memory — Data memory in the drive which retains the values of all data even when power is disconnected from the drive control. EEPROM (Electrically Erasable Programmable Read Only Memory) chips are used for the non-volatile memory to store some of the drive parameters. Parameter Table — Table of parameter entries for all configuration and setup parameters used in the drive. Parameter Entry — Information stored in the drive which contains the parameter number, parameter data and all other information related to the specific parameter. Parameter — Memory location used to store drive data. Each parameter 1s given a number called the parameter number. The parameter value may be specified in decimal, or in hexadecimal. When specified in hexadecimal, the word “Hex” will appear after the parameter value. Per Unit Numbering — Per Unit numbering is a numbering system which 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 1 Per Unit (100%) [pu]. Parameter Table Structure Chapter 5 Programming Parameters All data used to perform the Drive functions is stored in the Parameter Table. Each parameter entry in the parameter table contains the information illustrated in Figure 5.1. Figure 5.1. Parameter Entry || sn 1 |_ _ ParameterType__ | | _ _ Display Units | ..—— Prive Units | | Factory Default | |___ Min Value ____ | | Max Value | The various elements of the parameter data are defined as : No. — The parameter number in decimal. Name — Parameter name as it appears on the Programming Terminal. Type — Basic or Enhanced Eng. Units — Specifies what engineering units will be used to display the parameter value on the Programming Terminal (RPM, % etc.). This is specified first in the Units column of the Parameter Table. Init — Parameter value as it will appear after the Drive Initialize command has been sent from the Programming Terminal. The Init values are the same as the default values listed in the Parameter Descriptions section of this chapter. Min — Minimum allowable value for the parameter. If no min value is given, the parameter has not been assigned a minimum limit. Max — Maximum allowable value for the parameter. If no max value 1s given, the parameter has not been assigned a maximum limit. 5-3 Chapter 5 Programming Parameters Parameter Table (Numerical) 5-4 Table 5.A — 1336T Numerical Parameter Table Param No. Parameter Name Group No. Block Name 01 Drive Software Version 01 System Data 05 Drive Power Structure Type 01 System Data 09 Drive Link Task Interval 02 Drive to Drive Interface 10 Drive Link Baud Rate 02 Drive to Drive Interface 11 Drive Link Transmit Address 02 Drive to Drive Interface 12 Drive Link Receive 1 Address 02 Drive to Drive Interface 13 Drive Link Receive 2 Address 02 Drive to Drive Interface 14 Drive Link Transmit Indirect 1 02 Drive to Drive Interface 15 Drive Link Transmit Indirect 2 02 Drive to Drive Interface 16 Drive Link Receive 1, Indirect 1 02 Drive to Drive Interface 17 Drive Link Receive 1, Indirect 2 02 Drive to Drive Interface 18 Drive Link Receive 2, Indirect 1 02 Drive to Drive Interface 19 Drive Link Receive 2, Indirect 2 02 Drive to Drive Interface 20 Drive Link Transmit Data 1 02 Drive to Drive Interface 21 Drive Link Transmit Data 2 02 Drive to Drive Interface 22 Drive Link Receive 1, Data 1 02 Drive to Drive Interface 23 Drive Link Receive 1, Data 2 02 Drive to Drive Interface 24 Drive Link Receive 2, Data 1 02 Drive to Drive Interface 25 Drive Link Receive 2, Data 2 02 Drive to Drive Interface 26 Process Trim Output 03 Process Trim 27 Process Trim Reference 03 Process Trim 28 Process Trim Feedback 03 Process Trim 29 Process Trim Select 03 Process Trim 30 Process Trim Filter Bandwidth 03 Process Trim 31 Process Trim Data 03 Process Trim 32 Process Trim KI Gain 03 Process Trim 33 Process Trim KP Gain 03 Process Trim 34 Process Trim Low Limit 03 Process Trim 35 Process Trim High Limit 03 Process Trim 36 Process Trim Output Gain 03 Process Trim 37 Process Trim Testpoint 03 Process Trim 38 Process Trim Setpoint Select 03 Process Trim 40 Auto Tune Torque Limit 04 Autotune 41 Auto Tune Speed 04 Autotune 43 VP Desired Bandwidth 04 Autotune 44 VP Maximum Bandwidth 04 Autotune 45 VP Damping Factor 04 Autotune 46 Total Inertia 04 Autotune 47 Auto Tune Testpoint Data 04 Autotune 48 Auto Tune Testpoint Select 04 Autotune 52 Logic Command Word 05 Drive Logic 53 Torque Mode Select 05 Drive Logic 54 Local Input Status 05 Drive Logic 55 Local Output Status 05 Drive Logic Chapter 5 Programming Parameters Table 5.A - 1336T Numerical Parameter Table (Cont.) Param No. Parameter Name Group No. Block Name 56 Logic Status LOW 05 Drive Logic 57 Logic Status HI 05 Drive Logic 59 Logic Options 05 Drive Logic 60 At Setpoint 1 05 Drive Logic 61 At Setpoint 2 05 Drive Logic 62 Over Setpoint 1 05 Drive Logic 63 Over Setpoint 2 05 Drive Logic 64 Over Setpoint 3 05 Drive Logic 65 Over Setpoint 4 05 Drive Logic 66 Setpoint Select 05 Drive Logic 67 Speed Setpoint Tolerance 05 Drive Logic 68 Current Setpoint Tolerance 05 Drive Logic 69 Zero Speed Tolerance 05 Drive Logic 70 Logic Testpoint Data 05 Drive Logic 71 Logic Testpoint Select 05 Drive Logic 72 Stop Dwell 05 Drive Logic 77 Maximum Dynamic Brake Power 06 Dynamic Brake 78 Maximum Dynamic Brake Temperature 06 Dynamic Brake 79 Dynamic Brake Time Constant 06 Dynamic Brake 80 Powerup/Diagnostic Fault Status 07 Drive Fault 81 Non—Configurable Fault Status 07 Drive Fault 82 CP Configurable Fault Status 07 Drive Fault 83 VP Configurable Fault Status 07 Drive Fault 84 CP Configurable Warning Status 07 Drive Fault 85 VP Configurable Warning Status 07 Drive Fault 86 CP Fault/Warning Configuration 07 Drive Fault 87 CP Warning/None Configuration Select 07 Drive Fault 88 VP Fault/Warning Configuration Select 07 Drive Fault 89 VP Warning/None Configuration Select 07 Drive Fault 90 Absolute Overspeed Threshold 07 Drive Fault 91 Stall Delay 07 Drive Fault 92 Motor Overload Limit 07 Drive Fault 93 Transistor Rjc 07 Drive Fault 94 Motor Overtemp Limit 07 Drive Fault 95 Motor Overload Speed 1 07 Drive Fault 96 Motor Overload Speed 2 07 Drive Fault 97 Minimum Overload Limit 07 Drive Fault 98 Fault Testpoint 07 Drive Fault 99 Fault Testpoint Select 07 Drive Fault 100 Velocity Reference 1 LOW (FRACTION) 08 Velocity Reference 101 Velocity Reference 1 HI (WHOLE, 32 bit) 08 Velocity Reference 102 Velocity Scale Factor 1 08 Velocity Reference 103 Velocity Reference 2 LOW (FRACTION) 08 Velocity Reference 104 Velocity Reference 2 HI (WHOLE, 32 bit) 08 Velocity Reference 105 Velocity Scale Factor 2 08 Velocity Reference 106 Velocity Trım LOW 08 Velocity Reference 107 Velocity Trim HI (32 bit) 08 Velocity Reference 108 Velocity Reference Testpoint Data LOW 08 Velocity Reference 109 Velocity Reference Testpoint Data HI (32 bit) 08 Velocity Reference 110 Velocity Reference Testpoint Select 08 Velocity Reference 117 Jog Speed 1 08 Velocity Reference 118 Jog Speed 2 08 Velocity Reference 119 Preset Speed 1 08 Velocity Reference 120 Preset Speed 2 08 Velocity Reference 5-5 Chapter 5 Programming Parameters 5-6 Table 5.A - 1336T Numerical Parameter Table (Cont.) Param No. Parameter Name Group No. Block Name 121 Preset Speed 3 08 Velocity Reference 122 Preset Speed 4 08 Velocity Reference 123 Preset Speed 5 08 Velocity Reference 125 Accel Time 08 Velocity Reference 126 Decel Time 08 Velocity Reference 127 Reverse Motor Speed Limit 08 Velocity Reference 128 Forward Motor Speed Limit 08 Velocity Reference 129 Maximum Reverse Speed Trim 08 Velocity Reference 130 Maximum Forward Speed Trim 08 Velocity Reference 131 Droop Percent 08 Velocity Reference 132 Velocity Reference Output LOW 08 Velocity Reference 133 Velocity Reference Output HI (32 bit) 08 Velocity Reference 134 Velocity Regulator Output — 09 Velocity Regulator 135 Velocity Regulator Testpoint Data LOW 09 Velocity Regulator 136 Velocity Regulator Testpoint Data HI (32 bit) 09 Velocity Regulator 137 Velocity Regulator Testpoint Select 09 Velocity Regulator 138 Velocity Error 09 Velocity Regulator 139 KI — Velocity Loop 09 Velocity Regulator 140 KP — Velocity Loop 09 Velocity Regulator 141 KF — Velocity Loop 09 Velocity Regulator 142 KF Error Filter Bandwidth 09 Velocity Regulator 143 Velocity Feedback Testpoint Data LOW 10 Velocity Feedback 144 Velocity Feedback Testpoint Data HI (32 bit) 10 Velocity Feedback 145 Velocity Feedback Testpoint Select 10 Velocity Feedback 146 Velocity Feedback 10 Velocity Feedback 147 Scaled Velocity Feedback 10 Velocity Feedback 148 Encoder Position Feedback LOW 10 Velocity Feedback 149 Encoder Position Feedback HI 10 Velocity Feedback 150 Feedback Device Type 10 Velocity Feedback 151 Feedback Tracker Gain 10 Velocity Feedback 152 Feedback Filter Select 10 Velocity Feedback 153 Kn — Feedback Filter Gain 10 Velocity Feedback 154 Wn — Feedback Filter Bandwidth 10 Velocity Feedback 155 Tach Velocity 10 Velocity Feedback 161 External Ig Reference 11 Torque Reference 162 External Torque Reference 1 11 Torque Reference 163 Slave Torque Percent 1 11 Torque Reference 164 External Torque Reference 2 11 Torque Reference 165 Slave Torque Percent 2 11 Torque Reference 166 External Torque Step 11 Torque Reference 167 Internal Torque Reference 11 Torque Reference 168 Internal Iq Reference 11 Torque Reference 171 Torque Scale % (KAL) 11 Torque Reference 172 Torque Reference Testpoint Data 11 Torque Reference 173 Torque Reference Testpoint Select 11 Torque Reference 174 Minimum Flux Level 11 Torque Reference 175 Pos Torque Reference Limit 11 Torque Reference 176 Neg Torque Reference Limit 11 Torque Reference 177 Motoring Power Limit 11 Torque Reference 178 Regen. Power Limit 11 Torque Reference 179 Positive Motor Current Reference Limit 11 Torque Reference 180 Negative Motor Current Reference Limit 11 Torque Reference 181 DI/DT Limit 11 Torque Reference 182 Computed Power 11 Torque Reference 183 Torque Limit Status 11 Torque Reference Chapter 5 Programming Parameters Table 5.A — 1336T Numerical Parameter Table (Cont.) Param No. Parameter Name Group No. Block Name 220 Rated Inverter Output Amps 12 Inverter Configuration 221 Rated Inverter Input Voltage 12 Inverter Configuration 222 Inverter Carrier Frequency 12 Inverter Configuration 223 Precharge/Ridethru Selection 12 Inverter Configuration 224 Undervoltage Setpoint 12 Inverter Configuration 225 Bus Precharge Timeout 12 Inverter Configuration 226 Bus Ridethru Timeout 12 Inverter Configuration 227 CP Operating Options 12 Inverter Configuration 228 Motor Nameplate HORSEPOWER 13 Motor Nameplate Data 229 Base Motor Speed 13 Motor Nameplate Data 230 Motor Nameplate AMPS 13 Motor Nameplate Data 231 Motor Nameplate VOLTS 13 Motor Nameplate Data 232 Motor Nameplate FREQuency 13 Motor Nameplate Data 233 Motor Nameplate POLES 13 Motor Nameplate Data 234 Motor Inertia 13 Motor Nameplate Data 