User Manual

Original Instructions

PowerFlex Digital DC Drive

Catalog Numbers 20P, 23P
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.

Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.

If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from
the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or
software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

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

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.

ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
 Table of Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Drive Storage Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Drive Nameplate Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Drive Series Letter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Drive Frame Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Drive Firmware Revision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Drive Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Standard Drive Catalog Number Explanation . . . . . . . . . . . . . . . . . . . 13
Standard Drive Catalog Number Explanation, Cont. . . . . . . . . . . . . . 14
Standalone-Alone Regulator Catalog Numbers . . . . . . . . . . . . . . . . . . 14
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Chapter 1
Installation and Wiring Product Advisories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Mount the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Operating Conditions and Temperatures. . . . . . . . . . . . . . . . . . . . 19
Minimum Mounting Clearances . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Maximum Surrounding Air Temperature Specifications . . . . . . 19
Approximate Drive Dimensions and Weights . . . . . . . . . . . . . . . . . . . 20
Lifting PowerFlex DC Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Mount Frame C and D Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Remove the Drive Covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Frame A Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Frame B and C Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Frame D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Isolation Transformers / Line Reactors. . . . . . . . . . . . . . . . . . . . . . . . . . 30
Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
AC Input Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
DC Output Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Dynamic Brake Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
General Grounding Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Safety Ground (PE). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Power Feeder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Encoder/Resolver Ground Connections. . . . . . . . . . . . . . . . . . . . . 34
Tachometer Ground Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Grounding for Installations in an Ungrounded or
High-Impedance, Neutral Ground, or System . . . . . . . . . . . . . . . . . . . 35
Power Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CE Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
General Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 3

Table of Contents

Installation Requirements Related to the Low

Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Installation Requirements Related to EN 61800-3 and
the EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Pollution Degree Ratings According to EN 61800-5-1 . . . . . . . 42
Power Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Control Power Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Cable and Wiring Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
AC Input Voltages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
DC Output Voltages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Typical Power Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Armature Converter Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Armature Voltage Feedback Connections . . . . . . . . . . . . . . . . . . . 54
Field Converter Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Field Current Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Set DIP Switch S14 to the Correct Value . . . . . . . . . . . . . . . . . . . . 62
Relay Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Thermistors and Thermal Switches . . . . . . . . . . . . . . . . . . . . . . . . . 64
Control Circuit Input Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Frame C Heatsink Cooling Fan Specifications . . . . . . . . . . . . . . . 71
Frame D, Series B and C Heatsink Cooling Fan
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Frame C and D Armature Fuse Signal Terminals . . . . . . . . . . . . . 75
DIP Switch and Jumper Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
I/O Signal and Control Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Digital Encoder Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
DC Analog Tachometer Terminal Block . . . . . . . . . . . . . . . . . . . . 90
Resolver Feedback Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
I/O and Control Wire Routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Chapter 2
Drive Start Up Drive Start Up Checklist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Before Applying Power to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Verify all Drive Configuration Settings . . . . . . . . . . . . . . . . . . . . . . 94
Verify the Power Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Verify the Control and I/O Wiring . . . . . . . . . . . . . . . . . . . . . . . . . 94
Apply Power to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Apply Voltage to the Control Circuits. . . . . . . . . . . . . . . . . . . . . . . 95
Verify the Control Voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Load the Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Configure the Most Commonly Used Parameters . . . . . . . . . . . . 97
Tune the Current Regulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Verify Motor Rotation and Run Feedback Polarity Checks. . . 104
Configure the Speed Feedback Parameters . . . . . . . . . . . . . . . . . . 107
Tune the Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

4 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Table of Contents

Verify Speed Reference Settings and Drive Operation. . . . . . . . 111

Chapter 3
Programming and Parameters About Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Parameters Table Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
How Parameters are Organized. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
File–Group–Parameter Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Numbered List View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Cross Reference Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Basic Parameter View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Advanced Parameter View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Monitor File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Motor Control File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Speed Command File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Dynamic Control File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Applications File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Utility File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Communications File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Input / Output File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Parameter Cross Reference – by Name . . . . . . . . . . . . . . . . . . . . . . . . . 207
Parameter Cross Reference – by Number. . . . . . . . . . . . . . . . . . . . . . . 213

Chapter 4
Troubleshooting Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Drive Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
HIM Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Manually Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Fault Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
How to Clear an Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Alarm Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Common Drive Symptoms and Corrective Actions . . . . . . . . . . . . . 231
Drive does not start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Drive starts but motor does not turn and no
armature current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
The motor does not reach commanded speed . . . . . . . . . . . . . . . 232
The motor is turning in the wrong direction . . . . . . . . . . . . . . . . 232
The motor reaches maximum speed immediately . . . . . . . . . . . 233
The motor speed cannot be controlled and the drive
does not stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Testpoint Codes and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

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Table of Contents

Appendix A
Supplemental Drive Information Certifications and Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
IP20 NEMA / UL Type Open Watts Loss . . . . . . . . . . . . . . . . . . . . . 236
Communication Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Typical Programmable-Controller Configurations . . . . . . . . . . 240
Logic Command/Status Words. . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Drive Power Circuit Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Frame A and B Fuse Information . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Frame C and D Fuse Information . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Control Power Circuit Protection Fuses . . . . . . . . . . . . . . . . . . . . . . . 259
Switching Power Supply Circuit Board Fuses . . . . . . . . . . . . . . . 259
Frame B Pulse Transformer Circuit Board Fuses . . . . . . . . . . . . 261
Frame C Transient Noise Filter Circuit Board Fuses. . . . . . . . . 262
Frame D Overvoltage Clipping Circuit Board Fuses . . . . . . . . . 263
AC Input Line Reactors and AC Input Contactors . . . . . . . . . . . . . 264
Isolation Transformers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Dynamic Brake Resistor Kits and DC Output Contactors . . . . . . . 269
DC Contactor Crimp Lug Kit Specifications . . . . . . . . . . . . . . . . . . . 271
Alternate Dynamic Brake Resistor Kits and DC Output
Contactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Alternate EMC Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Terminal Adapter Kits for Frame D Drives . . . . . . . . . . . . . . . . . . . . . 279

Appendix B
HIM Overview External and Internal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
LCD Display Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
ALT Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Using the S.M.A.R.T. List Screen . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Menu Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
Viewing and Editing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
LCD HIM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Removing/Installing the HIM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

Appendix C
Application Notes Alpha Test Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Alpha Test Setup and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 290
Analog Input Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Example 1: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Example 2: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
Analog-input Signal Comparison . . . . . . . . . . . . . . . . . . . . . . . . . . 293
Current / Speed Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
Drive Reference and Feedback Scaling . . . . . . . . . . . . . . . . . . . . . . . . . 296
Armature Voltage Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
DC Analog Tachometer Feedback . . . . . . . . . . . . . . . . . . . . . . . . . 296
Encoder Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Drive Reference and Feedback Scaling Examples . . . . . . . . . . . . 297

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Valid Speed Feedback Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

Droop Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Field-weakening Mode Configuration (v1.006) . . . . . . . . . . . . . . . . . 302
Using a DC Contactor Only (Firmware v1.006 Only) . . . . . . . 303
Using a DC Contactor and a Dynamic Brake
(Firmware v1.006 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Using an Inverting Fault Device Only (Firmware
v1.006 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Using a DC Contactor and an Inverting Fault Device
(Firmware v1.006 Only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Using a DC Contactor, a Dynamic Brake and an
Inverting Fault Device (Firmware v1.006 Only) . . . . . . . . . . . . . 305
Lifting/Torque Proving. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Tuning The Motor For Torque Prove Applications . . . . . . . . . 308
Crane Setup with Encoder/Resolver Feedback . . . . . . . . . . . . . . 308
Crane Setup - Encoderless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Manually Tuning the Speed Regulator for Firmware Revision
6.001 and Later . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
Multiple Motor Applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Considerations for Multiple Motors Connected in Parallel. . . 319
Considerations for Multiple Motors Connected in Series . . . . 319
Parameter 21 [Min Firing Angle] Configuration . . . . . . . . . . . . . . . . 320
PID Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Configure a Line Speed Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Configure the Feedback Signal in the Follower
Drive/Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Configure the Tension Set Point Signal in the
Follower Drive/Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Reference Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
“Auto” Speed Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
“Manual” Speed Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
Speed Source Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Torque Reference Source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Auto/Manual Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Resolver Cable Balance Tuning Test . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Performing the Cable Balance Tuning Test . . . . . . . . . . . . . . . . . 328
Resolver Type Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Scale Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
Link Parameters Via the Scale Block Parameters. . . . . . . . . . . . . 331
SCR Diagnostic Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
Open SCR Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332
Shorted SCR Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
S-curve Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
S-curve Acceleration Ramp Example:. . . . . . . . . . . . . . . . . . . . . . . 335
Speed Regulation Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Adaptive Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Speed Up Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 7

Table of Contents

Speed Threshold Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

Speed Zero Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Speed Draw Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Speed / Torque Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Zero Torque Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Speed Regulation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Torque Regulation Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Speed Limited Adjustable Torque (SLAT) Min Mode
and SLAT Max Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Sum Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
Start At Powerup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Fine-Tuning the Regulators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Manually Adjusting the Current Regulator Tune Settings. . . . 350
Fine-Tuning the Field Current Regulator. . . . . . . . . . . . . . . . . . . 352
Fine-Tuning the Speed Regulator . . . . . . . . . . . . . . . . . . . . . . . . . . 354
Fine-Tuning the Voltage Regulator in the Field Converter . . . 356
Tuning the Field Current Curve . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

Appendix D
Control Block Diagrams Diagram Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

Appendix E
Installing a Communication Communication Adapter Kits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Adapter What The Communication Adapter Kit Includes. . . . . . . . . . . . . . . 385
Tools That You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
Installing the Communication Adapter Module in the Drive. . . . . 386
Frame A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
Frames B and C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Frame D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

Appendix F
Optional Analog and Digital I/O What This Option Board Provides . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Expansion Circuit Board I/O Expansion Board Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

Appendix G
Optional 115V AC to 24V DC I/O What This Option Board Provides . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Converter Circuit Board I/O Converter Board Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

Appendix H
PowerFlex DC Standalone Installation and Wiring Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
Regulator Installation
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

8 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Preface

Topic Page
Summary of Changes 10
Conventions 11
Drive Storage Conditions 11
Drive Nameplate Data 12
Drive Specifications 12
Additional Resources 15
Standard Drive Catalog Number Explanation 13
Standalone-Alone Regulator Catalog Numbers 14
Additional Resources 15

The purpose of this manual is to provide you with the basic information
required to install, start-up, and troubleshoot the PowerFlex® DC drive. This
manual is intended for qualified personnel. You must be able to program and
operate DC drives. In addition, you must have an understanding of the
parameter settings and functions that are detailed in this manual.

For PowerFlex DC Stand-Alone Regulator (SAR) installations, see

Appendix H beginning on page 397 for important installation and
configuration information.

This contents of this manual pertain to PowerFlex DC drive and PowerFlex

Standalone Regulator firmware revisions 1.006…7.001.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 9

Preface

Summary of Changes This manual contains new and updated information.

Topic Page
Moved the product firmware revision information from the front cover to the Preface. 9
Moved the General Precautions section to Chapter 1 - Installation and Wiring. 18
Removed the Technical Support information from the Preface. See the back cover of –
this manual for Rockwell Automation support information.
Updated the guidance on multiple motor applications. 17
Updated the weights for frame A drives. 20
Updated the Field Current Configuration section with information on configuring the 61
field current for an external, three-phase field and permanent magnet motor.
Updated the DIP switch S14 settings description in the Control Circuit Board Jumper 78
and DIP Switch Settings table.
Updated the Drive Start Up procedures to include configuration of the field current for 93
an external, three-phase field and permanent magnet motor use.
Add the new parameters to the Advanced Parameter View table. 121
Added the following new parameters to Chapter 3 - Programming and Parameters: –

Parameter Page
165 [Firing Angle] 129
21 [Min Firing Angle] 131
410 [Ext FC Curr Hyst] 133
411 [FC Lim Ramp] 137
412 [FC Lim Ramp Time] 137
409 [SSC Threshold] 186

Updated the description for Par 500 [Flux Ref Pct]. 129
Updated the description for Par 280 [Nom Mtr Fld Amps] to include details for 132
PowerFlex DC Field Controller applications.
Changed the maximum value for parameter 374 [Drv Fld Brdg Cur] from 80.00 to 132
570.00 Amps.
Added options 4…7 to parameter 469 [Field Mode Sel] for PowerFlex DC Field 134
Controller operating mode selections.
Changed the maximum value for parameter 1381 [Testpoint Sel] from 574 to 585. 183
Added option 26 “FC Fdbk” to the [Anlg Inx Sel] parameters (70, 75, and 80). 195
Changed option 24 “Field Ref” to “Flux Ref Pct” for the [Anlg Outx Sel] parameters 198
(66…69).
Added option 36 “Fld Cur Ref” to the [Anlg Outx Sel] parameters (66…69). 198
Added options 73 “Wired FC En”, 74 “Wired FC inv”, and 75 “Wired FC Act” to the 199
digital input parameters 133…144 [Digital Inx Sel].
Corrected the number for the Open SCR fault to 89. 223
Corrected the number for the Shorted SCR fault to 90. 224
Added the new SSC Error (20) fault. 225
Added the Open SCR alarm. 229
Added new codes 582…585 to the Testpoint Codes and Functions table. 233
Added the Multiple Motor Applications topic to Appendix C. 319
Added the Parameter 21 [Min Firing Angle] Configuration topic to Appendix C. 320
Removed Appendix I - History of Changes (obsoleted). –

10 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Preface

Conventions • To help differentiate parameter names and LCD display text from other
text, the following conventions are used:

– Parameter names appear in [brackets].

For example: [Armature Voltage].
– Display text appears in “quotes.” For example: “Enabled.”

Drive Storage Conditions If it is necessary to store the drive for any length of time before installation,
follow these storage guidelines to provide satisfactory start-up operation and
retain warranty coverage:

• After receipt and inspection, repack the drive in its original shipping
container and store in a clean, dry place.

• Place where the ambient temperatures do not exceed -25°C (-13°F) or

55°C (131°F)

• Place where the range of relative air humidity does not exceed 5…95%.

• At an altitude of less than 3,000 meters (10,000 ft.) above sea level.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 11

Preface

Drive Nameplate Data The PowerFlex DC drive contains a data nameplate label on the side of each
drive. This nameplate identifies the specific model number, applicable AC
input power, and DC output power data. Include this information when
communicating with Rockwell Automation personnel about this product.

Cat No. 20P41AD4P1RA0NNN

UL Type OPEN/IP20
Series: A Drive series letter
I/O: 24VDC (Standard)
Input: 460VAC 50/60 Hz 3.3A 3 Phase Original Firmware V. 1.001 Firmware revision

Y
Certification Marks

NL
Output: 500VDC 4.1A REGEN 2.0HP N223
C US
Location.
R

1 Min Overload Amps 6.2 Listed

Ind. Cont.

EO
3 Sec Overload Amps 8.2 Eq. 31KF

DC Field: See the data

Input: 460VAC 50/60 Hz 10A max. 1 Phase nameplate label on

PL
Output: 360VDC 10A max. your drive for actual

AM
agency certifications.
Regulator Power: 115/230VAC 50/60 Hz 1.0/0.5A 1 Phase

EX
MFD. in 2XXX on MMM DD Frame: A Drive frame size
Serial Number: A23E0042 Drive serial number
Made in Italy

Drive Series Letter

Series B drives are identified as such on the data nameplate label. The drive
series letter is on the top, right side of the label.

Drive Frame Sizes

Similar PowerFlex DC drive ratings are grouped into frame sizes to make
ordering spare parts and drive dimensions simpler. The drive frame size is listed
just above the serial number on the data nameplate label. See the Standard
Drive Catalog Number Explanation on page 13 for a list of drive catalog
numbers and their respective frame sizes.

Drive Firmware Revision

The original firmware revision of the drive as shipped from the factory appears
on the data nameplate label just above the certifications. If the firmware
revision has been upgraded since the drive was shipped, you can view the
current revision on the HIM (if installed). See Diagnostics Menu on page 284
for details.

Drive Specifications For drive specification information, see the PowerFlex Digital DC Drive,
Technical Data, 20P-TD001.

12 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Preface

Standard Drive Catalog

Number Explanation
Position
1-3 4 5 6 7 8-10 11 12 13 14 15 16

20P 4 1 A D 4P1 R A 0 N N N
a b c d e f g h i j k l

a f1 f3
Drive 230V, 60 Hz Input 575V, 60 Hz Input
Code Type Armature Field Armature Field
Code Hp kW Frame Code Hp kW Frame
Amps Amps Amps Amps
20P PowerFlex DC
7P0 1.5 1.2 7 A 10 067 50 37 67.5 B 20
9P0 2 1.5 9 A 10 101 75 56 101.3 B 20
b 012 3 2.2 12 A 10 135 100 75 135 B 20
Motor Operation 020 5 3.7 20 A 10 270 200 149 270 B 20
Code Type 029 7.5 5.5 29 A 10 405 300 224 405 B 20
2 Two Quadrant Operation 038 10 7.5 38 A 10 540 400 298 540 C 20
4 Four Quadrant Operation 055 15 11 55 A 10 675 500 373 675 C 20
Not available for 230V AC input drives. 073 20 15 73 A 14 810 600 447 810 D 40
093 25 18.5 93 A 14 1K0 800 597 1080 D 40
110 30 22 110 A 14 1K2 900 671 1215 D 40
c 146 40 30 146 B 20 1K3 1000 746 1350 D 40
Input Type 180 50 37 180 B 20 1K6 1250 932 1668 D 40
Code Type 218 60 45 218 B 20
1 6 Pulse 265 75 56 265 B 20 f4
360 100 75 360 B 20 690V, 60 Hz Input
434 125 93 434 B 20 Armature Field
Code Hp kW Frame
d Amps Amps
521 150 112 521 C 20
Enclosure 700 200 149 700 C 20 452 400 298 452 C 20
Conform. 875 250 186 875 D 40 565 500 373 565 C 20
Code Enclosure Rating
Coat 1K0 300 224 1050 D 40 678 600 447 678 D 40
A IP20, NEMA/UL Type Open Yes 791 700 552 791 D 40
f2 904 800 597 904 D 40
460V, 60 Hz Input 1K0 900 671 1017 D 40
e Armature Field 1K1 1000 746 1130 D 70
Code Hp kW Frame
Input Voltage Amps Amps
1K2 1100 820 1243 D 70
Code Voltage 4P1 2 1.5 4.1 A 10 1K4 1250 932 1413 D 70
B 230V AC 6P0 3 2.2 6 A 10 1K5 1400 1044 1582 D 70
D 460V AC 010 5 3.7 10 A 10
E 600V AC 014 7.5 5.5 14 A 10
F 690V AC 019 10 7.5 19 A 10
Use this code for 400V AC input applications. 027 15 11 27 A 10
035 20 15 35 A 10
045 25 18.5 45 A 10
052 30 22 52 A 10
073 40 30 73 A 14
086 50 37 86 A 14
100 60 45 100 A 14
129 75 56 129 A 14
167 100 75 167 B 20
207 125 93 207 B 20
250 150 112 250 B 20
330 200 149 330 B 20
412 250 187 412 B 20
495 300 224 495 C 20
667 400 298 667 C 20
830 500 373 830 D 40
996 600 447 996 D 40
1K1 700 552 1162 D 70
1K3 800 597 1238 D 70
1K4 900 671 1494 D 70

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 13

Preface

Standard Drive Catalog

Number Explanation, Cont.
Position
1-3 4 5 6 7 8-10 11 12 13 14 15 16

20P 4 1 A D 4P1 R A 0 N N N
a b c d e f g h i j k l

g i k
Field Supply HIM Communication Options
Code Type Code Operator Interface Code Description
R Single-Phase Regulated 0 Blank Cover N None
Standard - for user installed options, see Standard - for user installed options, see
Human Interface and Wireless Interface Communication Option Kits on page 10.
Modules on page 9.
h
Packaging/Documentation
Code Shipping Carton User Manual
j l
A Yes Yes Cabinet Options
I/O Options
Code Type
Code Control
N None
None (8 - 24V DC Digital Inputs,
N 4 Digital Outputs, 3 Analog Inputs,
and 2 Analog Outputs are Standard)
All I/O Options are purchased separately and
are user installed. See I/O Options on page 9.

Standalone-Alone Regulator Conformally coated circuit boards are provided with the following catalog
numbers.
Catalog Numbers
230V / 460V AC Input Regulators 575V / 690V AC Input Regulators Field Amps
Cat. No. Cat. No.
23PMD4 23PMF4 40
23PMD7 23PMF7 70
23PAMP (1) 23PAMP (1) (1)
(1) Gate Amplifier - used with all voltage classes of the Stand-Alone Regulator. The Stand-Alone Regulator and Gate Amplifier are
currently sold through Rockwell Automation Drive Systems only. Consult the factory for availability.