235 Encoder PPR 13 Motor Nameplate Data 236 Rs Tune (Stator Resistance) 14 Motor Constants 237 Lsigma Tune (Leakage Inductance) 14 Motor Constants 238 Id Tune (Rated Flux Current) 14 Motor Constants 240 Ig Tune (Base Torque Current) 15 Torque Regulator 241 Vde Tune (Base Torque Voltage) 15 Torque Regulator 242 Vge Tune (Base Flux Voltage) 15 Torque Regulator 243 Vde Maximum (Peak HP) 15 Torque Regulator 244 Vqe Maximum (Constant HP) 15 Torque Regulator 245 Vde Minimum 15 Torque Regulator 246 Kslip (Base Slip Freq.) 15 Torque Regulator 247 Base Slip Freq Max 15 Torque Regulator 248 Base Slip Freq Min 15 Torque Regulator 249 Kp — Slip Regulator 15 Torque Regulator 250 Ki — Slip Regulator 15 Torque Regulator 251 Kp — Flux Regulator 15 Torque Regulator 252 Ki — Flux Regulator 15 Torque Regulator 256 Autotune/Diagnostics Selection 16 Autotune/Diagnostics 257 Transistor Diagnostics Configuration 16 Autotune/Diagnostics 258 Inverter Diagnostics Result #1 16 Autotune/Diagnostics 259 Inverter Diagnostics Result #2 16 Autotune/Diagnostics 260 Iq OFFSET 16 Autotune/Diagnostics 261 Id OFFSET 16 Autotune/Diagnostics 262 Phase Rotation Current Reference 16 Autotune/Diagnostics 263 Phase Rotation Frequency Reference 16 Autotune/Diagnostics 264 Motor Current Magnitude Feedback 17 Metering 265 Motor Voltage Magnitude 17 Metering 266 Stator Frequency 17 Metering 267 Torque Feedback 17 Metering 268 DC Bus Voltage 17 Metering 269 Motor Temperature Feedback 17 Metering 270 Inverter Temperature Feedback 17 Metering 271 Limited Motor Flux 17 Metering 273 Testpoint Selection #1 18 Torque Blk Test Pnt Sel 274 Testpoint Data #1 18 Torque Blk Test Pnt Sel 275 Testpoint Selection #2 18 Torque Blk Test Pnt Sel 276 Testpoint Data #2 18 Torque Blk Test Pnt Sel 277 Testpoint Selection #3 18 Torque Blk Test Pnt Sel 278 Testpoint Data #3 18 Torque Blk Test Pnt Sel 279 Testpoint Selection #4 18 Torque Blk Test Pnt Sel 280 Testpoint Data #4 18 Torque Blk Test Pnt Sel Chapter 5 Programming Parameters Table 5.A- 1336T Numerical Parameter Table (Cont.) Param No. Parameter Name Group No. Block Name 281 Testpoint Selection #5 18 Torque Blk Test Point Sel 282 Testpoint Data #5 18 Torque Blk Test Point Sel 283 Testpoint Selection #6 18 Torque Blk Test Point Sel 284 Testpoint Data #6 18 Torque Blk Test Point Sel 285 Selection for Test DAC 1 18 Torque Blk Test Point Sel 286 Selection for Test DAC 2 18 Torque Blk Test Point Sel 287 Dvbus dt 19 Torque Blk Test Point Sel 288 Bus Counts 19 Torque Blk Test Point Sel 5-8 Chapter 5 Programming Parameters Drive Software Version [Software Version] This parameter stores the present software revision for the firmware in the product. The firmware value represents the software version in the range 00.0 to 99.9 “Parameter Number — 001 Parameter Type | Display Units. “Drive Units “Factory Default - Minimum | Value 0.00" Power Structure Type [Drive Type] This number is a unique code that identi- fies the drive's current and voitage ratings. This number originates from a serial EE memory located on the drive’s Base Drive Board. ‘Parameter Number E + - Parameter Type — “Display Units - Drive Units “Factory Default ‘MinimumValue ~~ © Ou с “Maximum Value 5-9 Chapter 5 _ Programming Parameters | Drive Link Task Interval [D2D Tsk Interval] This parameter specifies the interval at which drive to drive data will be transmitted and received. The intervals are 2 ms in tervals up to 20 ms. Drive Link Baud Rate [D2D Baud Rate] This word parameter specifies the baud rate used on the drive-to-drive link (CAN) communication interface as follows: 00H = 125K baud 01H = 250K baud 02H = 500K baud Drive Link Transmit Address [D2D Xmit Addr] This parameter specifies the node address at which two words of data will be transmit- ted. À value of zero disables the transmit function. Drive Link Receive 1 Address [D2D Rcv Addr 1] This parameter specifies the node address at which two words of data will be received. À value of zero disables the receive function. Drive Link Receive 2 Address [D2D Rev Addr 2] This parameter specifies the node address at which two words of data will be received. A value of zero disables the receive function. | Drive Link Transmit Indirect 1 [D2D Xmit Ind 1] This is a word parameter defining the pa- rameter number which data will be fetched from to be transmitted in the high speed communication network (CAN) for the first word location of the transmitted message. Drive Link Transmit Indirect 2 [D2D Xmit Ind 2] This is a word parameter defining the pa- rameter number which data will be fetched from to be transmitted in the high speed. communication network (CAN) for the 2nd word location of the transmitted message. 5-10 Chapter 5 Programming Parameters Drive Link Receive 1, Indirect 1 [D2D Rev1 indi] This parameter specifies the parameter number where the first word of data will be put after it has been received from the drive to drive communication. Drive Link Recelve 1, Indirect 2 [D2D Revi Ind2] This parameter specifies the parameter | number where the second word of data will | be put after it has been received from the drive to drive communication. Drive Link Recelve 2, Indirect 1 [D2D Rcv2, Ind1] This parameter specifies the parameter number where the first word of data will be : put after it has been received from the | drive to drive communication. Drive Link Receive 2, Indirect 2 [D2D Reve, ind2] This parameter specifies the parameter ; number where the second word of data will be put after it has been received from the drive to drive communication. Drive Link Transmit Data 1 [D2D Xmit Data1] This parameter is the default data location of the first word of data for transmit. Drive Link Transmit Data 2 [D2D Xmit Data2] This parameter is the default data location of the second word of data for transmit. Drive Link Receive 1, Data 1 [D2D Rev1, Data1] This parameter is the default data location of the first word of data for receive 1 Chapter 5 Programming Parameters Drive Link Receive 1, Data 2 [D2D Rev1, Data 2] This parameter is the default data location Disp a of the second word of data for receive 1 Parameter N Te GR EEE aa ‘Maximum Value 32767 Drive Link Receive 2, Data 1 [D2D Rev 2 Data 1] This parameter is the default data location of the first word of data for receive 2 Parameter Number Parameter Type “Display Units “Drive Units ‘Factory Default 5 Minimum Value ; E Drive Link Receive 2, Data 2 [D2D Rev 2 Data 2] This parameter is the default data location of the second word of data for receive 2 “Parameter Number CT ‘Parameter pe. Es Display Units “Drive Units Factory Default “Minimum Value “Maximum Value — 5—12 Chapter 5 Programming Parameters Process Trim Output [Proc Trim Output] This parameter represents the scaled and limited output of the process trim function. Process Trim consists of a gen- eral purpose PI regulator that uses un- specified reference and feedback inputs. Process Trim Reference [Proc Trim Ref] This is the reference input value for proc- ess trim. The Process Trim Output is up- dated based on the value of this input. Process Trim Feedback [Proc Trim Fdbk] This is the feedback input value for proc- ess trim. The Process Trim Output pa- rameter is updated based on the value of this input. Process Trim Select [Proc Trim Select] This is a bit coded word of data containing several selection options for the process trim regulator as follows: BitO Trim the Velocity Reference Bit1 Trim the Torque Reference Bit3 Set Output Option Bit4 Preset Integrator Option Bit5 Force ON Trim Limit option Process Trim Filter Bandwidth [Proc Trim Fitr WI This parameter determines the bandwidth of a single pole filter used with the error input for process trim. The output of this filter is used as the input to the process trim regulator. Process Trim Data [Proc Trim Data] This parameter is used to preset the out- put of the process trim regulator when either the “Set Output Option” or “Preset Integrator Option” is selected in parameter / 29. 5-13 Chapter 5 Programming Parameters Process Trim KI Gain [Proc Trim Ki] This parameter controls the integral gain of the process trim regulator. If process trim equals 1.0, then the process trim PI regu- lator output will equal 1 pu in 1 second, for 1 pu process trim error. Process Trim KP Gain [Proc Trim KP] This parameter controls the proportional gain of the process trim regulator. If the KP process trim is equal to 1.0, then the process trim PI regulator output will equal 1 pu for 1 pu process trim error. Process Trim Low Limit [Proc Trim Lo Lmt] The output of the process trim regulator is limited by adjustable high and low limits. This parameter specifies the high limit of the process trim output value. Process Trim High Limit [Proc Trim Hi Lmt] The output of the process trim regulator is limited by adjustable high and low limits. This parameter specifies the high limit of the process trim output value. Process Trim Output Gain [Proc Trim Out K] The output of the process trim regulator is scaled by a gain factor. THis occurs just before the upper and lower limit. This pa- rameter specifies the gain value to use. Process Trim Testpoint {Proc Trim TP] This parameter indicates the value of the internal location selected by the Process Trim Testpoint Select parameter. Process Trim Testpoint Select [Proc Trim TP Sel] This parameter selects which location of the Process Trim Controller will become the testpoint value as follows: Value Process Trim Access Point 0 Zero 1 Process Trim Error 2 Process Trim Filter Output 3 Process Trim Control Word Parameter Type Display Units Drive Units ‘Factory Default “Minimum Value Maximum Value Chapter 5 Programming Parameters Auto Tune Torque Limit [Auto Tune T Lmt] This parameter specifies the motor torque that is applied to the motor during the Ve- locity motor test and the Velocity system test. 4096 = 100% rated motor torque. Auto Tune Speed [Auto Tune Speed] This parameter is the speed of the motor during an auto tune velocity motor test, system test, and system ID measure. 4096 is base speed VP Desired Bandwidth [Vel Desired BW] This parameter specifies the velocity loop bandwidth requested by the User and determines the dynamic behavior of the velocity loop. The velocity loop becomes more responsive and is able to track a faster changing velocity reference as the bandwidth is increased. VP Maximum Bandwidth [Vel Maximum BW] This parameter specifies the maximum achievable velocity loop bandwidth as cal- culated by the velocity processor. The maximum velocity loop bandwidth is not changeable by the user. VP Damping Factor This parameter determines the dynamic „Display € nit behavior of the velocity loop. The damp- ing factor influences the amount of over- shoot the velocity loop will exhibit during a transient. Total Inertia [Total Inertia] ; This parameter represents the time, in sec- - onds, for a motor coupled to a load to ac- celerate from zero to base speed, at rated motor torque. This parameter is calculated M nímum Valu by the Autotune System Inverter Test. Autotune Testpoint Data [Auto Tune TP] This parameter indicates the value of the internal location selected by the Autotune Testpoint Select parameter. 