14 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Preface

Additional Resources These documents contain additional information concerning related products
from Rockwell Automation.
Resource Description
PowerFlex Digital DC Drive and PowerFlex DC Field Provides detailed information on drive, field controller
Controller Technical Data, publication 20P-TD001 and option specifications.
Preventive Maintenance of Industrial Control and Drive Provides a checklist for performing preventive
System Equipment, publication DRIVES-TD001 maintenance.
PowerFlex Digital DC Drive - Frame A Hardware Service Provides hardware test procedures and spare parts
Manual, publication 20P-TG001 replacement instructions for Frame A PowerFlex DC
drives and field controllers.
PowerFlex Digital DC Drive - Frame B Hardware Service Provides hardware test procedures and spare parts
Manual, publication 20P-TG002 replacement instructions for Frame B PowerFlex DC
drives and field controllers.
PowerFlex Digital DC Drive - Frame C Hardware Service Provides hardware test procedures and spare parts
Manual, publication 20P-TG003 replacement instructions for Frame C PowerFlex DC
drives and field controllers.
PowerFlex Digital DC Drive - Frame D Hardware Service Provides hardware test procedures and spare parts
Manual, publication 20P-TG004 replacement instructions for Frame D PowerFlex DC
drives and field controllers.
Safety Guidelines for the Application, Installation, and Provides general guidelines for the application,
Maintenance of Solid-State Control, publication SGI-1.1 installation, and maintenance of solid-state control in
the form of individual devices or packaged assemblies
that incorporate solid-state components.
Industrial Automation Wiring and Grounding Guidelines, Provides general guidelines for installing a Rockwell
publication 1770-4.1 Automation industrial system.
Product Certifications website, http:// Provides declarations of conformity, certificates, and
www.rockwellautomation.com/global/certification/ other certification details.
overview.page

You can view or download publications at

http://www.rockwellautomation.com/global/literature-library/overview.page.
To order paper copies of technical documentation, contact your local
Allen-Bradley distributor or Rockwell Automation sales representative.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 15

Preface

Notes:

16 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Chapter 1

Installation and Wiring

Topic Page Topic Page

Product Advisories 18 CE Conformity 40
Mount the Drive 19 Power Circuit Protection 43
Approximate Drive Dimensions and 20 Control Power Circuit Protection 43
Weights
Lifting PowerFlex DC Drives 26 Cable and Wiring Recommendations 44
Remove the Drive Covers 28 Power Wiring 45
Isolation Transformers / Line Reactors 30 DIP Switch and Jumper Settings 77
Contactors 31 I/O Wiring 82
General Grounding Requirements 33

This chapter provides information on how to install the PowerFlex® DC drive.

Most start-up difficulties are the result of incorrect wire connections. Take all
precautions to assure that wire connections are done as instructed. All items
must be read and understood before the actual installation begins.

For PowerFlex DC Stand-Alone Regulator (SAR) installations, see

Appendix H beginning on page 397 for important installation and
configuration information. A 23PMDx catalog number on the data nameplate
on the drive identifies a SAR. (see Drive Nameplate Data on page 12 for
location).

The PowerFlex DC drive can be used in multiple motor applications. The

motors can be configured for parallel or series connections. See Multiple
Motor Applications on page 319 for installation and configuration guidance.

IMPORTANT The PowerFlex DC drive is not designed for use with resistive or magnetic
loads.

IMPORTANT The recommended drive to motor horsepower ratio is 2:1.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 17

Chapter 1 Installation and Wiring

ATTENTION: The following information is merely a guide for proper

installation. Rockwell Automation 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. If codes are
ignored during installation, a hazard of personal injury and equipment
damage exists.

Product Advisories
ATTENTION: This drive contains ESD (Electrostatic Discharge) sensitive parts
and assemblies. Static control precautions are required when you install, test,
service, or repair this assembly. If ESD control procedures are not followed,
component damage can result. If you are not familiar with static control
procedures, see publication 8000-4.5.2, “Guarding Against Electrostatic
Damage” or any other applicable ESD protection handbook.
ATTENTION: An incorrectly applied or installed drive can result in component
damage or a reduction in product life. Installation or application errors, such
as, an undersized motor, incorrect or inadequate AC supply, or excessive air
temperatures around the drive can result in malfunction of the system.
ATTENTION: Allow only qualified personnel, familiar with DC drives and
associated machinery, to plan or implement the installation, start-up and
subsequent maintenance of the system. Failure to comply can result in
personal injury and equipment damage.
ATTENTION: An incorrectly applied or installed bypass system can result in
component damage or reduction in product life. The most common causes are:
• An AC line connection to the drive output or control terminals.
• Improper bypass or output circuits that are not Allen-Bradley approved.
• Output circuits that do not connect directly to the motor.
Contact Allen-Bradley for assistance with your application or installation.

18 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Mount the Drive Operating Conditions and Temperatures

PowerFlex DC drives are designed to operate at 0…50 °C (32…122 °F)

surrounding air temperature without derating. The drive must be mounted in a
clean, dry location. Contaminants such as oils, corrosive vapors, and abrasive
debris must be kept out of the enclosure. NEMA / UL Type Open, IP20
enclosures are intended for indoor use primarily to provide a degree of
protection against contact with enclosed equipment. These enclosures offer no
protection against airborne contaminants.

Minimum Mounting Clearances

Minimum clearance requirements are intended to be from drive to drive.
Other objects can occupy this space; however, reduced airflow can cause
protection circuits to fault the drive. The drive must be mounted in a vertical
orientation as shown in Figure 1 and must not be mounted at an angle greater
than 30° from vertical. Intake air temperature must not exceed the product
specification.

Figure 1 - Drive Enclosure Minimum Mounting Clearances

150 mm (6.0 in.)

150 mm (6.0 in.)

PORT

MOD

NET A

NET B

PORT

MOD

NET A STS
NET B

STS

10 mm 10 mm 10 mm 50 mm
(0.4 in.) (0.4 in.) 150 mm (6.0 in.) (0.4 in.) (2.0 in.)
Airflow through the drive
must not be impeded.

Maximum Surrounding Air Temperature Specifications

• 0…50 °C (32…122 °F), typical
• De-rate 1.25% for every 1 °C (°F) over 50 °C (122 °F), to 55 °C (131 °F)
• Additional air cooling is required for temperatures above 55 °C (131 °F)

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 19

Chapter 1 Installation and Wiring

Approximate Drive The PowerFlex DC drive is available in a NEMA / UL Type Open, IP20
enclosure only. Follow all mounting clearances to provide proper drive
Dimensions and Weights operation.
ATTENTION: Remove all loose packing materials, including the containers of
desiccants (if any), from the drive enclosure before you mount and energize
the drive.

Figure 2 - Frame A Drive Dimensions

A B C A1 A2 B1
mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
267 (10.5) 359 (14.0) 287 (11.3) 7 (0.3) 250 (9.8) 275 (10.8)

A C
A1

PORT

MOD

NET A

NET B

STS

B B1

A2

Table 1 - Frame A Weights

Drive Current Rating Code Drive Weight Drive and Packaging Weight
230V 460V kg (lb) kg (lb)
7P0 4P1 11.0 (24.25) 13.0 (28.7)
9P0 6P0
012 010
020 014
– 019
029 027
038 035 11.5 (25.4) 13.5 (29.8)
055 045
– 052
073 073 12.0 (26.5) 14.0 (30.9)
093 086
110 100
– 129

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 Installation and Wiring Chapter 1

Figure 3 - Frame B Drive Dimensions

A A1 A2 A3 B B1 C1 C2(1)
mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
311 (12.2) 275 (10.8) 16.5 (0.65) 7 (0.3) 388 (15.3) 375 (14.8) 350 (13.8) 380 (15.0)
(1) Only frame B drive catalog numbers 20P21AD330, 20P21AD412, 20P21AE405, 20P41AB360, 20P41AB434, 20P41AD330,
20P41AD412, 20P41AE405.

A C1
A1 C2

PORT

MOD

NET A

NET B

STS

B1 B

A3
A2
Terminal Details - Dimensions in mm (in.)

45.2 (1.8) 53.1 (2.1)

98.5 (3.9) 48.5 (1.9)
147.0 (5.8) 53.1 (2.1)
200.1 (7.9) 48.5 (1.9)
248.6 (9.8)

Table 2 - Frame B Weights

Drive w/ND Rating Code Drive Weight Drive and Packaging Weight
230V 460V 575V kg (lb) kg (lb)
146 167 067 25.5 (56.2) 27.5 (60.6)
180 207 101
218 – 135
265 250 270 29.5 (65.0) 31.5 (69.5)
360 330 405 32 (70.5) 34 (75)
434 412 –

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Chapter 1 Installation and Wiring

Figure 4 - Frame C Drive Dimensions

A A1 B B1 B2 B3 B4 B5 C
mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.) mm (in.)
521 499 511 400 200 (7.9) 55 (2.2) 56 (2.2) 10.5 (0.4) 416
(20.5) (19.7) (20.1) (15.7) (16.4)

A1 C

B4

PORT

MOD

NET A

NET B

B1 STS

B2 B5

B3

Terminal Details - Dimensions in mm (in.)

28.0 28.0 28.0

35.5 (1.4) (1.1) (1.1) (1.1)
113.0
(4.5)
155.0 (6.1)

310.0 (12.2)

Table 3 - Frame C Weights

Drive w/ND Rating Code Weight - Regenerative Drives Weight - Non-regenerative Drives
Drive Drive and Packaging Drive Drive and Packaging
230V 460V 575V 690V kg (lb) kg (lb) kg (lb) kg (lb)
– 495 – 61 (134.5) 83 (183.0) 57 (125.7) 79 (174.2)
521 667 – 65 (143.3) 87 (191.8) 62 (136.7) 84 (185.2)
700 – –
– – 540 452 72 (158.7) 94 (207.2) 68 (150.0) 90 (198.4)
– – 675 565

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 Installation and Wiring Chapter 1

Figure 5 - Frame D Dimensions - Right Side and Front Views

Dimensions are shown in mm and (in.) 704
(27.7)
Dimensions of terminals U, V, and W are the same. 544 60
(21.4) (2.4)
359
Lifting flange 174 (14.1) 30
15 (1.2)
80.5 436.5 (6.9)
(0.6)
(3.2) (17.2) 25
(1.0)
44.5 42
(1.8) (1.7)

792 1250
(31.2) (49.2)

208
(8.2)

144
(5.7)

157.5
(6.2)

32
44.5 25 (1.3)
(1.8) (1.0) 15
(0.6) 30
146 60 (1.2)
PE C D (5.7) (2.4) PE C D

10
(0.4)
10.5
(0.4)
44.5 44.5
252.5 134 (1.8) (1.8)
(10.0) (5.3) 269.5 100
44.5 (10.6) (4.0) 27.8
(1.8) (1.1)
22.6 454.5 100
(0.9) (18.0) (4.0)
437.5 134
(17.2) (5.3)

Terminals C and D are 134 mm (5.3 in.) on drives with these ratings only:
• 460V AC input: 800 Hp and 900 Hp
• 575V AC input: 1000 Hp
• 690V AC input: 1100 Hp, 1200 Hp, 1250 Hp, and 1400 Hp
All other frame D drive ratings have 100 mm (4.0 in.) C and D terminals.

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Chapter 1 Installation and Wiring

Figure 6 - Frame D Dimensions - Left Side and Back Views

Dimensions are shown in mm and (in.)
94 127 127 127 127 94
103.25 (3.7) (5.0) (5.0) (5.0) (5.0) (3.7)
(4.1)
10.5
Lifting Flange Ø 23 (0.4)
129 (0.9)
(5.1)

16
(0.6)

227.5
(9.0)
Mounting Holes

1435 MAX 1230

(56.5) (48.4)

Mounting Holes
157.5
(6.2)

129 10
(5.1) (0.4) 10.5
(0.4)

215.225
(8.5) 94 127 127 127 127 94
531 (3.7) (5.0) (5.0) (5.0) (5.0) (3.7)
(21.0)
541
(21.3)

24 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Table 4 - Frame D - 230V AC Input Drive Weights

Drive w/ND Weight - Regenerative Drives Weight - Non-regenerative Drives
Rating Code
Drive Drive and Packaging Drive Drive and Packaging
kg (lb) kg (lb) kg (lb) kg (lb)
875 203 (447.5) 281 (619.5) 152 (335.1) 230 (507.1)
1K0

Table 5 - Frame D - 460V AC Input Drive Weights

Drive w/ND Weight - Regenerative Drives Weight - Non-regenerative Drives
Rating Code
Drive Drive and Packaging Drive Drive and Packaging
kg (lb) kg (lb) kg (lb) kg (lb)
830 202 (445.3) 280 (617.3) 152 (335.1) 230 (507.1)
996
1K1 215 (474.0) 293 (646.0) 165 (363.8) 243 (535.7)
1K3
1K4

Table 6 - Frame D - 575V AC Input Drive Weights

Drive w/ND Weight - Regenerative Drives Weight - Non-regenerative Drives
Rating Code
Drive Drive and Packaging Drive Drive and Packaging
kg (lb) kg (lb) kg (lb) kg (lb)
810 198 (436.5) 276 (608.5) 148 (326.3) 226 (498.2)
1K0
1K2 215 (474.0) 293 (646.0) 165 (363.8) 243 (535.7)
1K3 222 (489.4) 300 (661.4) 172 (379.2) 250 (551.2)
1K6 241 (531.3) 319 (703.3) 191 (421.1) 269 (593.0)

Table 7 - Frame D - 690V AC Input Drive Weights

Drive w/ND Weight - Regenerative Drives Weight - Non-regenerative Drives
Rating Code
Drive Drive and Packaging Drive Drive and Packaging
kg (lb) kg (lb) kg (lb) kg (lb)
678 198 (436.5) 276 (608.5) 148 (326.3) 226 (498.2)
791
904 200 (440.9) 278 (612.9) 150 (330.7) 228 (502.7)
1K0 202 (445.3) 280 (617.3) 152 (335.1) 230 (507.1)
1K1 215 (474.0) 293 (646.0)
1K2 165 (363.8) 243 (535.7)
1K4 241 (531.3) 319 (703.3) 172 (379.2) 250 (551.2)
1K5 191 (421.1) 269 (593.0)

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 25

Chapter 1 Installation and Wiring

Lifting PowerFlex DC Drives The dimensions and weights that are specified in Table 3 on page 22 and
Table 4…Table 7 on page 25 must be considered when the device is lifted and
mounted. Use the proper equipment to lift and hold the weight of the drive
while it is mounted

ATTENTION: Follow this guidance to guard against possible personal injury or

equipment damage:
• Inspect all lifting hardware for proper attachment before the drive is lifted.
• Do not let any part of the drive or lift mechanism to contact electrically
charged conductors or components.
• Do not subject the drive to high rates of acceleration or deceleration while the
drive is transported to the installation location or is lifted.
• Do not let personnel or their limbs be directly underneath the drive when it is
lifted and mounted.

Mount Frame C and D Drives

All lifting equipment and components (hooks, bolts, lifts, slings, and chains)
must have a minimum lifting capacity of 453.6 kg (1,000 lb).

IMPORTANT Verify that all mounting screws are properly tightened before and after drive
operation.

1. Verify the hole pattern on the panel on which you intend to mount the
drive. See Figure 4 on page 22 or Figure 5 on page 23.
2. Install the mounting hardware:
• For frame C drives, insert, but do not tighten, a bolt in one of the top
holes in the panel. The bolt must be fully threaded into the panel
before hanging the drive.
• For Frame D drives, insert, but do not tighten, the six bolts for the
top mounting flange on the drive into the panel. The bolts must be
fully threaded into the panel before hanging the drive.
3. To limit the pull in forces on the drive, the lifting devices that are
connected to the hooks must be long enough to make the angle between
the chain or cable and a vertical line that extends up from the flange
center less than 45° angle as illustrated in Figure 7 or Figure 8 on page
27.
• For frame C drives, insert the properly sized and rated lifting hooks
into the holes on the lifting flanges at the top of the drive. See
Figure 7 on page 27.
• For frame D drives, insert the properly sized lifting rod into the holes
on the lifting flanges at the top of the drive. See Figure 8 on page 27.

26 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Figure 7 - Lift Frame C Drives

Must be less
than 45° angle

Lifting Flanges

Figure 8 - Lift Frame D Drives

Must be less
than 45° angle

4. Lift the drive into place onto the bolts that are installed in the panel.
5. Install the remaining bolts into the panel. Tighten M8 bolts to a
minimum torque of 15 N•m (132.7 lb•in) and M10 bolts to a minimum
torque of 25 N•m (221.2 lb•in).

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Chapter 1 Installation and Wiring

Remove the Drive Covers Some protective covers must be removed to provide access to the power and
I/O terminals on the drive. Remove the upper cover only to install an optional
communication adapter or service the drive. See Installing a Communication
Adapter on page 385 for information.

Frame A Drives
You must remove both the lower protective cover and the power terminal cover
on frame A drives to access the power terminals.

Remove the Power Terminal Cover

Remove the two screws as shown here and slide the cover down and off the
chassis.
Tightening torque:
1.0 N•m (8.9 lb•in)

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 Installation and Wiring Chapter 1

Remove the Lower Protective Cover

Remove the two screws as shown here and, while gently lifting along the top
edge, slide the cover down and off the chassis.
Tightening torque:
1.5 N•m (13 lb•in)
PORT

MOD

NET A

NET B

STS

Frame B and C Drives

1. Loosen, but do not remove, the two screws that secure the bottom cover.
2. Slide the cover down until the screw heads align with the key holes and
lift the cover off the chassis.
Frame B Shown
Tightening torque:
1.5 N•m (13 lb•in)

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Chapter 1 Installation and Wiring

Frame D

1. For any protective cover, loosen, but do not remove, the hexalobular
head screws that secure the cover to the drive frame.
2. Slide the cover up until the screw heads align with the key holes and lift
the cover off the chassis. The top and bottom most covers are also
secured with screws at the top and bottom of the drive, respectively.

Tightening torque:
1.5 N•m (13 lb•in)

Isolation Transformers / Line When connecting the drive directly to the main distribution system, an
isolation transformer or 3…5% impedance AC line reactor must be used to
Reactors guard against system disturbance. If the isolation transformer provides the
required 3…5% impedance, a line reactor is not required.

See Isolation Transformers on page 267 for a list of recommended isolation

transformers.

See AC Input Line Reactors and AC Input Contactors on page 264 for a list of
recommended AC line reactors. The type of line reactor that is used depends
upon the following:
• Current absorbed by the AC input
• AC input voltage
• Relative short-circuit voltage
• AC input frequency

30 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Contactors When an AC input contactor is used, the IEC AC1 rating of the contactor
must be equal to the rated thermal (RMS) current value at the main input of
the drive.

Drive configurations for AC or DC contactors, with or without a dynamic

brake (DB), are as follows (see Typical Power Wiring Diagrams on page 46 for
examples):

• When only an AC contactor is used:

o Set parameter 1391 [ContactorControl] to 1 “AC Cntcr” (default

value) (1)

o Set one [Relay Out x Sel] parameter and one [Digital Inx Sel]
parameter to “Contactor” (default value for parameters 1392
[Relay Out 1 Sel] and 140 [Digital In8 Sel])

• When only a DC contactor is used:

o Set parameter 1391 [ContactorControl] to 3 “DC Cntcr” (1)

o Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] to
“Contactor” (default value for parameters 1392 [Relay Out 1 Sel]
and 140 [Digital In8 Sel])

• When an AC contactor and dynamic brake contactor are used:

o Set parameter 1391 [ContactorControl] to “AC Cntcr+DB” (1)

o Set one [Relay Out x Sel] parameter (1392 [Relay Out 1 Sel] or
629 [Relay Out 2 Sel]) to “Contactor” and the other relay output
to “ContactorDB”

o Set one [Digital Inx Sel] parameter to “Contactor” (default value

for parameter 140 [Digital In8 Sel])

• When a DC contactor and dynamic brake contactor are used:

o Set parameter 1391 [ContactorControl] to “DC Cntcr+DB” (1)

o Set one [Relay Out x Sel] parameter (1392 [Relay Out 1 Sel] or
629 [Relay Out 2 Sel]) to “Contactor” and the other relay output
to “ContactorDB”

o Set one [Digital Inx Sel] parameter to “Contactor” (default value

for parameter 140 [Digital In8 Sel])

(1) Par 1391 [ContactorControl] is contained in the “Advanced” parameter configuration group. See How Parameters are Organized
on page 118 for more information.