5-15 Chapter 5 Programming Parameters eat aa ant fat DEN ee 0 Auto Tune Testpoint Select [Auto Tune TP SEL] This parameter selects what internal loca- tion of the Velocity Auto Tune Controiler will become the testpoint value. The inter- nal locations available are: Select Value Autotune Access Point Select Value Autotune Access Point 0 Zero 5 Torque Limit for autotune 1 Autotune Status Bits 6 Autotune State Word 1 2 Autotune Inhibit Word (all zero = OK) 7 Autotune State Word 2 3 Autotune Error Word (all zero = OK) 8 Autotune Control Bits 4 Calculated Friction (4096 € 1 pu) 9 Minimum Limit for di/dt to acheive requested bandwidth 10 Minimum error filter bandwidth Logic Command Word [Logic Command] This word parameter contains data used to _ Control Drive logic operation. If a bit is set the function is enabled, otherwise it is dis- abled (inactive). BITS 0 | -Ramp Stop 1 | — Start 2 | -Jog1 3 | — Clear Fauit 4 | - Forward 5 | — Reverse 6 | -Jog2 C_B A 7 | — Current Limit Stop 0 00 -Zero 8 | — Coast Stop 0 0 1 - External Ref 9 | —Ramp Disable 0 1 0 -PresetSpeed1 10 | - Flux Enable O 1 1 —PresetSpeed2 11 | — Process Trim Enable 1 0 0 -PresetSpeed3 12 | — Velocity Ref Select A 1 0 1 —PresetSpeed4 13 | - Velocity Ref Select B 1 1 0 -PresetSpeed5 14 | — Velocity Ref Select C 1 1 1 —ExtemalRef.2 15 | — Reset Drive Torque Mode Select [Torque Mode Sel] This is a word parameter used to select the source for the drive torque reference. The operation of this parameter functions as a selector switch. The position of the selector determines the torque reference selection as follows: Value Description Value Description 0 Zero Torque 3 Min Select Speed/Torque - 1 Velocity Regulate 4 Max Select Speed/Torque 2 External Torque 5 Sum Speed and Torque Chapter 5 Programming Parameters Local Input Status [Local In Status] This parameter indicates boolean input status conditions for the Velocity Proces- sor. When a bit is set to 1, the corre- sponding input signal is true. Value Description Value Description Value Description Value Description 0 Brake Request 4 External Fault 8 Inverter Status 12 Not Used 1 Drive Enable 5 Not Used 9 Contactor Verify 13 Not Used 2 Motor Overtemp Thermoguard 6 Test input 10 Not Used 14 Not Used 3 Discrete Stop 7 Not Used 11 Not Used 15 Not Used Local Output Status [Local Out Status This parameter indicates boolean output status conditions for the Velocity Proces- sor. When a bit is set to 1, the corre- sponding input signal is true. Value Description Value Description Value Description Value Description 0 Brake Enable 4 Not Used 8 Not Used 12 VP Green LED 1 Turn On Delay Select 5 Not Used 9 VP Enable 13 VP Red LED 2 Not Used 6 Not Used 10 Pilot Relay 14 Not Used 3 Not Used 7 Not Used 11 Faulted Output 15 Not Used Logic Status Low [Logic Status Low] This parameter is the Low part of a double word that indicates boolean logic condi- tions within the Drive. When a bit is set to 1, the corresponding condition in the Drive is true. Value Description Value Description Value Description Value Description 0 Ready to Run 4 Accelerating (1=Accel) 8 At Set Speed 12 At Zero Speed 1 Drive Running 5 Decelerating (1=Decel) 9 Local A 13 Reference A 2 Cmd Direction (1=FWD, 0=Rev) 6 Warning 10 Local B 14 Reference B 3 Rotation Direction (1=FWD, 0=Rev) 7 Faulted 11 Local C 15 Reference C Logic Status HI [Logic Status HI] This parameter is the Hi part of a double word that indicates boolean logic condi- tions within the Drive. When a bit is set to 1, the corresponding condition in the Drive is true. Value Description Value Description Value Description Value Description 0 Flux Ready 4 Bus Ridethru 8 At Limit 12 Over Setpoint 1 1 Flux Up 5 Jogging 9 Not Used 13 Over Setpoint 2 2 Diagnostics Completed 6 Autotune Status A 10 At Setpoint 1 14 Over Setpoint 3 3 Diagnostics Aborted 7 Autotune Status B 11 At Setpoint 2 15 Over Setpoint 4 5-17 Chapter 5 Programming Parameters Logic Options [Logic Options] This parameter selects the options for logic operation of the drive as follows: Bit# Option Start Type A" Start Type B* Jog Ramp Enable = 1 / Jog Coast = 0 / Regen Stop STOP Input Type A** STOP Input Type B** Do Power Up Diag. Do Flux Up Diag Do Start Diag = 1 / User Torque Mode Stop = 0 / Zero torque © 00 —1 С) Сл WN =O 10 = 1 / Stopped when zero speed = 0/ Zero torque 11 = 1/ AC Motor Contactor Present 12 = 1 / Bipolar Ref = 0 / Unipolar 13 = 1 / Disable Bumpless Torque Calc. *Start Type Description: B A "Stop Input Description: В А Maintained Start, Regen STOP 0 O COAST 0 0 Maintained Start, Coast STOP 0 1 Normal O 1 Momentary Start 1 0 Current Limit 1 0 Maintained Start, Regen STOP 1 1 COAST 1 1 At Setpoint 1 [At Setpoint 1] | This parameter is used to specify the set- point threshold for the At Setpoint 1 bit in Logic Status HI. At Setpoint 2 [At Setpoint 2] This parameter is used to specify the set- point threshold for the At Setpoint 2 bit in Logic Status HI. Over Setpoint 1 [Over Setpoint 1] This parameter is used to specify the set- point threshold for the Over Setpoint 1 bit in Logic Status Hi. Chapter 5 Programming Parameters Over Setpoint 2 “Pa ameter | Number {Over Setpoint 2) ar This parameter is used to specify the set- point threshold for the Over Setpoint 2 bit in Logic Status HI. Over Setpoint 3 [OverSetpoint 3] This parameter is used to specify the set- point threshold for the Over Setpoint 3 bit in Logic Status HI. Over Setpoint 4 [Over Setpoint 4] This parameter is used to specify the set- point threshold for the Over Setpoint 4 bit in Logic Status HI. Setpoint Select [Setpoint Select) This parameter makes a selection between Dr actual speed or internal Iq current refer- ence for the At/Over Setpoint parameters. Each Setpoint Status bit can be set for either option ( O = Actual Speed; 1 = Iq Reference). Speed Setpoint Tolerance [Spd Setpoint Tol] This parameter establishes a hysteresis band around the At Setpoints. it will be rive uni used to determine when to update the Set- - Factory Defau point Bits in the Logic Status HI word, “Minimum Valu when configured for actual speed option. Current Setpoint Tolerance [Cur Setpoint Tol] This parameter establishes a hysteresis — - Display Units‘ band around the Setpoints. It will be used Drive: Units - to determine when to update the Setpoint Factory Defaul Bits in the Logic Status word, when config- Minimum \ Value ured for commanded current option. £ Zero Speed Tolerance [Zero Speed Tol] This parameter establishes a band around zero speed that will be used to determine when to update the At Zero Speed bit in 5 the Logic Status LOW word. Mi inimum ‘ Value “Maximum Value Parmeter Units Drive Units Chapter 5 Programming Parameters Logic Testpoint Data [Logic Tspt Data] This parameter contains the logic control testpoint data that has been selected by the Logic Testpoint Select parameter. Logic Testpoint Select [Logic Tstpt Sel] This parameter selects which internal loca- tion in the logic control software will be- come the testpoint value. The value based upon the select will be stored in the Logic Testpoint Data parameter. The in- ternal locations of the logic control soft- ware accessable based on the select value are: Select Value Logic Access Point Select Value Logic Access Point 0 Zero 16 Diagnostic Inhibit bits 1 Logic State 17 Zero 2 Edge Filtered Logic Command 18 Zero 3 Logic Control Word 19 Adapter handshake counter 4 Flux Inhibit Conditions 20 Longest handshake count 5 Run Inhibit Conditions 21 Stop event - led state 6 Current Processor Command Word 22 Stop event — System mode register 7 Current Processor Status Word 23 Stop event — Fault stop command 8 Diagnostic Request Flag 24 Stop event — Powerup diagnostic status 9 Requested Torque Mode 25 Stop event - Nonconfigurable fault status 10 Contactor Fault Flag 26 Stop event - Current Processor Config Fault Status 11 Zero 27 Stop event — Velocity Processor Config Fault Status 12 Zero 28 Stop event — Adapter fault status 13 Loss of CP Enable Acknowledge 14 Stop Mode 15 Stop Event Stop Dwell ‚Parameter Number 72 [Stop Dwell Parameter Typ This sets an adjustable dwell time before Display Unit the drive disables speed and torque | regulators when a stop has occurred. Basic, Sin 5-20 Chapter 5 Programming Parameters Maximum Dynamic Brake Power “Parameter Numbe [DB Power] This parameter defines the power rating for the optional Dynamic Brake resistor. This value is used to calculate the per unit R theta for the resistor. Maximum Dynamic Brake Temperature [DB Temp] This parameter defines the Maximum Temperature Rating for the optional Dy- namic Brake resistor. This value is used to establish setpoints for setting and clearing a Brake Overtemperature fault condition. Dynamic Brake Time Constant [DB Time Const] This parameter defines the thermal time constant for the Optional Dynamic Brake resistor. This value is used in the brake resistor thermal model to predict brake temperature as a function of regenerative power. | Powerup/Diagnostic Fault Status [PwrUp FIt Status] This word parameter indicates a fault con- dition which has been detected during power up or reset of the drive. When a bit is “1”, the condition is true, otherwise the condition is false. Bit Condition 0 CP PROM Failure 1 CP Internal RAM Failure 2 CP External RAM Failure 3 CP Stack RAM Failure 4 CP/VP Dualport RAM Failure 8 VP PROM Failure 9 VP Internal RAM Failure 10 VP External RAM Failure 11 VP Stack RAM Failure 12 VP/CP Dualport RAM Failure 13 VP/AP Dualport Ram Failure 14 Base Drive EE Failure 15 Not Used 5-21 Chapter 5 Programming Parameters Non-configurable Fault Status [№109 FIt Status] This word parameter indicates fault condi- tions in the drive that Cannot be config- ured as warnings. When a bit is “1”, the condition is true, otherwise the condition is false. Bits O — 3 are detected by hardware. Bits 4-15 are detected by software Bit Condition Bit Condition 0 DC Bus Overvoltage Trip 10 Analog Power Supply Tolerance 1 Transistor Desaturation 11 Autocommisssion or Transistor Diagnostic 2 Ground Fault Trip 12 Inverter Temperature Trip 3 Instantaneous Overcurrent Trip 13 Software Malfunction setected by VP 4 Adapter Comm Loss detected by CP 14 Reserved 5 Master/Slave Cable Loss 15 Reserved 6 Master/Slave Enable Timeout 7 Reserved 8 Adapter Comm Loss detected by VP 9 Absolute Overspeed CP Configurable Fault Status [CP Fit Status] This word parameter indicates conditions detected