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Chapter 1 Installation and Wiring

• When a contactor is NOT used:

o Set parameter 1391 [ContactorControl] to “None” (1)

o Do NOT set either [Relay Out x Sel] parameter to “Contactor” or

“ContactorDB”
o Do NOT set any [Digital Inx Sel] parameter to “Contactor”

When operating a drive with firmware revision 1.006 in field weakening mode
with a DC contactor or inverting fault device that is installed in the armature
circuit, see Field-weakening Mode Configuration (v1.006) on page 302.

AC Input Contactors
See AC Input Line Reactors and AC Input Contactors on page 264 for a list of
recommended AC input contactors.

DC Output Contactors

A DC output contactor can be used to connect the output of the armature

circuit to the DC motor. If a DC output contactor is used, an AC input
contactor is not needed.

See Dynamic Brake Resistor Kits and DC Output Contactors on page 269 for
a list of recommended DC output contactors.

Dynamic Brake Resistors

See Dynamic Brake Resistor Kits and DC Output Contactors on page 269 for
a list of recommended dynamic brake resistor kits.

32 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

General Grounding The drive Safety Ground (PE) must be connected to system ground.
Ground impedance must conform to the requirements of national and local
Requirements industrial safety regulations and electrical codes. Periodically check the
integrity of all ground connections.

For installations within a cabinet, use a safety ground point or ground bus bar
connected directly to building steel. Ground all circuits, including the AC
input ground conductor, independently and directly to this point/bar.

For installations in distribution systems that have ungrounded or high

impedance, neutral connections or systems, see Grounding for Installations in
an Ungrounded or High-Impedance, Neutral Ground, or System on page 35.

ATTENTION: To comply with the essential requirements of the CE Low

Voltage Directive 2006/95/EC, PowerFlex DC drives cannot be powered from a
corner-earthed (TN with one phase earthed) supply system. When operating
PowerFlex DC drives from an IT or impedance-earthed supply system, only
temporary operation is permitted after an earth fault is detected in the power
system.

Figure 9 - Typical Grounding

PORT

MOD

NET A

NET B

STS

All wires (including motor

W
PE1/

ground) must be connected

U
C
V

inside the motor terminal box.

Earth

L1
AC Mains Supply

L2

L3

AC Line Reactor
Transformer
Safety
Ground

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Chapter 1 Installation and Wiring

Safety Ground (PE)

The drive Safety Ground-PE must be connected to adjacent building steel

(girder, joist), a floor ground rod, or bus bar (see Figure 9 on page 33). Ground
points must comply with national and local industrial safety regulations and
electrical codes.

Power Feeder
Each power feeder from the substation transformer to the drive must be
provided with properly sized ground cables. Bond the conduit or cable armor
to the substation ground at both ends. Each transformer enclosure or frame
must be bonded to ground at a minimum of two locations.

Encoder/Resolver Ground Connections

If used, the encoder or resolver ground connections must be routed in

grounded steel conduit. The conduit must be grounded at both ends. The
encoder/resolver cable shield must be connected to the shield ground on the
drive side. Do not connect the encoder/resolver cable shield to ground on the
motor side.

Tachometer Ground Connections

If used, ground connections must be routed in grounded steel conduit. The

conduit must be grounded at both ends. Ground the cable shield at the drive
end by using only the shield clamps on the grounded metal plate that supports
the control board. See Figure 58 on page 83 for shield clamp location.

34 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Grounding for Installations The PowerFlex DC drive was designed to work in distribution systems where
the isolation transformer Wye neutral is connected to earth ground. PowerFlex
in an Ungrounded or High- DC drives are not designed to work in distribution systems that have
Impedance, Neutral Ground, ungrounded or high-impedance, neutral connections, or systems that have a
or System phase that is referenced to earth. Symmetrical incoming power is required for
correct drive operation.

The use of a grounded Wye neutral is highly recommended to prevent

common-mode rejection problems with the feedback measurement circuits in
the drive. Possible drive damage can occur because of inaccurate feedback
measurements of the incoming AC voltage, armature voltage, or field current.

If the PowerFlex DC drive is installed in a system with an ungrounded Wye

neutral or with an impedance ground connection, see Table 8 on page 36.
Table 8 contains the drive modifications that are required for proper
installation.

Power Distribution
Figure 10 - Delta/Wye with Grounded Wye Neutral

Rockwell Automation strongly recommends the use of grounded neutral

systems for the following reasons:
• Controlled path for common mode noise current
• Consistent line to ground voltage reference, which minimizes insulation
stress
• Accommodation for system-surge protection schemes

Figure 11 - Ungrounded Secondary

Grounding the transformer secondary is essential to the safety of personnel and

safe operation of the drive. A floating secondary can allow dangerously high
voltages occur between the chassis of the drive and the internal power-structure
components.

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Chapter 1 Installation and Wiring

Figure 12 - High-impedance Ground

Grounding the Wye secondary neutral through a resistor is an acceptable

method of grounding. In this case, in a short-circuited secondary condition,
none of the output phases to ground will exceed the normal line to line voltage.
The resistor is often used to detect ground current by monitoring the
associated voltage drop.

Table 8 - Drive Modifications to Support Ungrounded Wye Neutral or Impedance Grounded

Connections
Frame Circuit Board Jumper/Connection Figure to see for Details
A Pulse transformer (FIR1-xx-xx) Remove jumper S9 Figure 13 on page 36
B Pulse transformer (FIR2-xx-xx) Remove jumper S9 Figure 14 on page 37
C Pulse transformer (FIR3-xx-xx) Remove jumper S9 Figure 15 on page 37
Transient noise filter (FIL-31), Disconnect the filter board yellow/ Figure 16 on page 38
200V…500V AC drives green (ground) wire from the PE
connection on the drive chassis
Transient noise filter (FIL-57, Remove jumper S1 Figure 17 on page 38
FIL-69), 575V…690V AC drives
D Pulse transformer (FIR-D-xx-xx) Remove capacitors C121 and C122 Figure 18 on page 39
Overvoltage clipping (CFSF-xxx) Remove jumper S1 Figure 19 on page 39

Figure 13 - Frame A Pulse Transformer Circuit Board S9 Jumper Location

Remove the front covers from the drive to X3 XSW1 XSW XP
access the pulse transformer circuit board. TR2 TR1
See page 28 for instructions.
X4
XR

XY

T01 T04 T02 T05 T03 T06

T1 T4 T2 T5 T3 T6
S9

S9
S4
S3

78 79 35 36 75 76 U2 V2

36 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Figure 14 - Frame B Pulse Transformer Circuit Board S9 Jumper Location

Remove the front covers from the drive to

access the pulse transformer circuit board. TR1 TR2
See page 29 for instructions.

T04

T05
T03

PE
T06

S9 T01
T2 T02

T4 T6
T5

T1

PE
T3
S9

XCD_IO

XTA
78 79 35 36 75 76 U2 V2

Figure 15 - Frame C Pulse Transformer Circuit Board S9 Jumper Location

The pulse transformer circuit board is behind the control EMI shield, near the top of the drive. See page 29 for
instructions on removing the front covers from the drive and page 70 for instructions on moving the control EMI shield.

S9
XR
XCD_IO

XCT
XCD
XUVW PE

PE1 S9

X3
XCD_IO
S3 S4

1 TR3
1
XCD
PE

TO2 T5 TO5 TO3 T3 T6 TO6

T2
XTA
PE1

KGO2 KG2 KGO5 KGO3 KG3 KGO6

KG5 KG6

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Chapter 1 Installation and Wiring

Figure 16 - Frame C Transient Noise Filter Circuit Board (FIL-31), 200V…500V AC Input Drives,
Ground Wire Location

Remove the front covers from the drive to access the transient noise filter circuit board. See page 29 for
instructions. The transient noise filter board is between terminals C and D below the control EMI shield.

Transient noise filter board

PORT
MOD
NET A
NET B

STS

U V

Yellow/Green (ground) wire

Figure 17 - Frame C Transient Noise Filter Circuit Board (FIL-57, FIL-69), 575V…690V AC Input
Drives, S1 Jumper Location

Remove the front covers from the drive to access the transient noise filter circuit board. See page 29 for
instructions. The transient noise filter board is on the left side of the control EMI shield.

P4 P3

S1

S1

F1 F2 F3

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 Installation and Wiring Chapter 1

Figure 18 - Frame D Pulse Transformer Circuit Board S1 Jumper Location

The pulse transformer circuit board is behind the top and bottom control-panel covers. See page 30 for
instructions on removing the covers from the drive.
XSW1 XSW

X3

PE XUV

XP1

TR2
XP2
C122 C121

TR1
XCD_IO XUVW

KG1 KG01 XCD

T1 T01

KG4 KG04

T4 T04
XR C122 C121
KG2 KG02
T2 T02

KG5 KG05
T5 T05 XCD_IO XUVW
KG3 KG03

T3 T03 XY

KG6 KG06
T6 T06
XSPF
XTA

X4 X5 X6
S3 S4 XCT

78 79 35 36 75 76 81 82 U2 V2

Figure 19 - Frame D Overvoltage Clipping Circuit Board S1 Jumper Location

Overvoltage clipping board The overvoltage clipping circuit board is behind the control panel on the upper left side of the drive
location inside drive chassis. Instructions on opening the control panel are shown in the illustration on the left.

1. Disconnect the DPI cable from the HIM (if present).

2. Insert a flathead screwdriver into the holes in the right side of the
protective covers on the drive and turn the latch 90° counter-clockwise.

3. Open the control panel to the left.

90°

S1

XCD

F31 F21 F11

X1UVW1
S1
XUVW

XCD

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Chapter 1 Installation and Wiring

CE Conformity Compliance with the Low Voltage Directive and Electromagnetic

Compatibility Directive has been demonstrated by using harmonized
European Norm (EN) standards. References to European Norm standards are
published in the Official Journal of the European Communities. PowerFlex
DC drives comply with the EN standards listed here when installed according
to this User Manual.

EU Declarations of Conformity are available online at:

www.rockwellautomation.com/products/certification/ce/

Low Voltage Directive

• EN 50178 Electronic equipment for use in power installations.

EMC Directive

• EN 61800-3 Adjustable speed electrical power drive systems Part 3:

EMC product standard including specific test methods.

General Considerations
• For CE compliance, the drive installation must satisfy requirements that are
related to both EN 50178 and EN 61800-3 provided in this document.
• PowerFlex DC drives comply with the EMC requirements of EN 61800-3
when installed according to good EMC practices and the instructions that
are provided in this document. However, many factors can influence the
EMC compliance of an entire machine or installation, and compliance of
the drive itself does not ensure compliance of all applications.
• PowerFlex DC drives are not intended to be used on public low-voltage
networks that supply domestic premises. Without additional mitigation,
radio frequency interference is expected if used on such a network. The
installer is responsible to take measures such as supplementary line filters
and enclosures to prevent interference and follow all installation
requirements of this document.
• PowerFlex DC drives generate notching and harmonic current emissions on
the AC supply system. When operated on a public low-voltage network, it
is the responsibility of the installer or user to be sure that applicable
requirements of the distribution network operator have been met.

ATTENTION: PowerFlex DC drives can produce DC current in the protective

earthing conductor. This DC current can reduce the ability of residual current-
operated protective devices (RCD) or residual current-operated monitoring
devices (RCM), of type A or AC, to provide protection for other equipment in
the installation.

40 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Installation Requirements Related to the Low Voltage Directive

• PowerFlex DC drives are designed to be CE-compliant only if they are
NOT connected to “corner-earthed” supply systems where one of the three
phases of the supply system has been earthed.
• PowerFlex DC drives are compliant with the CE LV Directive when used at
altitudes no greater than 2,000 m (6,562 ft).
• PowerFlex DC drives provided in enclosure type IP20 must be installed in a
pollution degree 1 or 2 environment to be compliant with the CE LV
Directive. Characteristics of the different pollution degree ratings are
provided on page 42.
• PowerFlex DC drives can produce leakage current in the protective earthing
conductor that exceeds 3.5 mA AC or 10 mA DC. The minimum size of
the protective earthing (ground) conductor that is used in the application
must comply with local safety regulations for high-protective earthing
conductor current equipment.
• Frame D PowerFlex DC drives must be installed in a supplementary
enclosure that provides protection from electric shock to be compliant with
the CE LV Directive.

Installation Requirements Related to EN 61800-3 and the EMC

Directive
• The drive must be earthed (grounded) as described in this User Manual.
• PowerFlex DC drives require the use of an external EMC filter to comply
with the EMC Directive and emission limits of EN 61800-3: 2004.
PowerFlex DC drives have been tested and verified for compliance to the
emission limits of EN 61800-3: 2004 by using only the specific input filters
and motor cable lengths that are identified in Table 9. See Typical Power
Wiring Diagrams on page 46 for more installation information.
Table 9 - Standards and Limits for EMC Input Filters
Drive Frame Standard / Limits (Compliance with any of the limits in the Pollution Degree Ratings According to EN 61800-5-1 table on page 42 satisfies RF
Cat. No. emission requirements for the EMC Directive)
EN61800-3 Category C1 EN61800-3 Category C2 CISPR11 Group 1 EN61800-3 Category EN61800-3 Category
EN61000-6-3 CISPR 11 Group EN61000-6-4 CISPR11 Group Class A…P > 20kVA C3…I < 100A C3…I > 100A
1 Class B 1 Class A…P < 20kVA
Frame A Compliance may be possible Compliance may be possible RF line filter required(2) RF line filter required(2) RF line filter required(2)
20Px1Ax4P1… with supplementary mitigation with supplementary mitigation 50 m motor cable limit 50 m motor cable limit 50 m motor cable limit
20Px1Ax129 (Consult factory) (Consult factory)
Frame B Compliance may be possible RF line filter required(1) RF line filter required(1) RF line filter required(1) RF line filter required(1)
20Px1Ax167… with supplementary mitigation 50 m motor cable limit 50 m motor cable limit 50 m motor cable limit 50 m motor cable limit
20Px1Ax412 (Consult factory)
Frame C Compliance may be possible Compliance may be possible RF line filter required(1) RF line filter required(1) RF line filter required(1)
20Px1Ax495… with supplementary mitigation with supplementary mitigation 50 m motor cable limit 50 m motor cable limit 50 m motor cable limit
20Px1Ax667 (Consult factory) (Consult factory)
Frame D Compliance may be possible Compliance may be possible Compliance may be possible RF line filter required(3) RF line filter required(4)
20Px1Ax… with supplementary mitigation with supplementary mitigation with supplementary mitigation 50 m motor cable limit 50 m motor cable limit
20Px1Ax (Consult factory) (Consult factory) (Consult factory)
More Stringent Limits Less Stringent Limits
(1) RF 3xxx-MHU EMC filter manufactured by Rasmi Electronics Ltd. xxx designates filter current rating. See the manufacturer published literature for details.
(2) RF 3xxx-SIEI EMC filter manufactured by Rasmi Electronics Ltd. xxx designates filter current rating. See the manufacturer published literature for details.
(3) EPCOS B84143B Type S081 EMC filter manufactured by EPCOS AG. See the manufacturer published literature for details.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 41

Chapter 1 Installation and Wiring

IMPORTANT Use of EMC filters not listed in Table 9 on page 41 must be verified in the
application. Additional filters are listed in Alternate EMC Filters on page 273.

• Output power wiring to the motor must employ one of the following
solutions.

• Cable with a braided shield providing 75% or greater coverage

• Cables that are housed in metal conduit
• Cables with equivalent shielding

Continuous shielding must be provided from the drive enclosure to the

motor enclosure. Both ends of the motor cable shield (or conduit) must
terminate with a low-impedance connection to earth.

• The motor-end cable shield or conduit must terminate in a shielded

connector and be properly installed in an earthed motor wiring box that
is attached to the motor. The motor wiring-box cover must be installed
and earthed.

• All control (I/O) and signal wiring to the drive must use one of the
following solutions.

• Cable with a braided shield providing 75% or greater coverage

• Cables that are housed in metal conduit
• Cables with equivalent shielding

When shielded cable is used, terminate only the drive end of the cable
shield to earth with a low-impedance connection.

• Motor cables must be separated from control and signal wiring wherever
possible.

• The maximum length of the motor cable must not exceed the length
that is specified in the table on page 41. The maximum length that is
specified is required for compliance with radio-frequency emission
limits for the specific standard and installation environment.

Pollution Degree Ratings According to EN 61800-5-1

Pollution Description
Degree
1 No pollution or only dry, non-conductive pollution occurs. The pollution has no influence.
2 Normally, only non-conductive pollution occurs. Occasionally, however, a temporary conductivity due
to condensation can be expected, when the drive is out of operation.
3 Conductive pollution or dry non-conductive pollution occurs, which becomes conductive due to
condensation, which can be expected.
4 The pollution generates persistent conductivity that is caused, for example, by conductive dust, rain,
or snow.

42 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Power Circuit Protection It is recommended that you install fast-acting fuses on four-quadrant, frame A,
and B drives to protect the armature converter on the input and output sides.
Internally mounted fuses for armature converter protection are provided with
frame C and D PowerFlex DC drives. See Drive Power Circuit Protection on
page 243 for a list of replacement fuses and general fuse locations.

Control Power Circuit The 115V / 230V AC control circuit power input terminals U2 and V2 are
required to be short-circuit protected. This protection can be provided by
Protection using standard time-delay fuses or a circuit breaker (device). Either protective
device must survive the short-circuit available current of the feeder source for
this circuit and the inrush current of the drive power supply.

Size the device(s) to protect the wiring between the fuses or circuit breaker
connections to terminals U2 and V2, and not nuisance trip or blow from the
inrush current.

Table 10 lists the input current characteristics of the control power.

Table 10 - Control Power Protection

Frame Control Power Supply

Circuit Board ID / Revision Power Rated input current Inrush input current
115V AC 230V AC 115V AC 230V AC
A&D SW1-31 / H and below 60 W 1A 0.5 A 20 A 10 A
SW1-31 / I and above 80 W 1A 0.5 A 6A 10 A
B SW2-32 / H and below 110 W 1.2 A 0.7 A 15 A 7.5 A
SW2-32 / I and above 90 W 1.2 A 0.6 A 6A 10 A
C SW3-32 / H and below 110 W 1.2 A 0.7 A 15 A 7.5 A
SW3-32 / I and above 90 W 1.2 A 0.6 A 6A 10 A

Provide a power source for the control power input that is stabilized and
buffered from the power system transients. The control power of many drives
can be fed from one source, as long as proper distribution protection is
provided.