by the Current Processor (CP) that has been configured to report as a Drive fault condition. Each configuration bit matches the bit definitions of Parameter 84, 86 and 87. When a bit is “1” the condition is true, otherwise the condition is false. Bit Condition 0 Bus Ridethrough Timeout 1 Bus Precharge Timeout 2 Bus Drop (150 volts) 3 Bus Undervoltage 4 Bus Ridethru Cycles > 5 Taye Value Maximum Value Parameter Tye be VP Configurable Fault Status [VP Flt Status] This word parameter indicates conditions detected by the Velocity Processor (VP) that has been configured to report as a Drive fault condition. Each configuration 85, 88 and 89. When a bit is “1” the condition is true, otherwise the condition is false. Parameter Numbe Parameter Type Display Units “Drive Units ‘Factory Default Minimum Value bit matches the bit definitions of Parameter Maximum Value Bit Condition Bit Condition 0 Feedback Loss 14 Drive to Drive Communication Fault 1 Inverter Overtemp Pending 15 Inverter Overload Trip (IT) 2 Motor Overtemperature Tripped 3 Motor Overload Pending (IT) 4 Motor Overload Trip (127) 5 Motor Stalled 6 External Fault 7 Not Used 8 Not Used 9 Parameter Limit 10 Math Limit 11 Dynamic Brake Overtemperature 12 AC Motor Contactor Failure 13 inverter Overload Pending (IT) 5-22 Chapter 5 Programming Parameters CP Configurable Warning Status [CP Wam Status] This word parameter indicates conditions detected by the current processor (CP) that have been configured to report as a Drive Warning condition. Each configura- tion bit matches the bit definitions of pa- rameters 82, 86 and 87. When a bit is set to “1” the corresponding condition in the Drive is true, otherwise it is false. Bit Condition 0 Bus Ridethrough Timeout 1 Bus Precharge Timeout 2 Bus Drop 3 Bus Undervoltage 4 Bus Drop Cycles > 5 VP Configurable Warning Status (bits) [VP Wam Status] This word parameter indicates conditions detected by the Velocity Processor (VP) that have been configured to report as a Drive warning condition. Each configura- tion bit matches the bit definitions of pa- rameters 83, 88 and 89. When a bit is set to “1”, the corresponding condition in the Drive is true, otherwise it is false. Bit Condition Bit Condition 0 Feedback Loss 14 Drive to Drive Communication Fault 1 Inverter Overtemp Pending 15 Inverter Overload Foldback (IT) 2 Motor Overtemperature Tripped 3 Motor Overload Pending (I°T) 4 Motor Overload Trip (I2T) 5 Motor Stalled 6 External Fault 7 Not Used 8 Not Used 9 Parameter Limit 10 Math Limit 11 Dynamic Brake Resistor Overtemperature 12 AC Motor Contactor Failure 13 Inverter Overload Pending (IT) CP Fault/Warning Configuration Select [CP Fit Warn Cfg] This word parameter determines condi- tions detected by the Current Processor (CP) that will be reported as either a drive Facto fault or drive warning condition. Each con- Minimum figuration bit matches the bit definitions of parameters 82, 84 and 87. When a bit is set to “1”, the corresponding condition in the Drive will be reported as a FAULT, otherwise it is reported as a WARNING. Bit Condition Bus Ridethrough Timeout Bus Precharge Timeout Bus Drop (150 volts) Bus Undervoltage Bus Drop Cycles > 5 + 02 Ю — © 5-23 Chapter 5 Programming Parameters CP Warning/None Configuration Select [CP Warn/None Cíg] This word parameter determines condi- tions detected by the Current Processor (CP) that will be reported as either a drive fault or drive warning condition. Each con- figuration bit matches the bit definition of Parameter 82, 84 and 87. When a bit is set to “17, the corresponding condition in the Drive will be reported as a FAULT, otherwise the condition is reported as a WARNING. Bit Condition 0 Bus Ridethrough Timeout 1 Bus Precharge Timeout 2 Bus Drop (150 volts) 3 Bus Undervoltage 4 Bus Drop Cycles > 5 VP Fault/Warning Configuration Select [VP FitWarn Cfa] This word parameter determines condi- tions detected by the Velocity Processor (VP) that will be reported as either a drive FAULT or drive WARNING condition. Each configuration bit matches the bit defi- nitions of Parameters 83, 85 and 89. When a bit is set to “1” the corresponding condition in the Drive will be reported as a FAULT, otherwise the condition is re- ported as a WARNING. Bit Condition Bit Condition o - Feedback Loss 14 Drive to Drive Communication Fault 1 Inverter Overtemp Pending 15 Inverter Overload Trip (IT) 2 Motor Overtemperature Tripped 3 Motor Overload Pending (127) 4 Motor Overload Trip (12T) 5 Motor Stalled 6 External Fault 7 Not Used 8 Not Used 9 Parameter Limit 10 Math Limit 11 Dynamic Brake Overtemperature 12 AC Motor Contactor Failure 13 Inverter Overload Pending (IT) 5-24 Chapter 5 Programming Parameters VP Warning/None Configuration Select [VP Warn/None Cfg] This parameter determines conditions de- tected by the Velocity Processor (VP) that will be reported as either a drive FAULT or WARNING or not reported (ignored). Each M n mi im Valu configuration bit matches the bit definitions of Parameters 83, 85 and 88. When a bit is set to “1”, the corresponding condition in the Drive will be reported as configured by parameter 88. If the bit is set to “0”, the condition is not reported. Bit Condition Feedback Loss Inverter Overtemp Motor Overtemperature Motor Stalled External Fault Not Used Not Used Parameter Limit Math Limit DN CONDULRWN-IO Bit 14 Drive to Drive Communication Fault 15 Inverter Overload Trip (IT) Condition Motor Overload Pending (IT) Motor Overload Trip (I°T) Dynamic Brake Overtemperature AC Motor Contactor Failure Inverter Overload Pending (IT) Absolute Overspeed Threshold [Absolute Overspd] This parameter indicates the incremental speed above Forward Speed Limit or Re- verse Speed Limit that is allowable before an Absolute Overspeed Fault is indicated. Drive Units ‘ Factory Defaul Minimum Valu „Parameter N „Parameter Ty “Display Units Stall Delay [Stall Delay] This parameter specifies the amount of time that the Drive must be in current limit and at zero speed before a Stall Fault will be indicated. Motor Overload Limit [Overload Limit] This parameter specifies the level of Iq current that will cause a Motor Overload Trip after 60 seconds. “Minimum Value Maximum Value Transistor Rjc [Transistor Rjc] This parameter is used by the power tran- sistor protection limit algorithm. It sets the rise above the transistor heatsink tempera- ture for the internal junction temperature within the power transistor devices. Chapter 5 Programming Parameters Motor Overtemp Limit [Mtr Overtemp Lmt] This parameter establishes the tempera- ture setpoint upper limit. Above this limit a Motor Overtemperature fault will occur. This setpoint will be compared against the motor overtemperature as read from the RTD device Overload Speed 1 [Overload Speed 1] If the absolute value of motor speed is at or below the speed specified in this pa- rameter, the motor overload will use the overload breakpoint min current (parame- ter #97) as its minimum current trip level. Overload Speed 2 [Overload Speed 2] If the absolute value of motor speed is at or above the speed specified in this parameter, the motor overload will use 100% as its minimum lg trip level. Minimum Overload Limit [Min Overload Limit] If the absolute value of motor speed is at or above the speed specified in breakpoint speed 2 (parameter 96), the motor over- load will use 100% as its minimum lg trip level. Fault Testpoint Data [Fault TP] This parameter contains the fault control testpoint data that has been selected by the Fault Testpoint Select parameter(P99). See the description for the Fault Testpoint Select parameter 99 for a list of possible testpoints. 5-26 Chapter 5 Programming Parameters Fault Testpoint Select [Fault TP] This parameter selects which internal loca- tion in the fault control software will be- come the testpoint value. The vaiue based upon the select will be stored in the Fault Testpoint Data parameter 98. The internal locations of the logic control soft- ware that are accessable based on the se- lect value are listed below: Select Value Velocity Reference Access Point Select Value Velocity Ref Access Point Zero 26 Drive to Drive fault status Adapter Processor Faulted 27 Base Drive EE fault status Actual Velocity when Overspeed occurred 28 Base Drive EE drive type address Motor Overload Calibration Constant (K) 29 Base Drive EE drive type data Heatsink NTC Analog Input Voltage Heatsink NTC Foldback Current Limit Negative Analog Supply A/O input voltage Positive Analog Supply A/O input Voltage Motor RTD Analog input Voltage Motor Overload Integrator(1*T) level Dynamic Brake Resistor Temperature, Degrees C. Parameter Limit Status, Word 1 Parameter Limit Status, Word 2 Velocity Reference Math Overflow Status Velocity Feedback Math Overflow Status Velocity Regulator Math Overflow Status Torque Reference Math Overflow Status Process Trim Math Overflow Status Полно но © 0 МО с А 0 юн о VELOCITY Feedback Error Conditions: 18 Acceleration Error 19 Illegal State Edge Samples 20 illegal State Level 21 Encoder Loss Edge Samples 22 Encoder Loss Level 23 lq Reference in per unit Inverter Units 24 Motor Overload Integrator Output Level (IT) 25 Motor Temperature, Degrees C. Velocity Reference 1 LOW (Fraction) Parameter Number [Vel Ref 1 Low] ‘Parameter T This word supplies the fractional part of the external velocity reference 1 when external velocity control has been selected in the Logic Command Word. 5-27 Chapter 5 Programming Parameters SERRA Г о Velocity Reference 1 HI (Whole 32 bit) [Vel Ref 1 Hi] This word supplies the whole number part of external velocity reference 2 when the external velocity control has been selected in the Logic Command Word. Velocity Scale Factor 1 [Vel Scale Fctr 1] This parameter sets the gain multiplier that will be used to scale velocity reference 1. Velocity Reference 2 LOW (Fraction) [Vel Ref 2 Low] This word supplies the fractional part of the external velocity reference 2 when the external velocity control has been selected — in the Logic Command word. | Velocity Reference 2 HI (Whole 32 bit) [Precharg Timeout] This word supplies the whole number ref- REY erence 2 when the external velocity control has been selected in the Logic Command word. Velocity Scale Fetr 2 [Vel Scale Fetr 2] This parameter sets the gain multiplier that = m y ni will be used to scale velocity reference 2. Velocity Trim LOW [Vel Trim Low] This word supplies the fractional number part of a 32 bit velocity reference trim. Velocity Trim Hi (32 bit) [Vel Trim Hi] This word supplies the whole number part of a 32 bit velocity reference trim. 5-28 Chapter 5 Programming Parameters Velocity Reference Testpoint Data LOW [Vel Ref TP Low] This parameter indicates the LOW of the POR ed 32 bit value of the internal location se- Ie lected by the Velocity Reference