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Chapter 1 Installation and Wiring

Cable and Wiring Use the following cable and space recommendations for all drives sizes:
Recommendations
Minimum Spacing Between Classes - Steel Conduit/Tray
Category Wiring Signal Definition Signal Example Cable Type 1 2/3/4 5/6 7/8 9/10/11 See Cable
Class Spacing
Notes, on
page 45
Power 1 AC Power (600V Or 2.3kV 3/ph AC Lines Per NEC and 0 3/9 in. 3/9 in. 3/18 in. See Note 6 1/2/5
Greater) Local Codes (76/229 mm) (76/229 mm) (76/457 mm)
2 AC Power (Less Than 460V 3/ph AC Lines 3/9 in. 0 3/6 in. 3/12 in. See Note 6 1/2/5
600V) (76/229 mm) (76/152 mm) (76/305 mm)
3 DC Power DC Motor Armature
4 DC Power DC Motor Field
Control 5 115V AC/DC Logic Relay Logic/PLC I/O 3/9 in. 3/6 in. 0 3/9 in. See Note 6 1/2/5
Motor Thermostat (76/229 mm) (76/152 mm) (76/229 mm)
115V AC Power Power Supplies,
Instruments
6 24V AC/DC Logic PLC I/O
Signal 7 Analog Signals, DC Reference/Feedback Shielded Cable 3/18 in. 3/12 in. 3/9 in. 0 1/3 in. 2/3/4/5
(Process) Supplies Signal, 5 To 24V DC – Belden 8735, (76/457 mm) (76/305 mm) (76/229 mm) (25/76 mm)
Digital (Low Speed) TTL 8737, 8404
8 Digital (High Speed) I/O, Encoder, Resolver,
Shielded Cable
Count Pulse Tach – Belden 9728,
9730
Signal 9 Serial RS-232 (20-COMM-R), Shielded Cable See Note 6 1/3 in. 0 –
(Comm.) Communication 422 To Terminals/ – Belden RS- (25/76 mm)
printers 232 – 8735,
8737 RS-422 –
9729, 9730
11 Serial PLC Remote I/O, PLC Twinaxial Cable
Communication Data Highway – Belden 9463,
(Greater Than 20k A-B 1770-CD
Baud)

Example:

Space 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
• In a cable tray, the two groups of leads are to be 6 inches (152 mm) apart

Minimum Spacing Between Classes Steel Conduit/Tray

Category Wiring Signal Definition Signal Example 1 2/3/4 5/6
Class
Power 2 AC Power (less 460V 3/Ph AC Lines 3/6 in.
than 600V) (76/152 mm)
Control 6 24V AC/DC Logic PLC I/O 3/6 in.
(76/152 mm)

44 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Cable Spacing Notes:

1. Both outgoing and return current-carrying conductors must be routed in the same conduit or laid next to each
other in a cable tray.
2. Cables of the following classes can be grouped.
a. Class 1; Equal to or above 601V.
b. Classes 2, 3 and 4 can have their respective circuits that are routed in the same conduit or layered in the same
tray.
c. Classes 5 and 6 can have their respective circuits that are routed in the same conduit or layered in the same tray.
The bundle cannot exceed the conditions of NEC 310.
d. Classes 7 and 8 can have their respective circuits that are routed in the same conduit or layered in the same tray.
Encoder cables that are run in a bundle can experience some amount of EMI coupling. The circuit application
can dictate separate space requirements.
e. Classes 9, 10 and 11 can have their respective circuits that are routed in the same conduit or layered in the same
tray. Communication cables that are run in a bundle can experience some amount of EMI coupling and
associated communication faults. The application can dictate separate space requirements.
3. All wires of class 7…11 MUST be shielded per the recommendations.
4. In cable trays, steel separators are advisable between the class groupings.
5. If conduit is used, it must be continuous and composed of magnetic steel.
6. Space requirements for communication cables, classes 2…6 are listed in this table:
Conduit Spacing: Through Air:
115V – 25 mm (1 in.) 115V – 51 mm (2 in.)
230V – 38 mm (1.5 in.) 230V – 01.5 mm (4 in.)
380/575V – 76 mm (3 in.) 380/575V – 203 mm (8 in.)
575V– proportional to 152 mm (6 in.) per 1000V. 575V – proportional to 305 mm (12 in.) per 1000V.

Power Wiring AC Input Voltages

PowerFlex DC drives are rated for the following AC input voltages @ 50/60
Hz ±5%:
Mains Circuit (Terminals U, V, W)
• 230V ±10%, 3Ph
• 400V ±10%, 3Ph
• 440V ±10%, 3Ph
• 460V ±10%, 3Ph
• 480V ±10%, 3Ph
• 575V ±10%, 3Ph
• 690V ±10%, 3Ph
Field Circuit (Terminals U1, V1)
• 230V ±10%, 1Ph
• 400V ±10%, 1Ph
• 460V ±10%, 1Ph

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Chapter 1 Installation and Wiring

Control Circuit (Terminals U2, V2)

• 115V ±15% or 230V ±15%, 1Ph

IMPORTANT For frame B and C drives only, a jumper must be placed between terminals
SA-SB on the switching power supply circuit board for the control circuits to
work with 115V AC input. See Figure 47 on page 70 for terminal block
location on frame B drives and Figure 48 on page 70 for terminal block
location on frame C drives.

DC Output Voltages

The output voltages shown here include an AC input undervoltage within the
stated tolerance limits and a voltage drop of 4% due to an AC input line
reactor. It is the same as the rated armature voltage suggested for the connected
motor.

Armature Circuit
AC Input Voltage DC Output Armature Voltage (Terminals C & D)
(Terminals U, V, W) Two Quadrant Drive Four Quadrant Drive
230V ±10%, 3Ph 260V 240V
400V ±10%, 3Ph 470V 420V
440V ±10%, 3Ph 530V 460V
460V ±10%, 3Ph 560V 480V
480V ±10%, 3Ph 580V 500V
575V ±10%, 3Ph 680V 600V
690V ±10%, 3Ph 810V 720V

Field Circuit
AC Input Voltage DC Output Field Voltage(1) (Terminals C1 & D1)
(Terminals U1 & V1) Fixed Field Adjustable Field
230V ±10%, 1Ph 200V 200V
400V ±10%, 1Ph 310V 310V
460V ±10%, 1Ph 360V 360V
(1) The max field voltage is equal to 0.85 x AC input line voltage

Typical Power Wiring Diagrams

Figure 20 on page 47…Figure 22 on page 49 represent recommended power
wiring configurations for standard PowerFlex DC drive installations. For SAR
installations, see Appendix H on page 397.

46 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 PE
(4) (6)
34 (on I/O TB4) FS2
(N.O. Relay) C
M1 AC Contactor
Lockable Aux
Installation Isolation EMC Filter
(2) (2) 13 14 (5)
Transformer (if used) Line Reactor 19 (+24V on I/O TB2)
Disconnect (3)
FS1 1A1 A1
L1 T1
L1 U
(3)
FS1 Armature Volt. A1
3 Phase L2 T2 (7)
L2 V Fdbk. Term. Blk. 1A2
AC line (3) M
FS1
L3 T3
L3 W A2
A1 A2 A2
Safety Ground PowerFlex DC
(6)
460 VAC Drive FS2
Max. or D
230 VAC Field Power Terminal Block
(11)
Min. U1 C1 F1
FU1

FV1
AC Input V1 D1 F2
Voltage
(14) (14)
K1 K1 (1)
SA
(1)
SB

115V or 230V AC Control

(1, 12) U2 Board P/S
Input Source
V2
(14) Control Power / Relay Outputs
Figure 20 - Power Wiring with AC Input Contactor

K1 (9)
35

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

Terminal Block
(9)
36

(10)
(13) Fan Power Terminal Block - Frame C and Series A, Frame D Drives Only
See footnote
230V AC U3
FU
Input Source (12) V3
FU
(13)
See footnote (10)
Fan Power Terminal Block - Series B and C, Frame D Drives Only
Installation and Wiring

U3
400...460V AC FU
V3
Input Source (12) FU
W3
See Power Wiring Diagrams Notes on page 50 for footnotes.

FU

47
Chapter 1
48
(4)
PE 34 (on I/O TB4)
Chapter 1

Aux
(5) 13 14
Lockable 19 (+24V on I/O TB2) (6)
Isolation EMC Filter FS2
Installation (2) (2) L1 T1
Transformer (if used) Line Reactor C
Disconnect (3)
FS1 PowerFlex DC L2 T2
L1 U D
(3) (N.O. Relay)
FS1 Drive A1 A2
3 Phase M1 DC A1
L2 V
(3) Contactor
Installation and Wiring

AC line FS1
L3 W 1A1
Armature Volt. A1
M
Safety Ground Fdbk. Term. Blk.
460 VAC 1A2
A2
Max. or A2
230 VAC (6)
(11) Field Power Terminal Block FS2
Min.
U1 C1 F1
FU1

FV1
AC Input V1 D1 F2
Voltage
(1)
SA
(1)
SB

115V or 230V AC Control

(1, 12) U2 Board P/S
Input Source
V2
(14) Control Power / Relay Outputs (14) (14)
K1 (9) K1 K1
35 Terminal Block
(9)
36
Figure 21 - Power Wiring with DC Output Contactor

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

(10)
(13) Fan Power Terminal Block - Frame C and Series A, Frame D Drives Only
See footnote
230V AC U3
FU
Input Source (12) V3
FU
(13)
See footnote (10)
Fan Power Terminal Block - Series B and C, Frame D Drives Only
U3
400...460V AC FU
V3
Input Source (12) FU
See Power Wiring Diagrams Notes on page 50 for footnotes.

W3
FU
 (4)
PE 34 (on I/O TB4)
Aux
(5) 13 14
19 (+24V - on I/O TB2)
Lockable
Installation Isolation EMC Filter L1 T1
(2) (2) C
Disconnect Transformer (if used) Line Reactor
(3)
FS1 PowerFlex DC L2 T2
D (6)
L1 U FS2
(3)
FS1 Drive L3 T3
3 Phase
L2 V
AC line (3) (N.O. Relay)
FS1 M1 DC A1 A2
L3 W 1A1 A1
Contactor
Armature Volt. A1
Safety Ground Fdbk. Term. Blk.
460 VAC 1A2 M
Max. or A2
230 VAC A2
(11) Field Power Terminal Block
Min.
U1 C1 F1
FU1
DB
(8)
Res.
FV1 (6)
AC Input V1 D1 F2 FS2
Voltage
(1)
SA
(1)
SB

115V or 230V AC Control

(1, 12) V2 Board P/S
Input Source
U2 (14) (14)
(14) Control Power / Relay Ouputs K1 K1
K1 (9)
35 Terminal Block

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

(9)
36

(10)
(13) Fan Power Terminal Block - Frame C and Series A, Frame D Drives Only
See footnote
230V AC U3
FU
Input Source (12) V3
FU
(13)
See footnote (10)
Fan Power Terminal Block - Series B and C, Frame D Drives Only
Installation and Wiring

U3
400...460V AC FU
V3
Input Source (12) FU
Figure 22 - Power Wiring with DC Output/Dynamic Braking Contactor and a Dynamic Brake

W3
See Power Wiring Diagrams Notes on page 50 for footnotes.

FU

49
Chapter 1
Chapter 1 Installation and Wiring

Power Wiring Diagrams Notes

1. For frame B and C drives only, a jumper is required between terminals
SA and SB for 115V AC control input power. See Control Circuit Input
Power on page Control Circuit Input Power for more information.
2. An Isolation Transformer and/or 3…5% impedance Line Reactor is
required. If the Isolation Transformer provides the required 3…5%
impedance, a Line Reactor is not required. See AC Input Line Reactors
and AC Input Contactors on page 264 and Isolation Transformers on
page 267 for recommendations. It is recommended that the isolation
transformer has a grounded Wye secondary neutral. If the PowerFlex
DC drive is installed in a system with an ungrounded Wye neutral or
with an impedance ground connection, see Grounding for Installations
in an Ungrounded or High-Impedance, Neutral Ground, or System on
page 35 for more information.
3. AC input fuses for the armature converter are not provided with frame
A and B drives, but are provided and internally mounted in frame C and
D drives. See Drive Power Circuit Protection on page 243 for fuse
recommendations.
4. Par 140 [Digital In8 Sel] set to 31 “Contactor.”
5. If the +24V internal power supply is used, a jumper wire must be
installed between terminals 18 (24V common) and 35 (digital input
common).
6. Customer supplied armature output fuses are required on four quadrant
and are recommended on two quadrant Frame A and B drives. See Drive
Power Circuit Protection on page 243 for fuse recommendations.
7. Optional armature voltage feedback sensing not required with AC
contactor.
8. The “Enable” input must be removed to perform a dynamic braking
stop.
9. Par 1391 [ContactorControl] = 1 “AC Cntcr” and Par 1392 [Relay Out
1 Sel] = 25 “Contactor”. Important: Terminal 35 and 36 are on the
Control Power / Relay Outputs Terminal block, NOT the I/O terminal
blocks. See Figure 37 on page 65…Figure 41 on page 67.
10. Only frame C and D drives require an external power supply for the
heatsink cooling fan(s). See Frame C Heatsink Cooling Fan
Specifications on page 71 and Frame D, Series B and C Heatsink
Cooling Fan Specifications on page 73 for more information.
11. See Field Converter Connections on page 57.
12. If sourced from the main 3-phase AC input, the connections must be
taken from the primary side of the isolation transformer or line reactor
(clean power).
13. Fuses or a circuit breaker. See Frame C Heatsink Cooling Fan
Specifications on page 71 and Frame D, Series B and C Heatsink
Cooling Fan Specifications on page 73 for detailed information.
14. For frames B, C, and D drives, a pilot relay is required for the contactor
coil.

50 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Armature Converter Connections

Terminals Description
U, V, W Three-phase AC input to the armature converter
C, D DC output to the motor armature
PE Safety ground

Table 11 - Armature and Safety Ground (PE) Terminal Specifications

Frame Drive Current Rating Code(1) Terminals Wire Size and Type Terminal Bolt Size Recommended Torque
(mm) N•m (lb•in)
230V 460V 575 690
A 7P0…055 4P1…052 – – U, V, W, C, D, PE See Cable and Wiring 5 6 (53)
Recommendations on page 44
073…110 073…129 – – Terminal Block 12 (106)
B All All All – U, V, W, C, D 10 25 (221)
PE 8 15 (132.75)
C All All All All U, V, W, C, D 10 25 (221)
PE 8 15 (132.75)
D All All All All U, V, W, C, D, PE 12 45 (398.2)
(1) See Standard Drive Catalog Number Explanation on page 13, positions 8, 9 and 10 for the applicable drive HP rating, armature amp rating, and field amp rating.

IMPORTANT To meet UL installation requirements, certain frame D drives require the use
of a terminal adapter kit for terminals U, V, W, and C and D. See Terminal
Adapter Kits for Frame D Drives on page 279 for details.

Figure 23 - Frame A Armature Converter Terminal Locations

Front View

Front view of drive that is shown with bottom protective and power terminal covers removed. See Remove
the Drive Covers on page 28 for information on removing the drive covers.

PE U C V D W

ATTENTION: Do not operate the drive with the power terminal cover
removed. Drive operation with the power terminal covers removed may
result in a hazardous condition that could cause personal injury and/or
equipment damage.

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Chapter 1 Installation and Wiring

Figure 24 - Frame B Armature Converter Terminal Locations

PE U C V D W

Figure 25 - Frame C Armature Converter Terminal Locations

Front View

PE U C V D W

Bottom View

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 Installation and Wiring Chapter 1

Figure 26 - Frame D Armature Converter Terminal Locations

IMPORTANT To meet UL installation requirements, certain frame D drives require the use of a terminal adapter
kit(s) for terminals U, V, W, C, and D. See Terminal Adapter Kits for Frame D Drives on page 279 for
details.

Top of Drive U V W

Bottom of Drive PE C D

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Chapter 1 Installation and Wiring

Armature Voltage Feedback Connections

The armature voltage feedback terminals can be used to monitor the armature
voltage at the motor, regardless of the state of a DC output contactor or
inverting fault device that is used with the drive. When this terminal block is
not connected to the motor armature terminals, jumper wires must be installed
at the terminals described in Table 12. When jumpers are installed in the
armature voltage feedback terminals, the armature voltage feedback is only
monitored internally in the drive. In this case, when a DC contactor is used
without a speed feedback device, the drive cannot calculate motor speed from
the armature voltage feedback signal.

IMPORTANT By default, jumpers are installed between these terminals - 1A1 to A1 and
1A2 to A2. If these terminals are not wired to the motor terminals, the
jumpers must be installed.

This terminal block is not present on drives that are shipped from the factory
with firmware revision 2.006 or earlier installed. However, new pulse
transformer circuit boards that are shipped as replacement parts from the
factory contain this terminal block and can be used with any firmware revision.

Table 12 - Armature Voltage Feedback Terminal Jumper Positions

Terminals Description
1A1 Connected to A1 with a jumper wire when internal armature voltage feedback is used.
Not used when A1 is connected to motor terminal A1.
A1 Voltage feedback from motor terminal A1.
1A2 Connected to A2 with a jumper wire when internal armature voltage feedback is used.
Not used when A2 is connected to motor terminal A2.
A2 Voltage feedback from motor terminal A2.

Table 13 - Armature Voltage Feedback Circuit Wire Sizes and Terminal Specifications
Frame Terminals Wire Size and Type(1) Recommended Torque
N•m (lb•in)
A, B & C 1A1, A1, 1A2, A2 24…10 AWG/kcmils 0.5…0.6 (4.4…5.3)
D 22…8 AWG/kcmils 0.8…1.6 (7.1…14.2)
(1) Wire with an insulation rating of 600V or greater is recommended. See Cable and Wiring Recommendations on page 44 for cable
space requirements.

54 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Figure 27 - Frame A Armature Voltage Feedback Circuit Terminal Block Location

Bottom of View of Drives

Drive with no fan Drive with fan

Shown with terminals jumpered for internal armature voltage feedback.

Figure 28 - Frame B Armature Voltage Feedback Circuit Terminal Block Location

Top of Drive

Shown with terminals jumpered

for internal armature voltage
feedback.

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Chapter 1 Installation and Wiring

Figure 29 - Frame C Armature Voltage Feedback Circuit Terminal Block Location

1A1(C) A1 1A2 (D) A2

1A1(C) A1 1A2 (D) A2
1A1(C) A1 1A2 (D) A2
1A1(C) A1 1A2 (D) A2
Bottom of Drive

Figure 30 - Frame D Armature Voltage Feedback Circuit Terminal Block Location

Shown with terminals jumpered for

internal armature voltage feedback.

Bottom of Drive, Left Side

56 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Field Converter Connections

IMPORTANT This section applies only when the drive internal, single-phase field
controller will be used. Continue to the Field Current Configuration section
on page 61 if an external field controller or permanent magnet motor is
used.

For 575V and 690V AC input drives only, a step-down transformer must be
installed ahead of the input to the field control circuit (terminals U1, V1). The
step-down transformer must meet one of the secondary to motor field voltage
characteristics listed here.
• 230VAC secondary for a 150V motor field
• 460VAC secondary for a 300V motor field

Also, If the rated voltage of the DC motor field is not compatible with the field
DC output voltage of the drive, an external field-control transformer must be
used. See the following example for transformer selection information.

Example: 10 Hp, 240V Armature, 17.2 A, 240V Field, 2.0 A motor

1. The field control transformer must have a 230V primary, a 460V

secondary, and be single-phase, 60 Hz
2. kVA = 2 A x 460VAC x 1.5 = 1.38 kVA (1.5 kVA is closest)
3. The following configuration must be completed in the PowerFlex DC
drive:
• Control board DIP switch S14 must be set to select a value of 2 A.
• Parameter 374 [Drv Fld Brdg Cur] must be programmed to match
DIP switch S14 = “2.”
• Parameter 280 [Nom Mtr Fld Amps] must be programmed to the
rated motor nameplate field current = “2.”

Field Converter Terminal Designations

Terminals Description
U1, V1 Single phase AC input to the field circuit
C1, D1 DC output to the motor field

Table 14 - Frames A…C Field Circuit Wire Sizes and Terminal Specifications
Terminals Wire Size and Type(1) Recommended Torque
N•m (lb•in)
U1, V1, C1, D1 24…10 AWG/kcmils 0.5…0.8 (4.4…7.1)
(1) See Cable and Wiring Recommendations on page 44 for more information.

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Chapter 1 Installation and Wiring

Table 15 - Frame D Field Circuit Wire Sizes and Terminal Specifications

Drive Current Rating Code(1) Terminals Wire Size(2) Recommended Torque
N•m (lb•in)
230V 460V 575V 690V
875 830 810 678 U1, V1, C1, D1 6 AWG 4.0 (35.4)
1K0 996 1K0 791
– – 1K2 904
– – 1K3 1K0
– – 1K6 –
– 1K1 – 1K1 2 AWG
– 1K3 – 1K2
– 1K4 – 1K4
– – – 1K5
(1) See Standard Drive Catalog Number Explanation on page 13, positions 8, 9 and 10 for the applicable drive HP rating, armature
amp rating, and field amp rating.
(2) See Cable and Wiring Recommendations on page 44 for more information on wire types.

Figure 31 - Frame A Field Circuit Terminal Block Location

U1
V1
C1
D1

Bottom of Drive

58 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installation and Wiring Chapter 1

Figure 32 - Frame B Field Circuit Terminal Block Location

U1
V1
C1
D1

Top of Drive

Figure 33 - 230V/460V AC Input Frame C Field Circuit Terminal Block Location

Front of Drive

D1 C1 U1 V1

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Chapter 1 Installation and Wiring

Figure 34 - 575V/690V AC Input Frame C Field Circuit Terminal Block Location

Top, Left Side of Drive

Figure 35 - Frame D Field Circuit Terminal Block Location

Top of Drive Shown with control cover removed. Bottom of Drive, Left Side
Remove control cover to access terminals.

Wire routing hole AC input for field is at top of fuse

Cable clamp holder (marked FU1, FV1)

C1 D1

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Field Current Configuration

DIP switch S14 on the drive control circuit board is factory set to the
minimum field current rating based on the drive size. See DIP Switch and
Jumper Settings on page 77 for S14 location. The field current configuration
depends on the application. Follow the instructions for your application.
• If you are using the PowerFlex DC Drive with a PowerFlex DC Field
Controller, see External Three-Phase Field Controller Current
Configuration.
• If you are using the PowerFlex DC Drive with a permanent magnet
motor, see Permanent Magnet Motor Field Controller Current
Configuration.
• If you are using the PowerFlex DC Drive to control the motor field, see
PowerFlex DC Drive Field Controller Current Configuration.