Testpoint Select parameter. Velocity Reference Testpoint Data HI (32 bit) Para [Vel Ref TP Hi] This parameter indicates the Hi 32 bit value of the internal location selected by the Velocity Reference Testpoint Select parameter. Velocity Reference Testpoint Select [Vel Ref TP Sel] This parameter selects which internal loca- 1215917 « tion of the velocity reference will become ve Un the testpoint value. The following are the internal locations based upon the select value: Select Value Velocity Reference Access Point 0 Zero 1 Limit Status (HI) Reference Selection (LOW) Selected Reference (H!, LOW) Limited Reference (HI, LOW) Direction Selected Ref (HI, LOW) Fwd Speed Limit (Hl) | Rev Speed Limit (LOW) Ramp Input (HI, LOW) Ramp Input (Hl, LOW) Velocity Trim Sum (HI, LOW) Internal Velocity Trim (HI, LOW) Trimmed Velocity Reference (HI, LOW) Maximum Frequency Limit (HI); Zero (LOW) Reference after Trim Limit (HI, LOW) — o SIZOoENOaO оном Jog Speed 1 [Jog Speed 1] This will be the velocity reference used by the Drive when Jog 1 has been selected in the Logic Command word. Jog Speed 2 [Jog Speed 2] This will be the velocity reference used by the Drive when Jog 2 has been selected in the Logic Command word. 5-29 Chapter 5 Programming Parameters Preset Speed 1 [Preset Speed 1] This will be the velocity reference used by the Drive when preset 1 has been selected in the Logic Command word. Preset Speed 2 [Preset Speed 2] This will be the velocity reference used by the Drive when preset 2 has been selected in the Logic Command word. Preset Speed 3 [Preset Speed 3] This will be the velocity reference used by the Drive when preset 3 has been selected in the Logic Command word. Preset Speed 4 [Preset Speed 4] This will be the velocity reference used by the Drive when preset 4 has been selected - in the Logic Command word. | Preset Speed 5 [Preset Speed 5] This will be the velocity reference used by the Drive when preset 5 has been selected in the Logic Command word. Accel Time [Accel Time] This parameter determines the accelera- tion rate of the velocity reference for all references. Units are measured in sec- onds to accelerate from O to base speed. This function can be bypassed by setting bit 9 in the Logic Command word. Decel Time [Decel Time] This parameter determines the decelera- tion rate of the velocity reference for all references. Units are measured in sec- onds to decelerate from base speed to 0.This function can be bypassed by setting yg. i. = bit 9 in the Logic Command word. ПАР YAN 5-30 Chapter 5 Programming Parameters Reverse Motor Speed Limit [Rev Speed Limit] This parameter sets a limit on velocity in the negative direction. The value entered must be Negative or Zero. The numeric range of this parameter is 0 to —6 times base motor speed. Forward Motor Speed Limit [Fwd Speed Limit] This parameter sets a limit on velocity in the positive direction. The value entered must be Positive or Zero. The numeric range of this parameter is +6 x base speed rpm. Maximum Reverse Speed Trim [Max Rev Spd Trim] This parameter limits the minimum value of the velocity reference after the process trim output and the external velocity trim has been added. Maximum Forward Speed Trim [Max Fwd Spd Trim] This parameter limits the maximum value of the velocity reference after the process trim. Droop Percent [Droop Percent] This parameter specifies the percent of base speed that the velocity reference will be reduced when at full load torque. This feature can be used to cause motor veloc- ity to droop with an increase in load. | Velocity Reference Output LOW [Vel Ref Out Low] This is the low word portion of a 32 bit ve- locity reference quantity. It is the input term for the Velocity PI Regulator. Velocity Reference Output HI (32 bit) [Vel Ref Out High] This is the high word portion of a 32 bit ve- locity reference quantity. it is the input term for the Velocity P! Regulator. 5-31 Chapter 5 Programming Parameters Velocity Regulator Output [Vel Reg Output] This parameter represents the torque ref- erence value that appears at the output of the Velocity PI Regulator. It is the input to the torque mode selector and is used as the drive's torque reference value whenin gp oi =r Velocity Regulator Testpoint Data LOW [Vel Reg TP Low] This parameter indicates the value of the internal location selected by the Velocity Regulator Testpoint Select parameter. The select allows this parameter to be used as a testpoint for the velocity regula- tor. Velocity Regulator Testpoint Data HI (32 bit) [Vel Reg TP Hi] This parameter indicates the value of the internal location selected by the Velocity Regulator Testpoint Select parameter. The select allows this parameter to be used as a testpoint for the velocity regula- tor. Velocity Regulator Testpoint Select [Vel Reg TP Sel] This parameter selects which internal loca- tion of the velocity reference will become the testpoint value. The following are the internal locations based upon the select value: Select Value Velocity Reference Access Point Zero Droop Speed Offset (32bit) Drooped Velocity Reference (32 bit) Kf Term (Low), Kf Err (High) Kf Error Filter Output 1 (Low), Kf Error Filter Output 2 (High) Kp Term (32 bit) Qr - 1st 16 bit (Low), 2nd 16 bit (High) Qr — 3rd 16 bit (Low), 4th 16 bit (High) Qf — 1st 16 bit (Low), 2nd 16 bit (High) Qf — 3rd 16 bit (Low), 4th 16 bit (High) Qe — 1st 16 bit (Low), 2nd 16 bit (High) Qe — 3rd 16 bit (Low), Not Used (High) Qec1 - 1st 16 bit (Low), 2nd 16 bit (High) Qec1 - 3rd 16 bit (Low), 4th 16 bit (High) Ki Term (32 bit) Logic Control Word (LOW) Integrator Enable Flag (HIGH) овом о © 0 МО с А о но Velocity Error [Velocity Error] This parameter contains a value that is the difference between the whole number por- tion of the velocity regulator's reference input and the velocity feedback. 5-32 Chapter 5 Programming Parameters KI - Velocity Loop [Ki Velocity Loop] This parameter controls the integral error gain of the velocity regulator. Gain has a resolution of 1/8, therefore a Ki gain of 1.0 is converted to internal drive units as a value of 8. KP - Velocity Loop [Kp Velocity Loop] This parameter controls the proportional error gain of the velocity regulator. Gain TS has a resolution of 1/8, therefore a gain of aul 1.0 is converted to internal drive units asa — Minimum Value value of 8. Thine аи Factory KF - Velocity Loop [Kf Velocity Loop] This parameter controls the feed forward gain of the velocity regulator. Setting the Kf gain to less than one reduces velocity feedback overshoot in response to a step change in velocity reference. KF Error Filter Bandwidth [Error Filter BW] This parameter sets the bandwidths of two cascaded low pass filters in the Kf error i path of the Velocity Pi Regulator. Bandwidth is entered in units of radians per second. am Velocity Feedback Testpoint Data LOW [Vel Fdbk TP Low) This parameter contains the LOW part of the 32 bit value of the internal location selected by the Velocity Feedback Velocity Feedback Testpoint Data HI (32 bit) Parameter Num [Vel Fdbk TP Hi] i This parameter contains the HIGH part of the 32 bit value of the internal location selected by the Velocity Feedback 5-33 Chapter 5 Programming Parameters | Velocity Feedback Testpoint Select [Vel Fdbk TP Sel] This parameter selects which internal loca tion of the velocity reference will become the testpoint value. The value based upon the select will be stored in the Velocity Feedback Testpoint Data parameter. Select Value Feedback Access Point 0 Zero 1 Encoder Velocity (Low), Zero (High) 2 Selected Velocity (Low), Difference Velocity (High) 3 2 msec Scan Interval (Low), Zero (High) 4 Edge Pulse Count (Low), Zero (High) 5 Acceleration (Low), Acceleration Error (High) 6 Edges Moved Count (Low), Zero (High) 7 Delta Theta (32 bit) 8 Count Direction (Low), Status Bits (High) 9 Edge to Edge Time (Low), Zero (High) 10 Equal Area Intervals (Low), Zero (High) 11 Empty Intervals (Low), Zero (High) 12 Active Feedback Device 13 Limit Status (Low), Zero (High) 14 Qf ~ 1st 16 bit (Low), 2nd 16 bit (High) 15 Qf — 3rd 16 bit (Low), Not Used (High) 16 Velocity with Slow Filter (Low), Not Used (High) Velocity Feedback пн Не [Vel Feedback] This parameter indicates the latest measured motor velocity information from a feedback device (Tach, encoder etc.) The value is taken at the output of the selectable feedback filters. Scaled Velocity Feedback [Scaled Vel Fdbk] This parameter is a rescaled version of ve- Disp locity feedback from parameter 146. The Di te inverse of either Velocity Scale Factor 1 or Factory Default 2 is used. Factory Uetaui Encoder Position Feedback LOW [Enc Pos Fdbk Low} This is the LOW word portion of a 32 bit encoder pulse accumulator. Each encoder … quadrature edge will be counted, resulting in a 4X multiplication. As a result, this pa- rameter will be scaled such that the posi- tion change per motor revolution is equal to 4 times the encoder PPR. Encoder Position Feedback HI [Enc Pos Fdbk Hi] This is the Hi word portion of a 32 bit en- coder pulse accumulator that was de- PAC VS scribed for the previous parameter. This ‘Factory Def word will change by 1 count for every Minimum Value change in low count of 65,536 4X encoder Maximum Value pulses. Maximum Value 5-34 Chapter 5 Programming Parameters Feedback Device Type [Fdbk Device Type] This parameter selects the source for mo- tor velocity feedback: 0 - Encoder Feedback 1 — Encoder Feedback 2 — Encoder Feedback w/tracker filter 3 — Motor Simulation 4 — Reserved 5 — External Feedback (Test Appl) Feedback Tracker Gain [Fdbk Track Gain] Affects gain of the alpha-beta tracker filter used when Feedback Device Type = 2. Smaller gains result in increased filtering. Typical Value: = 0.1510 0.7 Use 1.0 to disable. Feedback Filter Select [Fdbk Filter Sel] 0 = No Filter 1 = “light” 35/49 radian feedback fiiter 2 = “heavy” 20/40 radian feedback filter 3 = Single pole Lead Lag feedback filter 4 = Reserved (No Filter) Kn - Feedback Filter Gain [Fdbk Filter Gain] This is the Kn term of the single pole lead/ lag feedback filter. Kn greater than 1.0 will produce a lead filter, and less than 1.0 a lag filter. Kn equal to 1.0 will disable the feedback filter. Wn - Feedback Filter Bandwidth [Fdbk Filter BW] This parameter establishes the breakpoint radian frequency for the velocity feedback lead-lag filter. Tach Velocity [Tach Velocity] This word supplies a motor velocity feed- back signal when a source other than an encoder is used. This input will typically be linked to an analog input parameter from the adapter board. 