External Three-Phase Field Controller Current Configuration

If the PowerFlex DC field controller (cat no. 23PFC) is used with a PowerFlex
DC drive, leave DIP switch S14 set to the factory default settings. Make theses
parameter configuration changes:
• Set Par 374 [Drv Fld Brdg Cur] to the rated field current specified on
the motor nameplate.
• Set Par 280 [Nom Mtr Fld Amps] equal to the value of Par 374 [Drv Fld
Brdg Cur].

Permanent Magnet Motor Field Controller Current Configuration

If the PowerFlex DC drive internal, single-phase field controller and a

permanent magnet motor is used, leave DIP switch S14, Par 374 [Drv Fld Brdg
Cur], and Par 280 [Nom Mtr Fld Amps] set to the factory default values.

PowerFlex DC Drive Field Controller Current Configuration

If the PowerFlex DC drive internal, single-phase field controller is used to

control the motor field, follow the configuration instructions in this section.

The configuration of this switch must be changed to be greater than or equal to

the rated field current specified on the motor nameplate or possible motor
damage may result. In addition, the value that is selected with switch S14 must
be entered in parameter 374 [Drv Fld Brdg Cur] in the control software when
the drive is commissioned (see Drive Start Up on page 93.)

ATTENTION: DIP switch S14 must be set to a value that is greater than or
equal to the rated field current specified on the motor nameplate or possible
motor damage may result.

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Set DIP Switch S14 to the Correct Value

Complete the following steps to set switch S14 to the correct field current
value.

1. Locate and record the frame size and field supply amp rating that is
listed on the drive data nameplate (see Drive Nameplate Data on page
12 for location).
2. Locate and record the rated field current value that is listed on the motor
data nameplate.
3. For frame A, B, and C drives:
• Use Table 16 on page 62 to set switch S14 to be the equivalent or
next higher value as compared to the rated field current of the motor.

For frame D drives:

• Use Table 17 or Table 18 on page 63 to set switch S14 to be the
equivalent or next higher value as compared to rated field current of
the motor.

Figure 36 - Example DIP Switch S14 Configuration

ON DIP This illustration is an example configuration for a

drive with a field supply amp rating of 20 A and a
motor with a rated field current less than or equal
to 17 A.
1 2 3 4 5 6 7 8

The configuration of switch S14 is not required if the single-phase motor field
control is provided via an external source. In this case, however, it is
recommended that the switch settings be completed as described in Set DIP
Switch S14 to the Correct Value.

Table 16 - DIP Switch S14 Field Current Configuration Settings Frames A, B, and C Drives
Switch ohms > 168.5 333.3 182 36.4 845 1668 3333 – Equivalent
Resistance
Field Current Scale S14-1 S14-2 S14-3 S14-4 S14-5 S14-6 S14-7 S14-8 Ohms
1A OFF OFF OFF OFF OFF ON Not used 1668
(OFF)
2A OFF OFF OFF OFF ON OFF 845
3A OFF OFF OFF OFF ON ON 560.9
5A OFF ON OFF OFF OFF OFF 333.3
10 A ON OFF OFF OFF OFF OFF 168.5
13 A ON OFF OFF OFF ON ON 129.6
17 A OFF ON ON OFF ON ON 97.3
20 A ON OFF ON OFF OFF ON 83.1

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 Installation and Wiring Chapter 1

Table 17 - DIP Switch S14 Field Current Configuration Settings for Frame D Drives and
Standalone Regulators with a Rated Field Supply of 40 A
Switch ohms > 168.5 333.3 182 36.4 845 1668 3333 – Equivalent
Resistance
Field Current Scale S14-1 S14-2 S14-3 S14-4 S14-5 S14-6 S14-7 S14-8 Ohm
1A OFF OFF OFF OFF OFF OFF ON Not 3333
used
2A OFF OFF OFF OFF OFF ON OFF (OFF) 1668
4A OFF OFF OFF OFF ON OFF OFF 845
6A OFF OFF OFF OFF ON ON OFF 560.9
10 A OFF ON OFF OFF OFF OFF OFF 333.3
20 A ON OFF OFF OFF OFF OFF OFF 168.5
30 A ON ON OFF OFF OFF OFF OFF 111.9
40 A ON OFF ON OFF OFF ON OFF 83.1

Table 18 - DIP Switch S14 Field Current Configuration Settings for Frame D Drives and
Standalone Regulators with a Rated Field Supply of 70 A
Switch ohms > 168.5 333.3 182 36.4 845 1668 3333 – Equivalent
Resistance
Field Current Scale S14-1 S14-2 S14-3 S14-4 S14-5 S14-6 S14-7 S14-8 Ohm
1A OFF OFF OFF OFF OFF ON OFF Not 1668
used
5A OFF ON OFF OFF OFF OFF OFF (OFF) 333.3
10 A ON OFF OFF OFF OFF OFF OFF 168.5
20 A ON OFF ON OFF OFF ON OFF 83.1
50 A OFF ON OFF ON OFF OFF OFF 32.8
70 A ON ON ON ON OFF OFF OFF 23.9

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Relay Outputs

Terminals 35 and 36 and 75 and 76 are N.O. relay outputs. The relay output
between terminals 35 and 36 is configured with parameter 1392
[Relay Out 1 Sel]. The relay output between terminals 75 and 76 is configured
with parameter 629 [Relay Out 2 Sel]. See Contactors on page 31 for more
information.
Terminals Description Maximum Maximum
Voltage Current
35, 36 Normally open contact. Configured with parameter 1392 [Relay Out 250V AC 1A
1 Sel], set to 25 “Contactor” by default.
75, 76 Normally open contact. Configured with parameter 629 [Relay Out 2
Sel], set to 5 “Ready” by default.
78, 79 Motor thermistor (PTC) or thermal switch connections

If external contactor coil current ratings are greater than one amp, use an
interposing relay between the drive relay 1 or relay 2 output and the contactor
coil.

Thermistors and Thermal Switches

To detect motor overheating and protect the motor from overloading, an

external, user-supplied thermistor (PTC) or thermal switch must be connected
to terminals 78 and 79. The drive response to a motor over temperature fault is
configured in parameter 365 [OverTemp Flt Cfg]. If a thermistor or thermal
switch is not used, a 1 kΩ resistor must be connected between terminals 78 and
79 (installed at the factory). Follow the appropriate thermal sensor (thermistor
or thermal switch) installation instructions.

Thermistors (PTC)

PTC thermistors that are installed in the motor can be connected directly to
the drive via terminals 78 and 79. In this case, the 1 kΩ resistor is not required
between terminals 78 and 79.

Thermal Switches (Klixon®) in the Motor Windings

“Klixon” type temperature-dependent contacts can disconnect the drive from

the motor via an external control or be configured as an external fault by using
a drive digital input. Though not recommended, a Klixon can also be
connected to terminals 78 and 79 to indicate a drive “Motor Over Temp” fault
(F16). This connection can cause noise sensitivity of the current threshold
circuitry. If a thermal switch is used, a 1 kΩ resistor must be placed in series
between the switch and one of the terminals.

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 Installation and Wiring Chapter 1

Table 19 - Relay Outputs and Thermistor/Thermal Switch Wire Sizes and Specifications

Signal Type Terminals Wire Size and Type(1) Recommended

Torque
Flexible Multi-core AWG N•m (lb•in)
(mm2) (mm2)
Relay Outputs 35 / 36 and 0.140…1.500 0.140…1.500 26…14 0.5 (4.4)
75 / 76
Thermistor and 78 / 79
Thermal Switches
(1) See Cable and Wiring Recommendations on page 44 for more information.

Figure 37 - Frame A Relay and Thermistor/Thermal Switch Terminal Block Locations

Terminals 78 and 79 shown with 1 kΩ

resistor in place of temperature sensor. 78 79 35 36 75 76

Figure 38 - Frame B Relay and Thermistor/Thermal Switch Terminal Block Locations

78 79 35 36 75 76

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Figure 39 - 230V/460C AC Input Frame C Relay and Thermistor/Thermal Switch Terminal Block
Locations

78 79 35 36 75 76

Figure 40 - 575V/690C AC Input Frame C Relay and Thermistor/Thermal Switch Terminal Block
Locations

Lower, right side of the control pan.

78 79 35 36 75 76

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Figure 41 - Frame D Relay and Thermistor/Thermal Switch Terminal Block Locations

78 79 35 36 75 76 Control pan, to the left of the HIM cradle.

Control Circuit Input Power

Only power the control circuit by using a clean, external 230V AC, or 115V
AC single phase power supply. For frame B and C drives only, a jumper is
required between terminals SA and SB for 115V AC control input power. For
frame B drive SA-SB terminal block location, see Figure 47 on page 70. For
frame C drive SA-SB terminal block location, see Figure 47 on page 70.

Terminals Description
U2, V2 Single phase AC power for the control circuits
PE Safety ground (on frame C drive terminal blocks only)
SA-SB Frame B and C control circuit input power source configuration

Table 20 - Control Circuit Wire Sizes and Terminal Specifications

Terminals Wire Size and Type(1) Recommended Torque
N•m (lb•in)
Flexible Multi-core AWG
(mm2) (mm2)
U2, V2 0.14…1.5 0.14…2.5 26…14 0.5 (4.4)
SA-SB 0.8…1.5 0.8…2.5 18…14 0.5 (4.4)
PE 2.5…10 2.5…10 12…8 2.0 (18.0)
(1) See Cable and Wiring Recommendations on page 44 for more information.

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Figure 42 - Frame A Control Circuit Terminal Block Location

U2 V2

Figure 43 - Frame B Control Circuit Terminal Block Location

U2 V2

Figure 44 - 230V/460V AC Input Frame C Control Circuit Terminal Block Location

U2 V2 PE

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 Installation and Wiring Chapter 1

Figure 45 - 575V/690V AC Input Frame C Control Circuit Terminal Block Location

Lower, right side of the control pan.

U2 V2

Figure 46 - Frame D Control Circuit Terminal Block Location

U2 V2

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Chapter 1 Installation and Wiring

Figure 47 - SA-SB Terminal Block Location on Frame B Drives

Top, right side of drive.

Front of Drive

Figure 48 - SA-SB Terminal Block Location on Frame C Drives

The SA-SB terminal block is on the switching power supply
circuit board on the back of the control board EMI shield.

Switching power supply board SA-SB terminals Back of control board EMI shield

XSW connector
To access the SA-SB terminal block:
1. Remove the top protective cover from the drive. 2. Disconnect cables XFCD and XR.

3. Loosen 3. Loosen captive

captive screws.
screws.

4. Lower control
board EMI shield
and disconnect
cable XSW from
switching power
supply board (see
above).

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 Installation and Wiring Chapter 1

Frame C Heatsink Cooling Fan Specifications

Frame C drives require an external 230V AC power supply for the heatsink
cooling fans. If sourced from the main 3-phase AC input, the power supply
connections must be taken from the primary side of the installed Isolation
Transformer or Line Reactor (clean power).

In addition, the fan power input terminals U3 and V3 are required to be short-
circuit protected. This protection can be provided by using a circuit breaker or
fuses.

• If a circuit breaker is used, it must be rated for the short-circuit available

current of the feeder source for this circuit and the inrush current of the
fan. Size the circuit breaker to protect the wiring from the circuit
breaker connections to terminals U3 and V3, and not nuisance trip or
blow from the inrush current.

• If fuses are used, they must be rated for either 230V AC, 2.0 Amps (slow
blow).

Table 21 - Frame C Heatsink Cooling Fans Terminal Designations

Terminal Description Maximum Voltage Maximum Current
U3 Single-phase AC input power for cooling fans. 230V AC 1A
V3

Table 22 - Frame C Heatsink Cooling Fans Wire Sizes and Terminal Specifications
Terminals Wire Size and Type(1) Recommended Torque
N•m (lb•in)
Flexible Multi-core AWG
(mm2) (mm2)
U3, V3 0.14…1.5 0.14…2.5 26…16 0.4 (3.5)
(1) See Cable and Wiring Recommendations on page 44 for more information.

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Figure 49 - 230V/460V AC Input Frame C Heatsink Cooling Fan Terminal Block Location

U3 V3

Figure 50 - 575V/690V AC Input Frame C Heatsink Cooling Fan Terminal Block Location

Lower, right side of the control pan.

U3 V3

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 Installation and Wiring Chapter 1

Frame D, Series B and C Heatsink Cooling Fan Specifications

The Frame D, series B and C drive cooling fan requires 3-phase, 400V…460V
AC input power. If sourced from the main 3-phase AC input, the power supply
connections must be taken from the primary side of the installed isolation
transformer or line reactor (clean power).

IMPORTANT When connecting the fan power wiring, verify that the airflow enters
through the bottom and exits through the top of the drive. If the airflow is
incorrect, switch the leads on terminals U3 and V3.

The cooling fan power input terminals U3, V3, and W3 are required to be
short-circuit protected. This protection can be provided by using a circuit
breaker or fuses.

• If a circuit breaker is used, it must be rated for the short-circuit available

current of the feeder source for this circuit and the inrush current of the
fan. Size the circuit breaker to protect the wiring from the circuit
breaker connections to terminals U3, V3, and W3, and not nuisance trip
or blow from the inrush current.

• If fuses are used, they must be rated for either 400V AC, 2.5 Amps (slow
blow), or 460V AC, 3.15 Amps (slow blow).

To indicate a fan power supply failure, a normally closed contact can be wired
between terminals 31 and 32 on the fan circuit board and one of the following
selections.
• A drive digital input, configured for 14 “Aux Fault” in the applicable
parameter (133...144)
• An external fault indication device

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Table 23 - Frame D, Series B and C Heatsink Cooling Fan Terminal Designations

Terminal Block Terminal Description AC Voltage Max Current
U3 Three-phase AC input 400V AC / 50 Hz 1.5 A
power connections 460V AC / 60 Hz
V3
W3
PE Safety ground – –
31 Normally closed contact 250V AC 1A
32

Table 24 - Frame D, Series B and C Heatsink Cooling Fan Signal Wire Sizes and Terminal
Specifications
Terminals Wire Size and Type(1) Recommended
2 2
Torque
Flexible (mm ) Multi-core (mm ) AWG N•m (lb•in)
U3, V3, W3, 31, 32, PE 0.14…1.5 0.14…2.5 28…12 0.5…0.6 (4.4…5.3)
(1) See Cable and Wiring Recommendations on page 44 for more information.

Figure 51 - Frame D Heatsink Cooling Fan Terminal Block Location

Top View
of Drive
U3 V3 W3 PE 31 32

Series B and C
terminal block shown U3 V3 W3 PE 31 32

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 Installation and Wiring Chapter 1

Frame C and D Armature Fuse Signal Terminals

Terminals 81 and 82 on frame C and D drives are connected to the indicating

switch mounted on each of the internal armature circuit protection fuses.
These terminals can be connected to an external device to provide indication
that the fuses have opened. Alternatively, terminals 81 and 82 can be wired to
drive digital input terminals that are configured for 64 “Invert Flt” (via Pars
133…144).

Table 25 - Armature Fuse Signal Terminal Designations

Terminal Description Maximum Voltage Maximum Current
81 Internal armature fuse intervention signal. 250V AC 1A
82

Table 26 - Armature Fuse Signal Wire Size and Terminal Specifications

Terminals Wire Size and Type(1) Recommended
Torque
Flexible Multi-core AWG N•m (lb•in)
(mm2) (mm2)
81, 82 0.14…1.5 0.14…2.5 26…16 0.4 (3.5)
(1) See Cable and Wiring Recommendations on page 44 for more information.

Figure 52 - 230V/460V AC Input Frame C Internal Armature Fuse Signal Terminal Block Location

81 82

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Figure 53 - 575V/690V AC Input Frame C Internal Armature Fuse Signal Terminal Block Location

Lower, right side of the control pan.

81 82

Figure 54 - Frame D Internal Armature Fuse Signal Terminal Block Location

81 82

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 Installation and Wiring Chapter 1

DIP Switch and Jumper DIP switches and jumpers on the control circuit board are used to configure
the drive for the following features:
Settings
• Firmware flash updates to the control board EEPROM
• Speed feedback device settings
• Analog input signal sources
• Minimum field current

Figure 55 - Control Circuit Board DIP Switch and Jumper Locations

See Table 27 on page 78 for
descriptions corresponding to
the ID numbers shown here.

6
S15

1
2
3
4
5
6
1

7
8
1
2
3

S3
4
5

RST
S2
6

ACT
S1
7

RUN
8

PWR
S0
8 S14 5
ON

S20 7
2

S12 S18
3
1

S4 9 4
2

ON
3
4

S11
5

S10
S21
6

S9
7
8

21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40

ENC_5 ENC_12
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 DEBUG
- A B C+ A+ A- B+ B- Z+ Z- COM +V 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

- A B C + A+ A- B+ B- Z+ Z- COM +V
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Do not use - for

engineering use only.

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Table 27 - Control Circuit Board Jumper and DIP Switch Settings

ID Jumper/ Function Factory Default Example
Switch
S0 For factory boot flashing only. Leave set to the factory setting. Jumper Off
1
Jumper On Firmware boot = ON
Jumper Off Normal function
S1 For factory boot flashing only. Leave set to the factory setting. Jumper Off = OFF

Jumper On Write firmware boot code

=OFF
Jumper Off Boot code on flash is protected
S2 Not used. Leave set to the factory setting. Jumper Off
S3 For factory boot flashing only. Leave set to the factory setting. Jumper Off
Jumper On Reset
Jumper Off Normal function
S4 Configures the input voltage of the DC analog tachometer. 90V –
2
See Table 28 on page 79 for configuration.
S9 Configures the input signal of Analog Input 1 (terminals 1 and 2): On
3 = ON
Off Position 0…20 mA / 4…20 mA
= OFF
On Position 0…10V / ±10V
Par 71 [Anlg In1 Config] must be programmed to match the input signal type selected with this switch.
S10 Configures the input signal of Analog Input 2 (terminal 3 and 4): On
Off Position 0…20 mA / 4…20 mA
On Position 0…10V / ±10V
Par 76 [Anlg In2 Config] must be programmed to match the input signal type selected with this switch.
S11 Configures the input signal of Analog Input 3 (terminals 5 and 6): On
Off Position 0…20 mA / 4…20 mA
On Position 0…10V / ±10V
Par 81 [Anlg In3 Config] must be programmed to match the input signal type selected with this switch.
S12 Not used. Leave set to the factory setting. Off –
4

S14 Field current resistors setting, see Field Current Configuration on page 61. Minimum field –
5 current rating based
The value that is selected with switch S14 must be entered in Par 374 [Drv Fld Brdg Cur] when the drive is
commissioned. For permanent magnet motor or external field controller applications, leave set to the factory on the drive size.
default settings.
S15 Configuration of the control circuit board to the appropriate drive size. Leave set to the factory setting, unless Armature current –
6 the control board has been supplied as a spare part. See DIP Switch S15 Settings on page 79 for switch based on drive size.
configuration that is based on drive current rating code.
S18 Not used. Leave set to the factory setting. Off –
7

S20 Monitoring (reported by Par 652 [Encoder Err Chk]) of the Z channel of the Digital Encoder on connector XE2. On = ON
8 This switch adds/removes the Z channel in the encoder hardware check circuit. Par 652 enables/disables
reading the result of that hardware check. = OFF
Off Position Z channel monitored
On Position Z channel not monitored
S21 Encoder power supply voltage and input selection: 12…5 V
9 This switch setting determines both the power supply (input) and feedback level (output) voltage of the = 12-15V
connected encoder. ENC_5 ENC_12
When control power is supplied to the drive, the appropriate LED lights to indicate the selection of the switch.
= 5V
ENC_5 +5V encoder (2.5…5.4V input range)
ENC_5 ENC_12
ENC_12 +12…15 V encoder (+5.4V…15.2V input range)

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 Installation and Wiring Chapter 1

DIP Switch S4 Settings

ATTENTION: The drive can overspeed if DIP switch S4 is set incorrectly or the
tachometer is wired incorrectly. Failure to observe this precaution could result
in damage to, or destruction of, the equipment.

DIP switch S4 must be configured to be greater than or equal to the maximum

DC input voltage. Maximum DC Input Voltage = (Tach Volts/1000 rpm) x
Par 45 [Max Ref Speed] x 1.1. See Drive Reference and Feedback Scaling on
page 296 for details on speed feedback value configuration.

Figure 56 - DC Analog Tachometer DIP Switch S4 Example

ON DIP The illustration depicts the DIP switch settings

for 90V (factory default).

1 2 3 4 5 6 7 8

Table 28 - DC Analog Tachometer DIP Switch S4 Configuration

Maximum DC S4-1 S4-2 S4-3 S4-4
Input Voltage S4-8 S4-7 S4-6 S4-5
22V ON ON ON ON
45V ON ON ON OFF
90V ON ON OFF OFF
180V ON OFF OFF OFF
300V OFF OFF OFF OFF

DIP Switch S15 Settings

DIP Switch S15 is configured for the appropriate drive size at the factory. Do
not change the settings unless you are installing a replacement control board.

Figure 57 - Drive Size DIP Switch S15 Example

ON DIP Illustration for example only.

1 2 3 4 5 6 7 8

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Table 29 - Drives with 230V Input - DIP Switch S15 Configuration

Frame Drive Current S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
Rating Code
A 7P0 ON OFF OFF OFF OFF OFF OFF OFF
9P0 OFF ON OFF OFF OFF OFF OFF OFF
012 ON ON OFF OFF OFF OFF OFF OFF
020 OFF OFF ON OFF OFF OFF OFF OFF
029 ON OFF ON OFF OFF OFF OFF OFF
038 OFF ON ON OFF OFF OFF OFF OFF
055 ON ON ON OFF OFF OFF OFF OFF
073 OFF OFF OFF ON OFF OFF OFF OFF
093 ON OFF OFF ON OFF OFF OFF OFF
110 OFF ON OFF ON OFF OFF OFF OFF
B 146 ON ON OFF ON OFF OFF OFF OFF
180 OFF OFF ON ON OFF OFF OFF OFF
218 ON OFF ON ON OFF OFF OFF OFF
265 OFF ON ON ON OFF OFF OFF OFF
360 ON ON ON ON OFF OFF OFF OFF
434 OFF OFF OFF OFF ON OFF OFF OFF
C 521 ON OFF OFF OFF ON OFF OFF OFF
700 OFF ON OFF OFF ON OFF OFF OFF
D 875 ON ON OFF OFF ON OFF OFF OFF
1K0 OFF OFF ON OFF ON OFF OFF OFF

Table 30 - Drives with 460V Input - DIP Switch S15 Configuration

Frame Drive Current S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
Rating Code
A 4P1 OFF OFF OFF OFF OFF OFF ON OFF
6P0 ON OFF OFF OFF OFF OFF ON OFF
010 OFF ON OFF OFF OFF OFF ON OFF
014 ON ON OFF OFF OFF OFF ON OFF
019 OFF OFF ON OFF OFF OFF ON OFF
027 ON OFF ON OFF OFF OFF ON OFF
035 OFF ON ON OFF OFF OFF ON OFF
045 ON ON ON OFF OFF OFF ON OFF
052 OFF OFF OFF ON OFF OFF ON OFF
073 ON OFF OFF ON OFF OFF ON OFF
086 OFF ON OFF ON OFF OFF ON OFF
100 ON ON OFF ON OFF OFF ON OFF
129 OFF OFF ON ON OFF OFF ON OFF

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Table 30 - Drives with 460V Input - DIP Switch S15 Configuration (continued)
Frame Drive Current S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
Rating Code
B 167 ON OFF ON ON OFF OFF ON OFF
207 OFF ON ON ON OFF OFF ON OFF
250 ON ON ON ON OFF OFF ON OFF
330 OFF OFF OFF OFF ON OFF ON OFF
412 ON OFF OFF OFF ON OFF ON OFF
C 495 OFF ON OFF OFF ON OFF ON OFF
667 ON ON OFF OFF ON OFF ON OFF
D 830 OFF OFF ON OFF ON OFF ON OFF
996 ON OFF ON OFF ON OFF ON OFF
1K1 OFF ON ON OFF ON OFF ON OFF
1K3 ON ON ON OFF ON OFF ON OFF
1K4 OFF OFF OFF ON ON OFF ON OFF

Table 31 - Drives with 575V Input - DIP Switch S15 Configuration

Fram Drive Current S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
e Rating Code
B 067 OFF OFF OFF OFF OFF OFF OFF ON
101 ON OFF OFF OFF OFF OFF OFF ON
135 OFF ON OFF OFF OFF OFF OFF ON
270 ON ON OFF OFF OFF OFF OFF ON
405 OFF OFF ON OFF OFF OFF OFF ON
C 540 ON OFF ON OFF OFF OFF OFF ON
675 OFF ON ON OFF OFF OFF OFF ON
D 810 ON ON ON OFF OFF OFF OFF ON
1K0 OFF OFF OFF ON OFF OFF OFF ON
1K2 ON OFF OFF ON OFF OFF OFF ON
1K3 OFF ON OFF ON OFF OFF OFF ON
1K6 ON ON OFF ON OFF OFF OFF ON

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Table 32 - Drives with 690V Input - DIP Switch S15 Configuration

Frame Drive Current S15-1 S15-2 S15-3 S15-4 S15-5 S15-6 S15-7 S15-8
Rating Code
C 452 OFF OFF OFF OFF OFF OFF ON ON
565 ON OFF OFF OFF OFF OFF ON ON
D 678 OFF ON OFF OFF OFF OFF ON ON
791 ON ON OFF OFF OFF OFF ON ON
904 ON OFF ON OFF OFF OFF ON ON
1K0 OFF ON ON OFF OFF OFF ON ON
1K1 ON ON ON OFF OFF OFF ON ON
1K2 OFF OFF OFF ON OFF OFF ON ON
1K4 OFF ON OFF ON OFF OFF ON ON
1K5 ON ON OFF ON OFF OFF ON ON

I/O Wiring Observe the following points when installing I/O wiring:

• Use copper wire only.

• Wire with an insulation rating of 600V or greater is recommended.

IMPORTANT I/O terminals that are labeled “(–)” or “Common” are not referenced to
earth ground and are designed to reduce common mode interference.
Grounding these terminals can cause signal noise.

ATTENTION: An analog input configured for current operation and driven from
a voltage source could cause component damage. Verify the proper switch
configuration before input signals are applied. See DIP Switch and Jumper
Settings on page 77.
ATTENTION: Hazard of personal injury or equipment damage exists when
bipolar input sources are used. Noise and drift in sensitive input circuits can
cause unpredictable changes in motor speed and direction. Use speed
command parameters to help reduce input source sensitivity.

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I/O Signal and Control Wiring

Eight digital inputs, four digital outputs, three analog inputs, and two analog
outputs are available on the standard I/O terminal blocks that are provided
with the drive. One digital input (1…8) must be configured for “Enable”
(digital input 4 by default = “Enable”). See I/O and Control Wire Routing on
page 91 for information on routing I/O signal and control wires.

Additional digital and analog I/O is available when the optional I/O
expansion circuit board is installed. See Appendix F on page 391 for more
information. The optional 115V AC converter circuit board can be used to
convert 115V AC digital input signals to 24V DC digital inputs signals. This
board can be used to interface with the digital inputs on the standard I/O
terminal blocks. See Appendix G on page 393 for more information.

Table 33 - Analog I/O, Digital I/O, and DC Analog Tachometer Wire Sizes and Terminal
Specifications
Signal Type Terminal Block Wire Size and Type(1) Recommended
(Terminals) Flexible (mm2) Multi-core AWG Torque
(mm2) N•m (lb•in)
Analog and Digital I/O TB1…4 (1…40) 0.140…1.500 0.140…1.500 26…16 0.4 (3.5)
DC Analog Tach M3 (+ and –)

(1) See Cable and Wiring Recommendations on page 44 for more information.

Figure 58 - I/O Terminal Block Locations

Terminal Block 3 Terminal Block 4

Terminal Block 1 Terminal Block 2

Table 34 - I/O Terminal Block 1 Designations

No. Signal Description Factory Default Config. Parameter
1 Analog Input 1 (+) Isolated (1), bipolar, differential 1 “Speed Ref A” 70 [Anlg In1 Sel]
2 Analog Input 1 (–) ±10V / 0…20 mA or 4…20 mA.
1 Important: 0…20 mA or 4…20 mA operation
2 3 Analog Input 2 (+) 0 “Off” 75 [Anlg In2 Sel]
3 requires that switch S9, S10, and S11 on the control
4 4 Analog Input 2 (–)
5 board be in the “Off” position. Drive damage may
6
7
8
5 Analog Input 3 (+) occur if the switch is not in the correct position based 0 “Off” 80 [Anlg In3 Sel]
9
10 6 Analog Input 3 (–) on the type of input signal. See Table 27 on page 55.
Max ±10V, Max 0.25 mA.
7 +10V Pot Reference 2…5 kΩ load. Max ±10V, 10 mA. – –
8 –10V Pot Reference
9 Pot Common For (+) and (–) 10V pot references. – –
10 PE ground PE ground to drive chassis. – –

(1) Differential Isolation - External source must be maintained at less than 160V with respect to PE. Input provides high common-mode immunity.

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Table 35 - I/O Terminal Block 2 Designations

No. Signal Description Factory Default Config. Parameter
11 Internal 0V (Gnd) – –
12 Digital Input 1 Max +30V, 15V/3.2 mA, 24V/5 mA, and 30V/6.4 mA. 2 “Stop/CF” 133 [Digital In1 Sel]
11
12 13 Digital Input 2 A digital input (1…8) must be configured for 3 “Start” 134 [Digital In2 Sel]
13
14
14 Digital Input 3 “Enable”. 11 “Jog” 135 [Digital In3 Sel]
15
16
17
18
15 Digital Input 4 1 “Enable” 136 [Digital In4 Sel]
19
20 16 Digital Input Common Important: When the internal +24V DC supply – –
(terminal 19) is used for digital inputs 1…4, you
must connect the digital input common (terminal
16) to the +24V supply common (terminal 18).
17 Not Used – –
18 24V Supply Common Common for the internal power supply. – –
19 Internal +24V DC Supply Drive supplied +24V DC I/O power. – –
Max. +20…30V, 200 mA
The total current draw is the sum of encoder power,
digital outputs, and any other loads that are
connected to terminal 19.
20 PE ground PE ground to drive chassis. – –

Table 36 - I/O Terminal Block 3 Designations

No. Signal Description Factory Config. Parameter
Default
21 Analog Output 1 (+) Max. ±10V, 5 mA. 12 “Motor Speed” 66 [Anlg Out1 Sel]
22 Analog Output 1 (–)
21
22 23 Analog Output 2 (+) 13 “Motor Curr” 67 [Anlg Out2 Sel]
23
24 24 Analog Output 2 (–)
25
26
27
28
25 Digital Output Common – –
29
30 26 Digital Output 1 Max. +30V, 50 mA 5 “Ready” 145 [Digital Out1 Sel]
27 Digital Output 2 9 “Fault” 146 [Digital Out2 Sel]
28 Digital Output 3 2 “Spd Thresh” 147 [Digital Out3 Sel]
29 Digital Output 4 4 “CurrentLimit” 148 [Digital Out4 Sel]
30 Digital Output +24VDC Tie point for the internal supply or customer – –
Source supplied voltage for the digital outputs. See the
for sourcing digital outputs on page87 for more
information.
Max. +30V DC, 80 mA.
Important: When the internal +24V DC supply
(terminal 19) is used for digital outputs 1…4,
you must connect terminal 19 to terminal 30 and
the digital output common (terminal 25) to the
+24V supply common (terminal 18).

Table 37 - I/O Terminal Block 4 Designations

No. Signal Description Factory Default Config. Parameter
31 Digital Input 5 Max +30V, 15V/3.2 mA, 24V/5 mA, and 30V/6.4 mA. 17 “Speed Sel 1” 137 [Digital In5 Sel]
32 Digital Input 6 A digital input (1…8) must be configured for 18 “Speed Sel 2” 138 [Digital In6 Sel]
31
32 33 Digital Input 7 “Enable”. 19 “Speed Sel 3” 139 [Digital In7 Sel]
33
34 34 Digital Input 8 31 “Contactor” 140 [Digital In8 Sel]
35
36
37
38
35 Digital Input Common Important: When the internal +24V DC supply – –
39
40
(terminal 19) is used for digital inputs 5…8, you
must connect the digital input common (terminal
35) to the +24V supply common (terminal 18).
36 Not Used – –
…
40

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Table 38 - I/O Wiring Examples

Input/Output Connection Example Required Parameter Changes
Potentiometer Unipolar Speed Reference 1
• Adjust Scaling:
10 kΩ Pot. Recommended 72 [Anlg In1 Scale] and
2
(2 kΩ Minimum) 73 [Anlg1 Tune Scale]
3
4 • View Signal Value:
5
1404 [Analog In1 Value]
6 • View Signal Output:
7 385 [Speed Ref Out]
8 Verify that DIP switch S9 is set to “On” (0…10V).
9 See Table 27 on page 55.
10

Joystick Bipolar Speed Reference 1

• Set Direction Mode:
±10V Input 2
1322 [Direction Mode] = 1 “Bipolar”
3 • Adjust Scaling:
Important: See the Attention statement on page 82 4 72 [Anlg In1 Scale] and
for important bipolar wiring information. 5 73 [Anlg1 Tune Scale]
6 • View Signal Value:
7 1404 [Analog In1 Value]
8 • View Signal Output:
9 385 [Speed Ref Out]
10 Verify that DIP switch S9 is set to “On” (0…10V).
See Table 27 on page 55.
Analog Input Bipolar Speed Reference • Set Direction Mode:
±10V Input + 1
1322 [Direction Mode] = 1 “Bipolar”
Common 2
3 • Adjust Scaling:
Important: See the Attention statement on page 82 4
72 [Anlg In1 Scale] and
for important bipolar wiring information. 73 [Anlg1 Tune Scale]
5
6 • View Signal Value:
7 1404 [Analog In1 Value]
8 • View Signal Output:
9 385 [Speed Ref Out]
10 Verify that DIP switch S9 is set to “On” (0…10V).
See Table 27 on page 55.
Analog Input Unipolar Speed Reference • Configure for Voltage or Current:
0…10V Input, or + 1
71 [Anlg In1 Config]
Common 2
0…20 mA or 4…20 mA • Adjust Scaling:
3
4
72 [Anlg In1 Scale] and
73 [Anlg1 Tune Scale]
5
6 • View Signal Value:
7 1404 [Analog In1 Value]
8 • View Signal Output:
9 385 [Speed Ref Out]
10 Verify that DIP switch S9 is set to “On” for 0…10V
operation, or “Off” for 0…20 mA or 4…20 mA
operation. See Table 27 on page 55.
Analog Output Bipolar Signal • Select Source Value:
±10V Bipolar (based on the signal of the assigned 66 [Anlg Out1 Sel]
input source - for example Analog Input 1), or – + • Adjust Scaling:
0…10V Unipolar (shown) 21
62 [Anlg Out1 Scale]
22
23
24
25
26
27
28
29
30

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Table 38 - I/O Wiring Examples (continued)

Input/Output Connection Example Required Parameter Changes
Enable Input • No Changes Required.
24V DC internal supply 11
12 If the digital input used for “Enable” is changed
13 from the default setting of digital input 4, the
14 wiring must be changed accordingly.
15
16
17
18
19
20

2-Wire Control Non-Reversing • Disable Digital Input 1:

24V DC internal supply 11 133 [Digital In1 Sel] = 0 “Not Used”
Stop-Run 12
• Set Digital Input 2:
Important: Programming inputs for 2-wire control 13 134 [Digital In2 Sel] = 5 “Run”
deactivates the HIM Start and Jog buttons. 14
15
16
17
18
19
20

2-Wire Control • Set Digital Input 1:

Reversing Run Fwd. 11 133 [Digital In1 Sel] = 6 “Run Forward”
12
24V DC external supply • Set Digital Input 2:
13
Run Rev. 134 [Digital In2 Sel] = 7 “Run Reverse”
14
Important: Programming inputs for 2-wire control
15
deactivates the HIM Start and Jog buttons.
16
17
+24V Neutral/
Common 18
19
20

3-Wire Control • No Changes Required.

Stop 11
24V DC internal supply
12
13
Start 14
15
16
17
18
19
20

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Table 38 - I/O Wiring Examples (continued)

Input/Output Connection Example Required Parameter Changes
3-Wire Control • No Changes Required
24V DC external supply Stop 11
Requires 3-wire functions only ([Digital In1 Sel]). 12
Configuring 13
2-wire selections causes a type 2 alarm (see page Start 14
228). 15
16
17
18
+24V Neutral/ 19
Common 20

Sourcing Digital Outputs • No Changes Required

11
Internal 24V DC supply
12
13
14
15
16
17
18
19
20

21
22
23
24
25
Ready 26
Fault 27
Spd Thresh 28
29
30

Sourcing Digital Outputs • No Changes Required

External 21
External 24V DC supply External Neutral/
+24V DC Common 22
23
24
25
Ready 26
Fault 27
Spd Thresh 28
29
30

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Digital Encoder Terminal Block

Always connect the encoder connection cables directly to the terminals on the
encoder terminal block. The encoder cable must be composed of twisted pairs
with the shield connected to the shield ground on the drive side. Do not
connect the shield to ground on the motor side. In some cases (for example,
cable lengths that exceed 100 meters), it may be necessary to ground the shield
of each twisted pair on the power supply. See the PowerFlex Digital DC Drive
Technical Data, publication 20P-TD001, for digital encoder specifications.

Figure 59 - Digital Encoder Terminal Block Location

Control board
EMI shield

Wire shield ground Digital Encoder Wire shield ground

terminal block

Table 39 - Digital Encoder Terminal Designations

Terminal Block Label Signal Description

A+ Encoder A Single channel A or dual channel
quadrature A input
A+
A- Encoder A (NOT)
A-
B+
B-
B+ Encoder B Single channel B or dual channel
Z+
Z-
quadrature B input
CO
M B- Encoder B (NOT)
+V

Z+ Encoder Z Pulse, marker, or registration

input (2)
Z- Encoder Z (NOT)
COM +5/12…15V (1) DC Return Internal power common
+V +5/12…15V (1) DC Power Internal power source
200 mA
(1) Selectable via switch S21 on the control board. See Table 27 on page 78.
(2) Selectable via switch S20 on the control board. See Table 27 on page 78.

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 Installation and Wiring Chapter 1

Figure 60 - Sample Encoder Power Wiring

Power Source Connection Example
Internal Drive Power (1)
+5/12…15V DC, 200 mA +5/12-15V DC
(200 mA)
+V
COM Common
Z-
Z+
to Shield (1)
B-
B+
A-
A+

External Power Source

+V
COM

Common
Z-
Z+ to

+
Shield (1)
B- External
Power
B+ Supply
A-
A+

(1) Shield connection is on drive control board EMI shield. See Figure 59 on page 88.

Figure 61 - Sample Encoder Signal Wiring

Encoder Signal Connection Example
Single-Ended, Dual Channel Supply Common
+V
COM
Z NOT
Z-
Z
Z+
B NOT
B-
B
B+
A NOT
A-
A
A+

to Shield (1)
Differential, Dual Channel
+V
COM
Z NOT
Z-
Z
Z+
B NOT
B-
B
B+
A NOT
A-
A
A+

to Shield (1)

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Chapter 1 Installation and Wiring

DC Analog Tachometer Terminal Block

Figure 62 - Analog Tachometer Terminal Block Location

Analog Tachometer
terminal block

See the PowerFlex Digital DC Drive Technical Data, publication 20P-TD001,

for DC analog tachometer specifications.

ATTENTION: The drive can overspeed if DIP switch S4 is set incorrectly, or the
tachometer is wired incorrectly. Failure to observe this precaution could result
in damage to, or destruction of, the equipment.

Table 40 - DC Analog Tachometer Terminal Designations

Label Signal Description
– Negative input –
A (Not Used)
−
B
A
B C
C
+ + Positive input 22.7 / 45.4 / 90.7 / 181.6 / 302.9V(1)
See Verify Motor Rotation and Run max voltage
Feedback Polarity Checks on page 104 for 8 mA max. current
information on how to determine feedback
polarity.
(1) Maximum voltage depends on the configuration of DIP switch S4. See DC Analog Tachometer DIP Switch S4 Example on page
79.

Resolver Feedback Module

The resolver feedback module (catalog number 20P-RES-A0), which provides

a drive interface to a selection of compatible resolvers, must be ordered and
purchased separately from the drive. The resolver option module includes the
PowerFlex DC Drive Resolver Feedback Module Installation Instructions,
publication 20P-IN071, which provides installation and wiring information.
See Resolver Type Selection on page 329 for more information on compatible
resolvers.