5-35 Chapter 5 Programming Parameters External Iq Reference [External lq Ref] This parameter supplies an external Iq ref- erence to the Drive. The external lg refer- ence is summed with the internal Iq reference just prior to the current limiter. External Torque Reference 1 [Ext Torque Ref 1] This word supplies an external motor torque reference to the Drive. The exter- nal torque reference can be selected by setting the Torque Mode Select parameter (Parm 53) to a value of “2”. Slave Torque Percent 1 [Slave Torque % 1] External Torque Reference 1 is multiplied by a gain that is specified by this parame- ter. This muitiplier is scaled so that 4096 represents a gain of 1.0 (100%) External Torque Reference 2 [Ext Torq Ref 2] This word supplies an external motor torque reference to the Drive. The Exter- nal Torque Reference can be selected by setting the Torque Mode Select parameter (Parm 53) to a value of “2”. Slave Torque Percent 2 [Slave Torque % 2] External Torque Reference 2 is multiplied by a gain that is specified by this parame- ter. This multiplier is scaled so that 4096 represents a gain of 1.0 (100%) External Torque Step [Ext Torque Step] This parameter supplies an external torque offset to the Drive. The External Torque Step is summed with the Torque Mode Selector output prior to the Torque Limiter. Internal Torque Reference [Int Torq Ref] This parameter shows the value of torque reference that is present at the output of the torque limiter. 5-36 Chapter 5 Programming Parameters Internal lq Reference [Internal Iq Ref] This parameter shows the value of the Iq reference that is present at the output of the Iq rate limiter. 4096 is 100% lq motor current. Torque Scale % (KAL) [Torque Scale %] This parameter specifies a “calibration gain” used to scale the Torque Reference immediately prior to conversion to an iq reference. 4096 is unity gain. within a range of 0 to 8192. Torque Reference Testpoint Data [Torq Ref TP] This parameter indicates the value of the internal location selected by the Torque Reference Testpoint Select parameter. The select will allow this parameter to be used as a testpoint for the torque refer- ence input. Torque Reference Testpoint Select [Torque Ref TP Sel] This parameter selects which internal loca- tion of the torque reference will become the testpoint value. The value based on the select wilt be stored in the Torque Ref- erence Testpoint Data parameter. Select Value Torque Reference Access Point Select Value Torque Reference Access Point 0 Zero 18 Torque Reference Math Overflow Status 1 NTC Limit 19 Active Torque Mode 2 inverter Current Limit 20 Positive Torque Power Limit 3 Absolute Current Limit 21 Negative Torque Power Limit 4 Positive IQ Limit 22 Rated Inverter Current 5 Negative Iq Limit 23 Averaged Motor Fiux 6 Zero (Not Used) 24 Iq Current Reference Adjusted for Motor Range 7 Torque Limit (Low) 25 Iq Sum 8 Torque Limit (High) 26 Torque Mode Select Iq Ref 9 Scaled External Torque Reference 1 27 Inverted Gain 10 Scaled External Torque Reference 2 28 Motor Range 11 Torque Sum 29 Motor to Current Ratio 12 Torque Command 30 DC Bus Ride-Thru Latch 13 Filtered Torque Reference 31 Current Processor Regulation Active Flag 14 Unlimited Iq Reference 15 Current Limited Iq Reference 16 Filtered Iq Reference 17 Torque Reference Status Minimum Flux Level [Miin Flux Level] This parameter sets the smallest level of flux that will be used to convert a torque to a current reference. Setting the parameter to 4096 will prevent flux reduction and by- pass the torque to current conversion. 5-37 Chapter 5 Programming Parameters Pos Torque Reference Limit [Pos Mtr Tor Lmt] This parameter provides a user settable torque limit for positive torque reference values. Positive motor torque reference will not be allowed to exceed this value. Neg Torque Reference Limit [Neg Mir Tor Lim] This parameter provides a user settable torque limit for negative torque reference values. Negative motor torque reference will not be allowed to exceed this value. Motoring Power Limit [Motor Power Lmt] This parameter provides for a user entry of the maximum power level that will be sup- plied to the motor from the DC bus. The motoring power limit is used in a calcula- tion that results in an internal torque limit. Regen Power Limit [Regen Power Lim] This parameter provides a user entry for the maximum power level that will be transferred from the motor to the DC bus. Positive Motor Current Reference Limit [Pos Mtr Cur Lim] This parameter specifies the largest allow- able positive motor lq axis current that will be commanded. Bit 0 in Parm 183 indi- cates when this parameter is actively restricting Iq current. Negative Motor Current Reference Limit [Neg Mtr Cur Lim] This parameter determines the largest allowable negative motor Iq axis current that will be commanded. Bit 0 in Parm 183 indicates when this parameter is actively restricting Iq current. Di/DT Limit [Di/Dt Limit] This parameter determines the largest al- lowable rate of change for the Iq reference signal. This number is scaled in units of maximum per unit Iq every 2 msec. 5-38 Chapter 5 Programming Parameters Computed Power [Computed Power] Calculated product of Torque Reference times motor velocity feedback. A 125 msec filter is applied to this result. Positive Г values indicate motoring power, negative “Minimum Value. regenerative power. “Maximum Value + 0. % ; esa ano Pa rameter Number Torque Limit Status “Parameter Numbel [Torq Lmt Status] „Parameter Type This parameter provides a bit coded sum- ; Display Units mary of any condition that may be limiting —_ Drive Units either the IQ current or torque reference. Factory Default 0 = Positive Motor IQ - Maximum Value 1 = NTC Inverter Protection Foldback - Ш 2 = IT Inverter Protection Foldback 9 = NTC Inverter Protection Foldback 3 = Maximum Inverter Current 10 = IT inverter Protection Foldback 4 = Positive Torque Limit 11 = Maximum inverter Current 5 = Positive Torque Power Limit 12 = Negative Torque Limit 6 = Autotune Torque Limit 13 = Negative Torque Power Limit 7 = Not Used 14 = Autotune Torque Limit 8 = Negative Motor Iq 15 = Not Used Rated Inverter Output Amps [Base Drive Cur] Current rating of inverter. Automatically set by drive at powerup as a function of Power Structure Type. Used for current ref scaling and current proces- sor feedback scaling. Rated inverter Input Voltage [BaseLline Volts] Drive Nameplate Voltage rating of inverter. e isplay Un Automatically set by drive at powerup as a Dr function of Power Structure Type. я Inverter Carrier Frequency [PWM Frequency] This parameter defines the drive carrier frequency in Hz. 5-39 Chapter 5 Programming Parameters Precharge/Ridethru Selection [Prech/Rdthru Sel} Configuration bits for the DC bus precharge and low bus ridethrough func- tions. This parameter is bit encoded as follows: Bit 12 — Enables precharge as a common bus inverter when set Bit 13 — Disables Bus precharge timeout and undervoltage while the Drive is DISABLED when set Bit 14 — Disables all subsequent precharges after first powerup when set Bit 15 — Disables all ridethroughs when set Undervoltage Setpoint [Under Volt Stpnt] This sets the minimum threshold voltage that will be compared with the DC Bus Voltage as a check for a Bus Undervoltage - condition. | Bus Precharge Timeout [Prechrg Timeout] This parameter establishes a time delay period for DC Bus Precharge. If the Drive fails to finish a DC Bus Precharge in this time, a Precharge Timeout will occur. Bus Ridethru Timeout [Ridethru Timeout] This parameter establishes a time delay period for DC Bus Ridethrough. If the bus remains in a low bus ridethrough condition longer than this time, a Bus ridethru condi- М tion will occur. : CP Operating Options [CP Options] This bit coded parameter is used to en- - able/disable options in the operation of the D Current Processor (1 = Option Enabled, 0 = Option disabled). The following options ra ; are available: 0 = RTD Adapter ON 5 Min Y al ‘anne 5-40 Chapter 5 Programming Parameters я Motor Nameplate Horsepower [Motor HP] User entered value of nameplate motor 3 horsepower. The drive uses this informa- - tion in the Dynamic Brake Resistor ; temperature calculation. Base Motor Speed [Base Motor Speed] User entered value of nameplate motor speed in RPM. The drive uses this infor- mation to convert motor velocity RPM to/ from drive per unit. Motor Nameplate AMPS [Base Motor Curr] Drive nameplate current rating of the -MSPIay | motor. Used for current reference scaling Drive URIs and current processor feedback scaling. Factory De Motor Nameplate VOLTS [Base Motor Volt] Drive nameplate voltage rating of the motor. Motor Nameplate FREQuency [Base Motor Freq.] Drive nameplate frequency rating of the motor. Motor Nameplate Poles [Motor Poles] Motor Inertia [Motor Inertia] User selectable time taken to accelerate an uncoupled motor from zero to base Drive VI speed at rated torque. Factory Factory Default ¿Minimum Valde 5-41 Chapter 5 Programming Parameters Encoder PPR [Encoder PPR] User entered pulse per revolution rating of the feedback device when using an encoder to determine motor velocity. RS Tune [Stator Resistance] Sum of the stator and cable resistances of the motor in a per unit (percent represen- tation) This parameter can be entered manually or be determined by the autocommissioning routine. Lsigma Tune [Leakage inductance] [Leakage Ind] Sum of the motor stator and rotor leakage inductances and the motor cable induc- tance in a per unit base impedance. This parameter can be entered manually or be determined by the autocommissioning rou- tine. Id Tune [Base Flux Current] [Base Flux Cur] Magnetizing current which produces rated flux in the motor in a per unit (percent) rep- resentation. 