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I/O and Control Wire Routing

Follow the guidance in this section to route all I/O and control wires when the
protective covers are installed.

Frames A…C
Route all I/O and control wires from the bottom of the drive, between the
lower front cover and the metal (frame A) or plastic (frames B and C) terminal
cover.
Frame A

Frame D
Route the field control power input cables through the opening at the top left
side of the control panel.

Route I/O and control cables through the opening at the bottom left side of
the control panel.

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Notes:

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 Chapter 2

Drive Start Up

This chapter describes how to start up the PowerFlex® DC drive. If you use the
LCD HIM (Human Interface Module) to commission the drive, it is
recommended that you read the HIM Overview on page 281 before
performing these procedures.

ATTENTION: Power must be applied to the drive to perform the following

start-up procedure. Some of the voltages present are at incoming line
potential. To avoid electric shock hazard or damage to equipment, allow only
qualified service personnel to perform the following procedure. Thoroughly
read and understand the procedure before beginning. If an event does not
occur while performing this procedure, Do Not Proceed. Remove Power
including user supplied control voltages. Correct the malfunction before
continuing.

IMPORTANT It is recommended that you uncouple the motor from all loads, until
otherwise directed.

Drive Start Up Checklist This checklist contains the major steps that are required to commission the
drive.
❏ Verify all Drive Configuration Settings - page 94.
❏ Verify the Power Wiring - page 94.
❏ Verify the Control and I/O Wiring - page 94.
❏ Apply Voltage to the Control Circuits - page 95.
❏ Verify the Control Voltages - page 96.
❏ Load the Default Settings - page 97.
❏ Configure the Most Commonly Used Parameters - page 97.
❏ Tune the Current Regulator - page 102.
❏ Verify Motor Rotation and Run Feedback Polarity Checks - page 104.
❏ Configure the Speed Feedback Parameters - page 107.
❏ Tune the Speed Regulator - page 109.
❏ Verify Speed Reference Settings and Drive Operation - page 111.

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Chapter 2 Drive Start Up

Before Applying Power to the Complete these procedures before you apply power to the drive.
Drive
Verify all Drive Configuration Settings
1. With the bottom cover removed from the drive (see Remove the Drive
Covers on page 28), verify that DIP switch S14 is set correctly. When
the internal single-phase field controller is used, the switch setting must
be greater than, or equal to, the rated field current that is specified on the
motor nameplate. See Table 16 on page 62.
2. Verify all switch settings (S9, S10, and S11) for the analog inputs. See
Table 27 on page 78.
3. Verify all DIP switch and jumper settings for the digital encoder or
analog tachometer. See Table 27 on page 78 and Figure 56 on page 79.

ATTENTION: The Drive can overspeed if DIP switch S4 is set incorrectly, or the
tachometer is wired incorrectly. Failure to observe this precaution could result
in damage to, or destruction of, the equipment.

Verify the Power Wiring

• Verify that the AC line power at the disconnect device is within the
rated value of the drive and that all power wiring is correct. See Power
Wiring on page 45 for further information.

ATTENTION: Do not connect any external power to the armature output

terminals, personal injury and/or equipment damage can occur.

Verify the Control and I/O Wiring

1. Verify that control power and I/O wiring is correct. A digital input (1…8
only) must be wired and configured as a drive enable. See Control
Circuit Input Power on page 67 and I/O Wiring on page 82 for further
information.
2. If you are using a PTC thermistor or thermal switch to protect the
motor from overloading, remove the 1 kΩ resistor between terminals 78
and 79. See Thermistors and Thermal Switches on page 64

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 Drive Start Up Chapter 2

Apply Power to the Drive The remainder of the “Drive Start Up” procedure in this manual uses a HIM to
configure and autotune the drive.

You can use the DriveTools™ SP (v4.01 or later) or Connected Components

Workbench™ (v10 or later) software to program drive parameters. A drive
“Start Up” wizard (basic application configuration only) is available with
Connected Components Workbench software. You must use DriveTools SP
with a PowerFlex DC drive specific software patch. The software patch can be
downloaded from the Product Compatibility and Download Center at:
https://compatibility.rockwellautomation.com/Pages/home.aspx

If an operator interface is not available, use a remote device to start up the drive.
For information on how to use the HIM, see the HIM Overview on page 281.

IMPORTANT When power is first applied, the HIM can require approximately 5 seconds
until commands are recognized (including the Stop key).

Apply Voltage to the Control Circuits

1. Apply power to the control circuits (terminals U2 and V2) of the drive.
2. If any of the digital inputs are configured to “Stop/CF” (CF = Clear
Fault), “Enable” or “Aux Fault,” verify that signals are present or
reconfigure [Digital Inx Sel]. If a fault code displays, see Chapter 4 -
Troubleshooting on page 219.
3. If the STS LED is not currently flashing green, see Figure 63 on page 96.

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Chapter 2 Drive Start Up

Figure 63 - Drive Status Indicators

PORT

MOD

NET A

NET B

2 1

STS

# Name Color State Description

1 STS Green Flashing Drive ready, but not running and no faults are present.
(Status)
Steady Drive running, no faults are present.
Yellow Flashing, Drive A condition exists that is preventing the drive from starting. Check
Stopped parameters 1403 [Start Inhibits] and/or 1380 [Drive Alarm 1].
Flashing, Drive An intermittent type 1 alarm condition is occurring. Check parameter
Running 1380 [Drive Alarm 1]. See Fault Descriptions on page 222 and/or
Alarm Descriptions on page 228.
Steady, A continuous type 1 alarm condition exists. Check parameter 1380
Drive Running [Drive Alarm 1]. See Fault Descriptions on page 222 and/or Alarm
Descriptions on page 228.
Red Flashing A fault has occurred. Check [Fault x Code] or view the Fault Queue on
the HIM. See Fault Descriptions on page 222.
Steady A non-resettable, non-configurable fault has occurred. Check [Fault x
Code] or view the Fault Queue on the HIM. See Fault Descriptions on
page 222.
2 PORT See the Communication Status of DPI port internal communications (if present).
Adapter User Manual.
MOD Status of communications module (when installed).
NET A Status of network (if connected).
NET B Status of secondary network (if connected).

Verify the Control Voltages

Verify that the following voltages are present at I/O terminal block 1 and 2. See
I/O Signal and Control Wiring on page 83:
Terminal Number… Voltage To Terminal Number…
7 +10V 9
8 -10V 9
19 24…30V 18

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 Drive Start Up Chapter 2

Load the Default Settings

It is recommended that you reset the drive to the default settings. By resetting
the drive to the default settings, any previous parameter modifications you have
made are overwritten.

1. On the HIM, from the “Main” menu scroll to the “Memory Storage”
menu.
2. Press Enter.
3. Scroll to “Reset To Defaults” and press Enter.\
4. A message displays to verify that you want to reset the drive to the
factory settings.
5. Press Enter.

A “Params Defaulted” (F48) entry is made in the drive Fault Queue to indicate
the change.

Configure the Most Commonly Used Parameters

If your application only requires basic drive parameter setup, you can use the
S.M.A.R.T. list screen available on the HIM to program the drive. See Using
the S.M.A.R.T. List Screen on page 283 for more information.

IMPORTANT To access all parameters in this procedure, you must set the Parameter View
option to “Advanced”.

1. At the Main menu, scroll to the Parameter option.

2. Press ALT and then Sel.
3. Scroll to the Numbered List option.
4. Press Enter.
5. Type 211.
6. Press Enter.
7. Press Sel.
8. Type 1.
9. Press Enter.
10. Press Esc.
11. Press ALT and then Sel.
12. Scroll to the File-Group-Par option.
13. Press Enter.
14. Scroll to the “Motor Control” file.
15. Press Enter.

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Chapter 2 Drive Start Up

16. With the “Motor Data” group selected, press Enter.

17. Configure the following parameters:
Parameters 45 [Max Ref Speed] and 162 [Max Feedback Spd] are
typically set to the motor nameplate base speed. However, if a speed
feedback device is used (encoder or tachometer), see Drive Reference
and Feedback Scaling on page 296 for details on setting these
parameters.

❏ 45 [Max Ref Speed] - Enter the motor nameplate base speed.

❏ 162 [Max Feedback Spd] - Enter the motor nameplate base speed.

❏ 175 [Rated Motor Volt] - Enter the rated motor nameplate

armature voltage. This value is the measured armature voltage when
the motor is running at base speed with rated field current. This
value also represents 100% of the rated armature voltage when field
weakening is not used. If field weakening is used, set this value to
90% of the rated armature voltage. This prevents a possible
overvoltage condition when the drive transitions to the field
weakening mode.

❏ 179 [Nom Mtr Arm Amps] - Enter the rated motor nameplate
armature current. To prevent current scaling/resolution issues, the
drive size cannot exceed the motor size (as set by Par 179) by more
than three times. The drive size is set at the factory with DIP switch
S15 and is displayed in Par 465 [Drive Size].

❏ 374 [Drv Fld Brdg Cur] - Configure this parameter to the

appropriate setting based on your application:

• When the drive internal, single-phase field controller is used,

enter the rated current of the field bridge regulator to match
the value set by using the DIP switch S14.
• When a drive and a permanent magnet motor is used, leave Par
374 and DIP switch S14 set to the factory default values.
• When the external, three-phase field controller of the
PowerFlex DC field controller is used, set Par 374 to rated field
current specified on the motor nameplate.
See Field Current Configuration on page 61 for more information.
❏ 280 [Nom Mtr Fld Amps] - Configure this parameter to the
appropriate setting based on your application:

• When the drive internal, single-phase field controller is used,

enter rated motor nameplate field current.
• When a permanent magnet motor is used, leave this parameter
set to the default value.
• When the external, three-phase field controller of the
PowerFlex DC field controller is used, set Par 280 equal to Par
374.

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18. Access the “Field Config” group.

19. Configure the following parameters:
❏ If the motor field power is supplied by an external source, set Par
497 [Field Reg Enable] = 0 “Disabled”. Otherwise, verify that this
parameter is set to 1 “Enabled” (default). Leave set to the default
value when a permanent magnet motor is used.

❏ If you are utilizing field economy, set Par 1407 [Field Econ Delay]
to the desired amount of time to elapse after the drive stops or
reaches zero speed before field economy becomes active. The
default value is 300 seconds. The minimum field current (value of
field economy) is set in Par 468 [Min Fld Curr Pct]. Leave Par 1407
set to the default value when a permanent magnet motor is used.

❏ Par 469 [Field Mode Sel] - select the desired field mode (default =
0 “Base Speed”, constant field current):
• 1 “Field Weaken”, field weakening mode

• 2 “External”, power to the field is supplied externally

• 3 “PM External”, a permanent magnet motor creates an

external field

• 4 “Wired FC FW”, field weakening mode and an analog I/O

connection to a PowerFlex DC field controller

• 5 “Fiber FC FW”, field weakening mode and a digital I/O

connection to a PowerFlex DC field controller

• 6 “Wired FC BS”, base speed and an analog I/O connection to

a PowerFlex DC field controller

• 7 “Fiber FC BS”, base speed and a digital I/O connection to a

PowerFlex DC field controller

❏ If you are utilizing field economy at zero speed, set 468 [Min Fld
Curr Pct] to the desired minimum field current for field economy
(default = 30%). Leave set to the default value when a permanent
magnet motor is used.

❏ If you are operating the drive in field weakening mode, set Par 456
[Fld Weaken Ratio] = Motor nameplate base speed / Par 45 [Max
Ref Speed] x 100. Leave set to the default value when a permanent
magnet motor is used.

IMPORTANT When operating the drive in field weakening mode, it is necessary to refer to
the CEMF value or to the crossover data. If the maximum field current is not
within 10% of the maximum value of the internal field converter, configure
the current feedback by using DIP switch S14. See Field Current
Configuration on page 61.

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Chapter 2 Drive Start Up

20. Access the “Utility” file.

21. Press Enter.
22. Access the “Alarms” group.
23. Configure the following parameters:

❏ Par 481 [UnderVolt Thresh] - Enter the value at which the drive
detects an AC under voltage condition. The default value is 200V
on a 240V AC line and 400V on a 480V AC line. Typically, this
value is approximately 85% of the nominal AC line voltage.
❏ Par 584 [OverCurrent Thr] - Enter the value at which a drive over
current condition is detected (default = 175%). Set the threshold
level at least 10% above the selected operating current limit (Par 7
[Current Limit]).

24. Par 585 [OverSpeed Val] - Enter a value that is 10% above the maximum
speed that the motor achieves. Typically 10% higher than Par 162 [Max
Feedback Spd].
25. Access the “Input & Output” file.
26. Press Enter.
27. Access the “Analog Inputs” group.
28. Configure the following:

❏ If you have connected a potentiometer to analog input 1 for a speed

reference:
• Verify that Par 70 [Anlg In1 Sel] is set to 1 “Speed Ref A”
(default).

• Verify that switch S9 and Par 71 [Anlg In1 Config] are

configured to match (voltage versus a current signal). See DIP
Switch and Jumper Settings on page 77.

• Set Par 72 [Anlg In1 Scale] and Par 74 [Anlg In1 Offset]
appropriately.

❏ If you are using the HIM on the drive cover (Port 1) for the speed
reference, set Par 70 [Anlg In1 Sel] to 0 “Off ”.

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29. Access the “Digital Inputs” group.

30. Configure the following parameters:
❏ Par 1391 [ContactorControl] - Select the type of contactor that is
used with the drive: 1 “Contactor” (default, AC input, or DC
output contactor), 2 “Contactor+DB” (AC input or DC output
contactor and dynamic brake contactor), or 0 “None”.

If you select 0 “None” for Par 1391 [ContactorControl], a

“CntactrCflct” alarm displays. The alarm is resolved and
automatically cleared when you complete the Digital Output
configuration in the next sub step.

If Par 1391 [ContactorControl] is set to 1 or 2, an Auxiliary Status

contactor must be wired to a digital input (default for digital input
8).

❏ Par 140 [Digital In8 Sel] - If a contactor is NOT used, set to other
than 31 “Contactor” (for example, 0 “Not Used”).

❏ If an auxiliary status contactor is wired to a digital input, set the

appropriate [Digital Inx Sel] parameter to 31 “Contactor”.

31. Access the “Digital Outputs” group.

32. Configure the following parameters:
❏ If a contactor and a dynamic brake resistor are used:

• Par 629 [Relay Out 2 Sel] = 24 “ContactorDB”.

❏ If a contactor or a dynamic brake resistor is not used:

• Par 629 [Relay Out 2 Sel] = Set to other than 24
“ContactorDB” or 25 “Contactor” (for example, 0 “Not
Used”).

• Par 1392 [Relay Out 1 Sel] = Set to other than 24

“ContactorDB” or 25 “Contactor” (for example, 0 “Not
Used”).

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33. If you are using the HIM on the drive cover (Port 1) for the speed
reference, complete the following steps:
❏ Access the “DPI Inputs” group.

❏ Set Par 1323 [DPI P1 Select] to 1“Speed Ref A”.

❏ Access the “Analog Inputs” group.

❏ Set Par 70 [Anlg In1 Sel] to 0 “Not Used”.

34. If you are using a source other than the HIM for the speed reference,
complete the following steps:

❏ Select one of the parameter sources that are listed here and set it to
1 “Speed Ref A”.

• [DPI Px Select]

• [Anlg Inx Sel]

❏ Set Par 70 [Anlg In1 Sel] to 0 “Not Used”, if appropriate.

Tune the Current Regulator

IMPORTANT Because the field cannot be disconnected in a permanent magnet motor,

tuning the current regulator, as directed, does not work. The appropriate
procedure for tuning the current regulator for a permanent magnet motor is
performed later in the Drive Start Up procedures. When a permanent
magnet motor is used, continue with Verify Motor Rotation and Run
Feedback Polarity Checks on page 104.

IMPORTANT If the PowerFlex DC drive is wired for two-wire control, with a digital input
programmed for “Run,” the HIM Start/Stop cannot be used for autotune.
Maintain the “Run” input for autotune.

ATTENTION: Do not attempt to perform the “Tune the Current Regulator”

procedure with a PowerFlex DC drive and permanent magnet motor
combination. Drive and/or motor damage may occur.
ATTENTION: Before tuning the current regulator, you must provide a hard-
wired, maintained, external operator accessible coast/stop push button to
disable the machine in case of improper operation. If a means to coast/stop
the drive is not provided, uncontrolled machine operation can result. Failure
to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION: Current regulator tuning may cause unintentional motor
rotation or incorrect speed references that can damage connected
equipment. Before tuning the current regulator, uncouple the motor from
equipment.

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Complete this test before running the drive for the first time. Upon completing
this tuning procedure, the armature resistance value is stored in Par 453 [Arm
Resistance] and the armature inductance value is stored in Par 454 [Arm
Inductance].

1. If an external supply is used to power the motor field, disconnect the

wires from the motor field terminals. If the drive supplies power to the
motor field, the internal field circuit is automatically disabled during this
test.

IMPORTANT Verify that the motor does not start rotating (less than one-half a full turn)
during the Current Regulator tuning test (due to remnant magnetization,
series field, and so forth). If necessary, mechanically block the motor shaft
so it does not turn.

2. Access the “Motor Control” file and the “Torq Attributes” group.
3. Set Par 7 [Current Limit] to the appropriate level for your application.
This parameter defaults to 150%. The drive armature output current
corresponds to Par 179 [Nom Mtr Arm Amps] x Par 7 [Current Limit].

Par 8 [Current Lim Pos] is the drive current limit for the positive
direction. Par 9 [Current Lim Neg] is the drive current limit for the
negative direction. These parameters are set to 150% by default. If
necessary, you can change the value of these parameters to suit your
application.
4. Access the “Speed Feedback” group.
5. Verify that Par 414 [Fdbk Device Type] is set to 3 “Armature” (default).
6. Press the Esc key until you return to the “File” menu.
7. Access Par 452 [CurrReg Autotune] in the “Autotune” group, in the
“Motor Control” file, and select 1 “On.”
8. Press Enter.
9. The HIM displays “Ready for RL.”
10. Press the Start button on the HIM.

The current regulator auto tuning test starts, which could take several minutes.

IMPORTANT Programming inputs for 2-wire control deactivates the HIM start and jog
buttons.

At the end of the test, Par 453 [Arm Resistance] and Par 454 [Arm
Inductance] are updated. The drive is automatically stopped and Par 452
[CurrReg Autotune] is set to 0 “Off ”.

It is also possible to tune the current regulator manually (other than permanent
magnet motors). See Manually Adjusting the Current Regulator Tune Settings
on page 350 for more information.

If a drive fault occurs during the tuning procedure, see the list of Fault
Descriptions that starts on page 222 for possible causes and actions.

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Verify Motor Rotation and Run Feedback Polarity Checks

The jog function (on the HIM or terminal block) is used to check motor
direction and encoder/resolver operation. If the STS LED is not currently
flashing green, see Figure 63 on page 96 for more information.

ATTENTION: Before running the motor direction and polarity checks, you
must provide a hard-wired, maintained, external operator accessible coast/
stop push button to disable the machine in case of improper operation. If a
means to coast/stop the drive is not provided, uncontrolled machine
operation can result. Failure to observe this precaution could result in severe
bodily injury or loss of life.
ATTENTION: The motor direction and polarity checks may cause
unintentional motor rotation or incorrect speed references that can damage
connected equipment. Before tuning the motor direction and polarity checks,
uncouple the motor from equipment.

1. When the motor polarity check is run, power is applied to the drive and
the motor rotates. Verify that the motor is uncoupled from the load. If
the motor cannot be uncoupled from the load, the following motor
checks are recommended.
• All electrical connections are tight.
• The brushes are properly seated.
• The motor shaft is free to rotate.
2. Access the “Motor Control” file, “Speed Feedback” group.
3. Verify that Par 414 [Fdbk Device Type] is set to 3 “Armature” (default).
4. Access the “Speed Command” file, “Discrete Speeds” group.
5. Verify that Par 266 [ Jog Speed] is set to the default value (100 rpm) or
to an acceptable speed level for this test.
6. If analog input 1 is wired, access the “Analog Inputs” group, and verify
that the voltage level is 0V in Par 1404 [Analog In1 Value].
7. View Par 233 [Output Voltage], assert a Jog command (via the HIM
keypad or digital input on the I/O terminal block), and observe the
motor rotation direction.
8. Verify whether Par 233 [Output Voltage] is positive.
9. If the observed rotation direction is correct, continue with step 15 on
page 105. If the observed rotation direction is incorrect, continue with
step 10, while referring to the motor connection diagrams in Figure 64
on page 105.
10. Remove power from the drive.
11. Verify that power is turned off and locked out.