5-42 Chapter 5 Programming Parameters Iq Tune (Rated Torque Current) [Base Torque Cur] Current which produces rated torque in the motor in a per unit (percent) representa- tion. Vde Tune (Base Torque Voltage) [Base Torque Volt] D axis voltage command to the motor at rated speed and rated current. Parameter calculated by autocommissioning routine. Data represented as X.X volts Vge Tune (Rated Flux Voltage) [Base Flux Volt] Q axis voltage command to the motor at rated speed and rated current if motor is not in field weakening. Parameter calcu- tated by autocommissioning routine. Data represented as X.X volts Vde Maximum (Peak HP) [Vde Max] Maximum D axis voltage allowed on the motor. Parameter calculated by autocom- missioning routine and MUST NOT BE CHANGED. Data represented as X.X volts Vge Maximum (Constant HP) [Vge Max] Q axis voltage at which the motor enters field weakening. Parameter calculated by autocommissioning routine and MUST NOT BE CHANGED. Data represented as X.X volts | Vde Minimum (Constant HP) [Vde Min] D axis voltage below which the adaption to motor changes in the torque control is dis- abled. Parameter calculated by autocom- missioning routine and MUST NOT BE CHANGED. Data represented as X.X —Volts Kslip (Base Slip Frequency) [Base Slip Freq] Base slip frequency of the motor. Parame- Displa ter calculated by autocommissioning rou- tine and MUST NOT BE CHANGED. Data represented as X.X Hz. 5-43 Chapter 5 Programming Parameters Kslip Maximum [Base Slip Max] Maximum slip frequency allowed on the motor. calculated by autocommissioning routine and MUST NOT BE CHANGED. Data represented as X.X Hz. Kslip Minimum [Slip Min] Minimum slip frequency allowed on the motor. Calculated by autocommissioning routine and MUST NOT BE CHANGED. Data represented as X.X Hz. Kp - Slip Regulator [Kp Slip] Proportional Gain of the slip regulator. This parameter MUST NOT BE CHANGED. Data represented as X. Ki — Slip Regulator [Ki Slip] Integral Gain of the slip regulator. This parameter MUST NOT BE CHANGED. Data represented as X. Kp - Flux Regulator [Kp Flux] Proportional Gain of the Flux regulator. This parameter MUST NOT BE CHANGED. Data represented as X. Ki - Regulator [Ki Flux] Integral gain of the slip regulator This parameter MUST NOT BE CHANGED. Data represented as X. 5-44 Chapter 5 Programming Parameters Autotune/Diagnostics Selection [Autotune Diag Sel] This parameter allows selection of drive diagnostic and commisioning tests by set- ting individual bits in this parameter: Bit 0 = inverter transistor Diagnostics Bit 1 = Motor Phase Rotation Test Bit 2 = Leakage Inductance Test Bit 3 = Stator Resistance Tests Bit 4 = Id Measure Bit 5 = Update Torque Block Gains Bit 6 = Motor Inertia Test Bit 7 = System Inertia Test Bit 8 = Update Velocity Regulator Gains Transistor Diagnostics Configuration [Tran Diag Cig] This parameter provides a means of dis- abling certain transistor diagnostic tests by setting the following bits: Bit 0 = Current Feedback phase U offset tests Bit 1 = Current Feedback phase W offset tests Bit 2 = Shorted power transistor tests Bit 3 = Ground fault tests Bit 4 = Open transistor, open motor, open current feedback, open gate drive and open bus fuse tests Bit 5 = Reserved (Always leave 0) Bit 6 = Power Trans U upper for all tests Bit 7 = Power Trans U lower for all tests Bit 8 = Power Trans V upper for all tests Bit 9 = Power Trans V lower for all tests Bit 10 = Power Trans W upper for ali tests Bit 11 = Power Trans W lower for all tests Bit 12 = Reserved (Always leave 0) Bit 13 = Reserved (Always leave 0) Bit 14 = Reserved (Always leave 0) Bit 15 = Reserved (Always leave 0) inverter Diagnostics Result #1 [Inverter Diag #1] The results of the Transistor Diagnostic Tests are given in parameter 258, 259 and Torque Block testpoints 28 through 30. Bit 0 = Software Fault Bit 1 = No motor connected, or open bus fuse Bit 2 = Phase U and W Shorted Bit 3 = Phase U and V shorted Bit 4 = Phase V and W shorted Bit 5 = Shorted modules Bit 6 = Ground fault Bit 7 = Fault before shorted module ran Bit 8 = Hardware overvoltage fault occurred Bit 9 = Hardware desaturation fault occurred Bit 10 = Hardware ground fault occurred Bit 11 = Hardware phase overcurrent fault occurred Bit 12 = Open power transistor(s) Bit 13 = Current feedback faults(s) Bit 14 = Low bus voltage Bit 15 = Not Used 5-45 Chapter 5 Programming Parameters | Inverter Diagnostics Result #2 [Inverter Diag 2] The results of the Transistor Diagnostic DISplay © Tests are given in parameter 258, 259 and D ni Torque Block testpoints 28 through 30. | If any of the bits shown below are set, then a problem with the associated test is indicated. 0 = Transistor U upper shorted 1 = Transistor U lower shorted 6 = Current fdbk ph U offset too big 11 = Transistor V lower open 2 = Transistor V upper shorted 7 = Current fdbk ph W offset too big 12 = Transistor W upper open 3 = Transistor V lower shorted 8 = Transistor U upper open 13 = Transistor W lower open 4 = Transistor W upper shorted 9 = Transistor U lower open 14 = Current feedback phase U open 5 = Transistor W lower shorted 10 = Transistor V upper open 15 = Current feedback phase W open lq OFFSET [lq Offset] This parameter contains the LEM U offset 7 required to null the current error. (no motor "4.15 current flowing) This offset is set automati- ; cally by running the transistor diagnostics. Id OFFSET [ld Offset] This parameter contains the LEM W offset - required to nul! the current error. (no motor D current flowing) This offset is set automati- CI cally by running the transistor diagnostics. Phase Rotation Current Reference [Ph Rot Cur Ref] This parameter sets the current reference that will be used when the Phase Rotation test is run (Parm 256, bit 1) Phase Rotation Frequency Reference Parameter Number. [Ph Rot Freq Ref] on Parameter "Type This parameter sets the frequency refer- ence that will be used when the Phase Ro- Dri tation test is run (Parm 256, bit 1) - Maximum Value Motor Current Magnitude Feedback ‚Parameter Numbe [Motor Cur Fdbk] Parameter Type Displays the actual RMS value of the mo- Display Units tor current as determined from the LEM Drive Units current sensors. This data is averaged “Factory Default and updated on a 50 millisecond basis. Minimum Value Maximum Value 5-46 Chapter 5 Programming Parameters Motor Voltage Magnitude [Motor Volt Fdbk] Displays the actual Line-to-Line RMS value of motor voitage. This data is aver- aged and updated on a 50 millisecond basis. Stator Frequency [Freq Command] Displays the actual value of motor stator frequency. Units are in Hz times 128 (128 @ 1 Hz) Torque Feedback [Torque Fdbk] Displays the actual value of motor torque feedback as determined by the Current Processor. Scaling is 4096 at rated motor torque. DC Bus Voltage {DC Bus Voltage] This is the actual Bus Voltage as read by the software from an analog input port. Units are in volts. Motor Temperature Feedback [Motor Temp] Actual motor temperature determined by RTD in motor. Units are in degrees celcius. Inverter Temperature Feedback [Inv Temp Fdbk] Inverter temperature determined by NTC device on heatsink power structure. Can be configured to generate either a warning or fault when heatsink reaches 80 degrees C. Limited Motor Flux This parameter displays the level of motor field flux calculated by the current proces- sor and limited by the Minimum Flux pa- rameter (Par. 174). 5-47 Chapter 5 Programming Parameters Testpoint Selection #1 [Torq TP Sel 1] This parameter not defined at this time. Testpoint Data #1 {Torq TP Data 1] This parameter is used to select torque block variables. Testpoint Selection #2 [Torq TP Sel 2] This parameter is used to select torque block variables. The value of the variables appear in Parameter 276. Testpoint Data #2 [Torq TP Data 2] Value of the variable selected in 275. Testpoint Selection #3 [Torq TP Sel 3] This parameter is used to select torque block variables. The value of the variables appear in Parameter 278. Testpoint Data #3 [Torq TP Data 3] Value of the variable selected in 277. Testpoint Selection #4 [Torq TP Sel 4] This parameter is used to select torque block variables. The value of the variables appear in Parameter 280. 5-48 Chapter 5 Programming Parameters Testpoint Data #4 [Torq TP Data 4] Value of the variable selected in Parame- ter 279. Testpoint Selection #5 [Torq TP Sel 5] This parameter is used to select torque block variables. The values of the vari- ables appear in Parameter 282. Testpoint Data #5 [Torq TP Data 5] Value of the variable selected in Parame- ter 281. Testpoint Selection #6 [Torq TP Sel 6] This parameter is used to select torque block variables. The values of the vari- ables appear in Parameter 284. Testpoint Data #6 [Torq TP Data 6] Value of the variable selected in Parame- ter 283. Selection for TEST DAC #1 Parameter Numbe [Test DAC 1 Sel] Parameter Type © This parameter is used to select torque block variables. The values of the vari- MINE VIS ables appear at a test d/a on the main con- Factory Defaul trol board. a EEE Selection for TEST DAC 42 [Test DAC 2 Sel] This parameter is used to select torque block variables. The values of the vari- ables appear at a test d/a on the main con- troi board. 5-49 Chapter 5 Programming Parameters Dvbus dt [DvBus dt] Parameter Not Defined at this time. Bus Counts [Bus Counts] Parameter Not Defined at this time. 5-50 PLC Comm Parameters Chapter 5 Programming Parameters The parameters in the range from 300 to 500 are dedicated to the PLC Comm Adapter Board. PLC Communications Parameters are divided into 8 groups to help ease programming and operator access as follows: GROUP 1 GROUP 2 GROUP 3 GROUP 4 ADAPTER INFO ADAPTER DIAG SCANbus 1/0 MASKS 300 PLC Comm Adpt ID 425 СПА ВО Fit Sel 314 Dataln Al 408 Port Enable 301 PLC Comm Version 426 ChA RIO Warn Sel 315 DatalnA2 409 Direction Mask 302 PLC Comm Config 430 ChBRIO Flt Sel 316 Data In B1 410 Start Mask 307 Func Blk Chksum 431 ChBRIO Warn Sel 317 DatalnB2 411 Jog Mask 308 FuncBKkiD 435 DIP Fault Setup 318 Dataln C1 412 Reference Mask 309 Language Select 436 ChA Fault Sts 319 Data ln C2 413 Clear Fault Mask 310 Adv/Basic Select 437 ChAWarn Sts 320 Dataln D1 414 Reset Drive Mask 438 ChB Fault Sts 321 Dataln D2 415 Local Mask 439 ChB Warn Sts 338 SB Analog In 440 SB Fault Sel 343 Data Out A1 441 SB Warn Sel 344 Data Out A2 442 SB Fault Sts 345 Data Out B1 443 SB Warn Sts 346 Data Out B2 347 Data Out C1 348 Data Out C2 349 Data Out D1 350 Data Out D2 367 Pt6 Logic Cmd In 368 Pt7 Logic Cmd In 386 SB Analog Out 391 SB Analog Sel 416 SB Default Ref GROUP 5 GROUP 6 GROUP7 © GROUPS © OWNERS ANALOG 1/0 CHANNEL A CHANNEL B 369 Stop Owner 339 Analog In 1 303 ChADIP Switch 304 ChB DIP Switch 370 Dir Owner 340 Analog In 2 305 ChALED State 306 ChB LED State 371 Start Owner 341 Analog In 3 372 Jog 1 Owner 342 Analog In 4 322 ChARIO In 1 330 ChB RIO In 1 373 Jog 2 Owner 387 Analog Out 1 323 ChARIO In 2 331 ChB RIO in 2 374 Set Ref Owner 388 Analog Out? 324 ChARIOIn3 332 ChB RIO In 3 375 Local Owner 389 Analog Out 3 325 ChA RIO In 4 333 ChB RIO In 4 376 Flux Owner 390 Analog Out 4 326 ChARIOInS 334 ChB RIO In 5 377 Trim Owner 392 Analog in 1 Offset 327 ChARIO In 6 335 ChBRIOInG 378 Ramp Owner 393 Analog In 1 Scale 328 ChA RIO In 7 336 ChB RIO In 7 379 Clrfit Owner 394 Analog In 2 Offset 329 ChA RIO In 8 337 ChB RIO In 8 395 Analog In 2 Scale 351 ChARIO Out1 359 ChBRIO Out 1 396 Analog In3 Offset 352 ChARIO Out 2 360 ChB RIO Out 2 397 Analog In 3 Scale 353 ChARIO Out 3 361 ChB RIO Out 3 398 Analog In 4 Offset 354 ChA RIO Out 4 362 ChBRIO Out4 399 Analog In 4 Scale 355 ChARIO Out 5 363 ChB RIO Out 5 400 Analog Out 1 Offset 356 ChARIO Out 6 364 ChHBRIOOut6 401 Analog Out 1 Scale 357 ChA RIO Out 7 365 ChB RIO Out 7 402 Analog Out 2 Offset 358 ChARIO Out 8 366 ChB RIO Out 8 403 Analog Out 2 Scale 427 Redund Chan No 404 Analog Out 3 Offset 405 Analog Out 3 Scale 406 Analog Out 4 Offset 407 Anailog Out 4 Scale © Parameters included In GROUPs 7 and 8 will vary depending upon the selected communication protocol For detailed parameter descriptions of PLC Comm Adapter parameters refer to the PLC Comm Adapter Reference Manual; 1336 FORCE — 5.7. 5-51 Chapter 5 Programming Parameters This Page Intentionally Blank 5-52 General Appendix Derating Information Customer Supplied Enclosure Requirements 1336 FORCE drives installed in customer supplied enclosures may be mounted within an enclosure or may be mounted to allow the heatsink to extend outside the enclosure. Use the information below in combination with the enclosure manufacturer’s guidelines for sizing. 380-480V Drives 1 Base Derate Heat Dissipation 3 4 Derate Drive Heatsink Total Cat No. Amps! Curve 2.3 Watts Watts Watts B007 14 None 91 270 361 BO10 21 None 103 394 497 BO15 27 Figure A 117 486 603 B020 34 Figure B 140 628 768 B025 42 Figure C 141 720 861 BO30 48 Figure D 141 820 961 BX040 59 Figure E 175 933 1108 B040 65 Figure E 175 933 1108 B050 77 Figure F 193 1110 1303 BX060 77 Figure G 193 1110 1303 B060 96 5 361 1708 2069 B075 120 5 361 1708 2069 B100 150 5 426 1944 2370 B125 180 Figure H 522 2664 3186 BX150 180 5 606 2769 3375 B150 240 Figure | 606 2769 3375 B200 292 Figure J 755 3700 4455 B250 325 Figure K 500-600V Drives Base Derate Heat Dissipation 3 4 Derate Drive Heatsink Total CatNo. Amps! Curve 2, 3 Watts Watts Watts C007-C060 > 5 5 5 5 1 Base Derate Amps are based on nominal voltage (480 or 600V). If input voltage exceeds Drive Rating, Drive Output must be derated. Refer to Figure M. 2 Amp Rating is at 4 kHz. If carrier frequencies above 4 kHz are selected, drive Amp Rating must be derated. Refer to Figures A-K. 3 Drive Ambient Temperature Rating is 40°C. If ambient exceeds 40°C, the drive must be derated. Refer to Figures A-K. 4 Drive Rating is based on altitudes of 1,000 m (3,000 ft) or less. If installed at higher altitude, drive must be derated Refer to Figure L. 9 Not available at time of publication. A Appendix A Derating Information Derating Guidelines Figure A — Drive Rating B015 Carrier Frequency and Ambient Temperature Derating Figure B — Drive Rating B020 Carrier Frequency and Ambient Temperature Derating Figure C — Drive Rating B025 Carrier Frequency and Ambient Temperature Derating Figure D — Drive Rating B030 Carrier Frequency and Ambient Temperature Derating Derating Factors Drive ratings can be affected by a number of factors. If more than one factor exists, derating percentages must be multiplied. For example, if a 14 Amp drive is installed at a 2 km (6,600 ft.) altitude and has a 2% high input line voltage, the actual amp rating will be: 14 x 94% Altitude Derate x 96% High Line Derate = 12.6 Amps =ææs Standrad Rating for Enclosed Drive in 40°C Ambient & Open Drive in 50°C Ambient. ses Derating Factor for Enclosed Drive in Ambient above 40°C. 100% = 98% — % of Drive 96% = Rated Amps oyo. 92% 90% = | | 2 4 6 8 10 12 Carrier Frequency in kHz 100% = 98% — % of Drive 296% - Rated Amps 94% — 92% — 90% =, ! | 2 6 {0 = 4 Carrier Frequency in kHz 100% = 96% = % of Drive 92% — Rated Amps 88 % 84% 80% =; | I | 2 4 6 Carrier Frequency in kHz 100% — 95% — 90% = % of Drive 85% = Rated Amps 80% — 75% = 70% 65% —, ! I 2 4 6 Carrier Frequency in kHz 00 =m Figure E — Drive Rating B040/X040 Carrier Frequency and Ambient Temperature Derating Figure F — Drive Rating B050 Carrier Frequency and Ambient Temperature Derating Figure G — Drive Rating BX060 Carrier Frequency and Ambient Temperature Derating Figure H — Drive Rating B125 Carrier Frequency and Ambient Temperature Derating Appendix A Derating Information == Standrad Rating for Enclosed Drive in 40°C Ambient & Open Drive in 50°C Ambient, ==. Derating Factor for Enclosed Drive in | Ambient above 40°C. 100% = 98% — 96% — % of Drive 94% — Rated Amps 92% — 90% 88% 86% =; 2 4 Carrier Frequency in kHz 100% = 96% — % of Drive 92% — Rated Amps gg, 84% = 80% —, I I 4 Carrier Frequency in kHz 100% = 95% = 20% — % of Drive 85% — Rated Amps 80% — 75% = 70% — 65% =| 1 0) em 4 Carrier Frequency in kHz 100% 98% = % of Drive 96% — Rated Amps 94% — 92% 90% = I I 2 4 6 Carrier Frequency in kHz Derating for Enclosed Drive in Ambients above 40° C Not Available at Time of Printing Appendix A Derating Information Figure | — Drive Rating B150 Carrier Frequency and Ambient Temperature Derating Figure J — Drive Rating B200 Carrier Frequency and Ambient Temperature Derating Figure J — Drive Rating B200 Carrier Frequency and Ambient Temperature Derating Figure K — Drive Rating B250 Carrier Frequency and Ambient Temperature Derating А-4 % of Drive Rated Amps % of Drive Rated Amps % of Drive Rated Amps % of Drive Rated Amps RENA 100% — 98% — 96% — 94% — 92% — 90% — 2 100% — 95% — 90% — 85% = 80% = 75% = 70% = 65% — 100% — 95% = 90% — 85% = 80% — 75% = 70% 65% — 2 100% = 95% — 90% — 85% — 80% — 75% = 70% — 65% — Standrad Rating for Enclosed Drive in 40°C Ambient & Open Drive in 50°C Ambient. Derating Factor for Enclosed Drive in Ambient above 40°C. 4 Carrier Frequency in kHz Derating for Enclosed Drive in Ambients above 40° C Not Available at Time of Printing J) == 4 Carrier Frequency in kHz Derating for Enclosed Drive in Ambients above 40° C Not Available at Time of Printing I I 1 4 Carrier Frequency in kHz Derating for Enclosed Drive in Ambients above 40° C Not Available at Time of Printing С) == 4 Carrier Frequency in kHz Derating for Enclosed Drive in Ambients above 40° C Not Available at Time of Printing Figure L — All Drive Ratings Altitude Derating Figure M — High input Voltage Derating Required Only for the Following Drives: 18.5 kW (25 HP) at 8 kHz 22 kW (30 HP) at 6 or 8 kHz 45 kW (60 HP) at 6 kHz PELL) Derating Information 100% = % of Drive 90% — Rated Amps °°”° 80% =, 0 1,000 2,000 3,000 4000 m (3,300) (6.600) (9,900) (13,200) (ft) Altitude 100% — % of Drive o — Rated Amps -* 80% = | i 240, 480 or 600V Nominal +2% +4% +6% +8% +10% Input Voltage Appendix A Derating Information This Page Intentionally Blank A—6 This Page Intentionally Blank Appendix A Derating Information А-7 Appendix A Derating Information This Page Intentionally Blank А-8 This Page Intentionally Blank Appendix A Derating Information A-9 Appendix A Derating Information This Page Intentionally Blank A—10 Appendix A Derating Information This Page Intentionally Blank A-11 Appendix A Derating Information This Page Intentionally Blank A—12 CUT ALONG DOTTED LINE 5e AB We Want Our Manuals to be the Best! You can help! Our manuals must meet the needs of you, the user. This is your opportunity to make sure they do just that. By filling out this form you can help us provide the most useful, thorough, and accurate manuals available. Please take a few minutes to tell us what you think. Then mail or FAX this form. FAX: to your local Allen-Bradley Sales Office or 414/512-8579 PUBLICATION NAME PUBLICATION NUMBER, DATE AND PART NUMBER (IF PRESENT) Y CHECK THE FUNCTION THAT MOST CLEARLY DESCRIBES YOUR JOB. 1 SUGGEST / RESPONSIBLE FOR THE PURCHASE OF EQUIPMENT OU MAINTAIN / OPERATE PROGRAMMABLE MACHINERY DESIGN / IMPLEMENT ELECTRICAL SYSTEMS Ll TRAIN / EDUCATE MACHINE USERS (J SUPERVISE FLOOR OPERATIONS v/ WHAT LEVEL OF EXPERIENCE DO YOU HAVE WITH EACH OF THE FOLLOWING PRODUCTS? NONE LITTLE MODERATE EXTENSIVE PROGRAMMABLE CONTROL 4 a a a AC/DC DRIVES a U U U PERSONAL COMPUTERS a = a U NC/CNC CONTROLS U U U = DATA COMMUNICATIONS / LAN a a a U Y RATE THE OVERALL QUALITY OF THIS MANUAL BY CIRCLING YOUR RESPONSE BELOW. (1)=POOR (5) = EXCELLENT HELPFULNESS OF INDEX / TABLE OF CONTENTS 1 2 3 4 5 CLARITY 1 2 3 4 5 EASE OF USE 1 2 3 4 5 ACCURACY AND COMPLETENESS 1 2 3 4 5 QUALITY COMPARED TO OTHER COMPANIES’ MANUALS 1 2 3 4 5 QUALITY COMPARED TO OTHER ALLEN-BRADLEY MANUALS 1 2 3 4 5 Y WHAT DID YOU LIKE MOST ABOUT THIS MANUAL? Y WHAT DID YOU LIKE LEAST ABOUT THIS MANUAL? Y PLEASE LIST ANY ERRORS YOU FOUND IN THIS MANUAL (REFERENCE PAGE, TABLE, OR FIGURE NUMBERS). Y DO YOU HAVE ANY ADDITIONAL COMMENTS? Y COMPLETE THE FOLLOWING. NAME COMPANY TITLE DEPARTMENT STREET CITY STATE ZIP TELEPHONE DATE FOLD HERE FOLD HERE NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES BUSINESS REPLY MAIL FIRST CLASS PERMIT NO. 413 MEQUON, WI POSTAGE WILL BE PAID BY ADDRESSEE ALLEN-BRADLEY Attn: Marketing Communications P.O. Box 760 Mequon, WI 53092-9907 herida alerta 1336 FORCE™, Drive Tools™, SCANport™ and DH+™ are trademarks of Allen-Bradley Company, Inc., a Rockwell International Company. PLC® is a registered trademark of Allen-Bradley Company, Inc., a Rockwell International Company. Windows™ is a trademark of Microsoft. ait) AL LEN-BRADL EY Allen-Bradley has been helping its customers improve productivity and quality for 90 years. We A ROCKWELL INTERNATIONAL COMPANY d€sign, manufacture and support a broad range of control and automation products worldwide. They include logic processors, power and motion control devices, man-machine interfaces, sensors and a variety of software. Allen-Bradley is a subsidiary of Rockwell International, one of the world's leading technology companies. | се With major offices worldwide. Algeria e Argentina * Australia e Austria * Bahrain e Belgium e Brazil Bulgaria * Canada e Chile # China, РАС e Colombia e Costa Rica * Croatia * Cyprus e Czech Republic e Denmark * Ecuador * Egypt * El Salvador e Finland * France * Germany * Greece * Guatemala e Honduras * Hong Kong * Hungary * Iceland e India e Indonesia * Israel e Italy» Jamaica * Japan * Jordan e Korea * Kuwait e Lebanon * Malaysia * Mexico * New Zealand e Norway * Oman # Pakistan * Peru * Philippines e Poland e Portugal * Puerto Rico ® Qatar e Romania * Russia-CIS * Saudi Arabia * Singapore * Slovakia * Slovenia South Africa, Republic e Spain e Switzerland e Taiwan e Thailand * The Netherlands e Turkey * United Arab Emirates * United Kingdom * United States * Uruguay * Venezuela * Yugoslavia World Headquarters, Allen-Bradley, 1201 South Second Street, Milwaukee, WI 53204 USA, Tel: (1) 414 382-2000 Fax: (1) 414 382-4444 Publication 1336 FORCE-5.0 — March, 1995 P/N 74002-001-01(C) Supersedes Publication 1336 FORCE-5.0 Dated February, 1995 Copyright 1995, Allen-Bradley Company, inc. \¢ ">

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Key features
- Digital AC Drive
- 4 Quadrant Operation
- High Performance Velocity Loop
- Field Oriented Current Loop
- Simplified Programming
- Nonvolatile Parameter Storage
- Extensive Diagnostics
- Multiple Communication Interfaces
- Complete Encoder Interface
- Drive to Drive Interface
Frequently asked questions
The maximum continuous output horsepower is 500 HP (7.5 to 500HP).
The output frequency range is 0-250 Hz.
The drive includes programmable motor overload protection, inverter overload protection, overspeed detection, stall detection, peak output current monitoring, ground fault monitoring, DC bus voltage monitoring, motor temperature estimator, and heatsink temperature monitoring.