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12. Switch the armature leads connected to C (+) and D (–).

Figure 64 - Motor Connections

C1 (+) F1 (+) C1 (+) F1 (+)

(2) (2)
C (+) A1 C (+) A1

(2) (2)

D (-) A2 D (-) A2

D1 (-) F2 (-) D1 (-) F2 (-)

PowerFlex DC Motor PowerFlex DC Motor

Straight Shunt Machine, Straight Shunt Machine,

CCW Rotation Facing Commutator End CW Rotation Facing Commutator End

13. Apply power to the drive.

14. Repeat step 6… step 9 on page 104. When the motor rotation direction
is correct, continue with step 15.
15. Complete the appropriate procedure for the type of feedback device that
is used for the application:
❏ For armature voltage feedback - Continue with step 16.
❏ For analog tachometer feedback, assert a Jog command and verify
that the sign and value of Par 1408 [Tachometer Speed]
corresponds with the actual direction of the motor. If the sign and
value of Par 1408 [Tachometer Speed] and the motor direction do
not correspond, remove power from the drive and reverse the
tachometer connections at the drive. Verify proper motor rotation
and continue with step 16.
❏ For encoder feedback, assert a Jog command and verify that the sign
and value of Par 420 [Encoder Speed] correspond with the actual
direction of the motor. If the sign and value of [Par 420 [Encoder
Speed] and the motor direction do not correspond, remove power
from the drive and reverse the encoder connections at the drive.
Reverse the polarity of only one channel, for example, B and B
NOT. See Table 39 on page 88 for digital encoder terminal block
designations. Verify proper motor rotation and continue with step
16.
❏ For resolver feedback, assert a Jog command and verify that the sign
and value of Par 428 [Resolver Speed] correspond with the actual
direction of the motor. If the sign and value of Par 428 [Resolver
Speed] and the motor direction do not correspond, do one of the
following:
• Change the setting of bit 5 “Resolver Dir” in Par 425 [Resolver
Config]. Verify proper motor rotation and continue with step
16.
• Remove power from the drive and verify the correct resolver
connections to the drive (refer to resolver installation
instructions for details).

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16. For permanent magnet motors only, continue with Tune the Current
Regulator for a Permanent Magnet Motor on page 106. For all other
motors, continue with Configure the Speed Feedback Parameters on
page 107.

Tune the Current Regulator for a Permanent Magnet Motor

Only complete this procedure when you are using a permanent magnet motor.

ATTENTION: Before tuning the current regulator, you must provide a hard-
wired, maintained, external operator accessible coast/stop push button to
disable the machine in case of improper operation. If a means to coast/stop
the drive is not provided, uncontrolled machine operation can result. Failure
to observe this precaution could result in severe bodily injury or loss of life.
ATTENTION: Current regulator tuning requires motor rotation and applied
speed references that can damage material or process loads. Before tuning
the current regulator, remove any material or process load.

1. Verify that Par 414 [Fdbk Device Type] is set to 3 “Armature” (default).
2. Set the value of Par 453 [Arm Resistance], calculated as:
(Par 175 [Rated Motor Volt] / Par 179 [Nom Mtr Arm Amps]) x 0.04
3. Leave Par 454 [Arm Inductance] set to the default value (based on drive
size).
4. Verify that there is no material or process load present and the motor
shaft is free to rotate.
5. Start the drive and run the motor at approximately 50% of base speed.
Observe the value of Par 587 [I Reg Err] after it has settled to a value and
do one of the following.
• If Par 587 [I Reg Err] is positive, increase the value of Par 454 [Arm
Inductance]. The value of Par 587 determines the magnitude of
change. Generally, make large increases (for example, double) when
Par 587 is large (greater than 40) and smaller increases as Par 587 gets
closer to zero.
• If Par 587 [I Reg Err] is negative, decrease the value of Par 454 [Arm
Inductance]. The value of Par 587 determines the magnitude of
change. Generally, make large increases (for example, double) when
Par 587 is large (greater than -40) and smaller increases as Par 587
gets closer to zero.
6. Repeat step 4 until Par 587 [I Reg Err] is as close to zero as possible.
Values less than 20/-20 are acceptable as close to zero. However, with
some motors, the minimum value of Par 587 may only be 60/-60. Stop
the drive and continue with Configure the Speed Feedback Parameters
on page 107.

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Configure the Speed Feedback Parameters

1. Access the “Speed Feedback” group.

2. Configure the following parameters:

If an encoder or tachometer is used, see Drive Reference and Feedback

Scaling on page 296 for instructions on associated parameter settings.

❏ Par 414 [Fdbk Device Type] - Select the source for motor velocity
feedback:

•1 “Encoder”
•2 “DC Tach”
•3 “Armature” (default)
•4 “Resolver”
If operating the drive in field weakening mode, Par 414 [Fdbk
Device Type] must be set to 1 “Encoder”, 2 “DC Tach”, or 4
“Resolver.”

❏ Par 457 [Spd Fdbk Control] - If you are using an encoder,

tachometer, or resolver set this parameter to 1 “Enabled” to activate
speed feedback control.

❏ If the speed feedback source is an analog tachometer, set the fine

scaling value in Par 562 [Anlg Tach Gain]. After the drive hardware
conditions the value of Par 562, it is used to scale the analog
tachometer feedback signal.

ATTENTION: The drive can overspeed if DIP switch S4 is set

incorrectly, or the tachometer is wired incorrectly. Failure to
observe this precaution could result in damage to the drive or
process equipment. See Table 56 on page 79.

❏ If the speed feedback source is a digital encoder, complete the

following steps:

a. Enter the pulses per revolution from the encoder nameplate in

Par 169 [Encoder PPR]. See Valid Speed Feedback Values on
page 300 for more information on setting the value of this
parameter.
b. Set Par 652 [Encoder Err Chk] to 1 “Enabled” to activate
monitoring of the digital encoder signals (verifies the presence
of the A, B, A-, B-, or Z channel signals).

Par 457 [Spd Fdbk Control] must be set to 1 “Enabled” for

encoder monitoring to occur.

Switch S20 must be set correctly to prevent encoder faults. See

Table 27 on page 78.

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❏ If the speed feedback source is a resolver, complete the following

steps:
a. Select the type of resolver that is used in Par 423 [Reslvr Type
Sel]. See Resolver Type Selection on page 329 for details on
compatible resolver types.
b. Select the appropriate ratio of resolver electrical to mechanical
turns in Par 424 [Reslvr Spd Ratio].
c. Configure the resolver to digital conversion resolution and
moving average speed filter period in par 425 [Resolver
Config].
d. Cycle power to the drive to apply these changes in the resolver
board.
3. Access the “Speed Command” file.
4. Press Enter.
5. With the “Limits” group selected, press Enter.
6. Configure the following parameters:
• Par 1 [Minimum Speed] - Enter the minimum speed reference limit.
• Par 2 [Maximum Speed] - Enter the required maximum speed for the
application. The maximum speed can be above the motor base speed
if field weakening is used.
7. Access the “Dynamic Control” file.
8. Press Enter.
9. Access the “Ramp Rates” group and configure the following parameters:
• Par 660 [Accel Time 1] - Set the desired acceleration ramp time.
• Par 662 [Decel Time 1] - Set the desired deceleration ramp time.

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Tune the Speed Regulator

The speed regulator auto tuning test detects the total inertia value of the motor
shaft (in Kg•m2), the friction value (in N•m), and the calculation of the
proportional (P) and integral (I) gains of the speed regulator.

IMPORTANT If upgrading a drive to firmware revision 6.001 or later (from firmware

revision 5.007 or earlier) and it is not possible to perform speed regulator
autotuning, see Appendix C, Manually Tuning the Speed Regulator for
Firmware Revision 6.001 and Later on page 317 for instructions on setting
the proper gains in the Speed Loop.

IMPORTANT This test requires the free rotation of the motor shaft and load. The auto
tuning test of the speed loop cannot be conducted on machines with a
limited stroke.

IMPORTANT If the PowerFlex DC drive is wired for two-wire control, with a digital input
programmed for “Run,” the HIM Start/Stop cannot be used for autotune.
Maintain the “Run” input for autotune.

ATTENTION: The motor rotates during this tuning procedure. Hazard of

personal injury exists due to motor shaft rotation and/or machinery motion.

IMPORTANT The test is conducted by using the torque limit value set in the Par 1048
[Autotune Cur Lim] (recommended value = 20%). The torque reference is
applied via a step reference (without a ramp). Therefore, there must not be
any “backlash” in the mechanical transmission and it must be compatible
with those operations using the torque limit value set in the Par 1048
[Autotune Cur Lim]. You can modify the torque limit value via this
parameter.

IMPORTANT In applications where the system total inertia value is high, it is necessary to
increase the value of Par 1048 [Autotune Cur Lim] to avoid “Time out”
errors. The speed regulator auto tuning test of the speed loop is not suitable
for drives that are used in “elevator” and/or lifting system applications.

1. While still in the “Autotune” group, configure the motor shaft rotation
direction via Par 1029 [Speed Tune Dir], with reference to the motor
commutator end.
• 1 “Forward” = clockwise
• 2 “Reverse” = counter-clockwise

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2. Speed Regulator Autotune assumes that full field is applied. Verify that
parameters 280 [Nom Mtr Fld Amps] and 467 [Max Fld Flux Pct] are
set correctly. Tuning with less than full field current results in different
gains because of the lower motor torque values.
3. Select Par 1027 [Spd Reg Autotune] and enter “1.”
4. Press Enter.
5. Press the Start button on the HIM. The speed regulator auto tuning test
starts, which could take several minutes. When the test has been
completed, the drive automatically stops.

During the test the following are completed:

• An acceleration test, with the torque limit value set in the Par 1048
[Autotune Cur Lim].
• A deceleration test, with a lower torque limit value applied, until zero
speed has been reached.
• Par 1013 [Torque Const] is calculated and updated based on the
entered motor data.

The test threshold speed is 33% of the lowest value set in the following
parameters:

•45 [Max Ref Speed]

•3 [Max Speed Fwd] or 4 [Max Speed Rev] based on the rotation
direction that is chosen in Par 1029 [Speed Tune Dir]

The drive determines the speed loop gains (Pars 87 [Spd Reg Kp] and 88 [Spd
Reg Ki]) based on the motor and load inertia and friction characteristics.

If any faults occur during the test, see Auto Tuning Faults on page 112 for a
description and more information.
Note: If any manual adjustments are required (due to vibrations,
and so on), make them based on the value of the integral gain
in Par 88 [Spd Reg Ki]. If the speed regulator auto tuning test
does not provide satisfactory results, see Fine-Tuning the
Regulators on page 349.

The values that result from the Speed Regulator tuning test are updated and
displayed, respectively, in the parameter pairs that are listed here.
• 87 [Spd Reg Kp], 1032 [Speed Tune Kp]
• 88 [Spd Reg Ki], 1033 [Speed Tune Ki]
• 1014 [Inertia], 1030 [Spd Tune Inertia]
• 1015 [Friction], 1031 [SpdTune Friction]

The values of Pars 1030...1033 can be used as a record of the Speed Regulator
auto tuning results. This is helpful, if the values of Pars 87, 88, 1014 and 1015
are later changed.

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Verify Speed Reference Settings and Drive Operation

Verify the following speed and direction (for four quadrant drives) references
of the drive under a load.

ATTENTION: This test requires the free rotation of the motor shaft and load.
The steps in the “Drive Start Up” procedure must have been completed
before completing this step.

1. Set the speed reference to “0” (zero) by using the assigned source (HIM
or analog potentiometer). See Reference Control on page 325 for more
information on speed reference sources.
2. View Par 385 [Speed Ref Out] and verify that the value is “0”.
3. Press the Start button on the HIM and slowly increase the speed
reference until full speed is reached (viewed in Par 385 [Speed Ref
Out]).
4. For only four quadrant (regenerative) drive applications, press the
Direction button on the HIM and verify that the motor ramps down to
“0” speed and then to full speed in the opposite direction.
5. Press the Stop button on the HIM.
6. Verify that the drive ramps to “0” speed and stops.

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Auto Tuning Faults

Table 41 lists faults that can display during the speed regulator auto tuning test.
In some cases, the drive control circuits can detect a value that is out of range
for the configuration settings during the speed regulator auto tuning test. In
these cases, make the suggested adjustments and repeat the test. If the fault
occurs again, complete the Fine-Tuning the Regulators procedures on page
349.

Table 41 - Speed Regulator Auto Tuning Faults

Fault No. Description Action
STune Overspeed 56 The measured motor speed is too high during the speed Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
regulator auto tuning procedure. auto tune procedure.
STune Stalled 57 The drive has stalled during the speed regulator auto tuning Increase the value of Par 1048 [Autotune Cur Lim] and repeat the
procedure. auto tune procedure.
STune LoadHi 58 One of the following has occurred:
• The loading torque value is too high at zero speed to Decrease the load torque, where applicable, and repeat the auto
complete the speed regulator auto tuning procedure. tune procedure.
• Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] is Set Pars 107 and 108 to their default values when performing the
set too high. Speed Loop Autotuning function.
STune CurLimit 59 One of the following has occurred:
• The value of Par 1048 [Autotune Cur Lim] for auto tuning the Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
speed regulator is set too high. auto tune procedure.
• Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] is Set Pars 107 and 108 to their default values when performing the
set too high. Speed Loop Autotuning function.
STune FrictionLo 60 The friction value that is attained during the auto tuning Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
procedure is zero or lower than the control precision limit. auto tune procedure.
STune Timeout 61 The speed regulator auto tuning procedure did not complete Verify the value in Par 1048 [Autotune Cur Lim]. If this value is set
within the available time. too low, the motor does not reach a maximum speed of 33% of the
lowest value of one of these parameters:
• Par 45 [Max Ref Speed]
• Par 3 [Max Speed Fwd]
• Par 4 [Max Speed Rev]
In this case, the test does not run. Set these values appropriately
and repeat the auto tuning procedure.
STune Aborted 62 The speed regulator auto tuning procedure was manually Informational only.
stopped.

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 Drive Start Up Chapter 2

For additional regulator fine-tuning procedures, see Fine-Tuning the

Regulators on page 349.

Speed-Up Function

Oscillation can occur during a speed change with loads presenting a high
moment of inertia. These oscillations can be reduced by enabling the “Speed
Up” function. See Speed Up Function on page 338 for more information.

Configuring the Speed Zero Logic

The speed zero logic is factory set to 0 “Disabled”. See Speed Zero Function on
page 340 for more information.

Adaptive Speed Regulation

The adaptive function of the speed regulator is factory set to 0 “Disabled”.

Only use this function when the gain of the speed regulator must go higher
than the speed range. For instructions on how to configure these parameters,
see Adaptive Speed Regulator on page 335.

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Notes:

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 Chapter 3

Programming and Parameters

Topic Page
About Parameters 116
How Parameters are Organized 118
Monitor File 126
Motor Control File 131
Speed Command File 148
Dynamic Control File 155
Applications File 161
Utility File 177
Communications File 191
Input / Output File 195
Parameter Cross Reference – by Name 207
Parameter Cross Reference – by Number 213

This chapter provides a complete listing of the PowerFlex® DC drive

parameters. The list contains a description, default value, minimum and
maximum values, units, and data type for each drive parameter. The parameters
can be viewed and edited (programmed) using a Human Interface Module
(HIM). As an alternative, programming can also be performed using
DriveTools™ SP(1) or Connected Components Workbench™ software(2) and a
personal computer. See Appendix B for a brief description of the LCD HIM.
See Appendix D for drive control block diagrams.

(1) You must use DriveTools SP software v4.01 or later with a PowerFlex DC drive specific software patch. The software patch can be
downloaded from the Product Compatibility and Download Center at:
https://compatibility.rockwellautomation.com/Pages/home.aspx
(2) You must use Connected Components Workbench software v2.00 or later. The software can be downloaded from
https://www.rockwellautomation.com/global/support/connected-components/workbench.page?

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Chapter 3 Programming and Parameters

About Parameters To configure a drive to operate in a specific way, certain parameters may need
to be changed from the default value. Three types of parameters exist:

• ENUM Parameters
ENUM parameters provide a selection of two or more items. The LCD
HIM will display a text message for each item.

• Bit Parameters
Bit parameters have individual bits associated with features or
conditions. If the bit is “0”, the feature is off or the condition is false. If
the bit is “1”, the feature is on or the condition is true.

• Numeric Parameters
These parameters have a single numerical value and unit (for example,
0.1 Volts).

The Parameters Table Example on page 117 describes how each parameter type
is presented in this manual.

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 Programming and Parameters Chapter 3

Parameters Table Example

1 2 3 4 5 6 7

Data Type

Related
Group
File

No.

Parameter Name & Description Values

388 [Flying Start En] Default: 0= “Disabled” 16-bit
Enables/Disables the ability of the drive to connect to a spinning motor at Int
A actual rpm when a start command is issued.
Options: 0= “Disabled”
1= “Enabled”
• “Enabled” = When the drive is turned on, the speed of the motor is
measured and the ramp output is set accordingly. The drive then runs at the
set reference value.
SPEED COMMAND
Speed Regulator

• “Disabled” = When the drive is turned on, the ramp starts from zero.
Main uses:
• To connect to a motor that is already spinning due to its load (for example, in
the case of a pump, the flowing medium).
• Re–connection to a spinning motor after a fault or alarm.
Note: If the Flying Start function is disabled, be sure that the motor is not
spinning when the drive is turned on, or harsh motor deceleration in current
limit may occur.
445 [Spd Up Gain Pct] Default: 0.00 Real
The Speed Up function gain as a percentage of Par 446 [Speed Up Base].
A Min/Max: 0.00 / 100.00
Units: %
591 [Logic Mask] 1377
Determines which ports can control the drive when Par 1377 [Write Mask Act], bit 15 is set to “1.” If the bit for a port is set to “0,” the port will have no
control functions except for stop. 0 = Control Masked, 1 = Control Permitted, x = Reserved.
COMMUNICATIONS
Masks & Owners

DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Digital In
Default x x x x x x x x x x 0 0 0 0 1 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

No. Description
1 File – Lists the major parameter file category.
2 Group – Lists the parameter group within a file.
3 No. – Parameter number. A = The parameter is only accessible when Par 211 [Param Access Lvl] = 1 “Advanced”.
= The parameter value cannot be changed until the drive is stopped.
4 Parameter Name & Description – Parameter name as it appears on an LCD HIM, with a brief description of the parameters function.
5 Values – Defines the various operating characteristics of the parameter. Three types exist.
ENUM Default: Lists the value assigned at the factory. “Read Only” indicates that the parameter is not configurable.
Options: Displays the programming selections available.
Bit Options: Bit name.
Default: Default setting.
Bit: Lists the bit place holder and definition for each bit.
Numeric Default: Lists the value assigned at the factory. “Read Only” indicates that the parameter is not configurable.
Min/Max: The range (lowest and highest setting) possible for the parameter.
Units: Unit of measure and resolution as shown on the LCD HIM.
Important: Some parameters will have two unit values:
• For example: Analog inputs can be set for current or voltage as with Par 71 [Anlg Inx Config].
6 Data Type - Identifies the parameter data type (i.e. integer, real).
7 Related – Lists parameters (if any) that interact with the selected parameter.

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Chapter 3 Programming and Parameters

How Parameters are The LCD HIM displays parameters in a File–Group–Parameter or

Numbered List view order. To switch display mode, access the Main Menu,
Organized press ALT, then Sel (View) while the cursor is on the Parameter menu
selection. In addition, using Par 211 [Param Access Lvl], you have the option to
display the most commonly used parameters (Basic Parameter view) or all
parameters (Advanced Parameter View).

File–Group–Parameter Order
This simplifies programming by grouping parameters that are used for similar
functions. The parameters are organized into files. Each file is divided into
groups, and each parameter is an element in a group. By default, the LCD HIM
displays parameters by File–Group–Parameter view.

Numbered List View

All parameters are in numerical order.

Cross Reference Tables

See Parameter Cross Reference – by Name on page 207 and Parameter Cross
Reference – by Number on page 213 for a list of parameters and page numbers.

118 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Programming and Parameters Chapter 3

Basic Parameter View

Parameter 211 [Param Access Lvl] set to option 0 “Basic”.

File Group Parameters
Monitor Speed Meters [Speed Ref A] 44 [Ramp Out Pct] 114 [Spd Reg Fdbk] 1008
Monito
[Speed Ref A Pct] 47 [Speed Draw Out] 1018 [Spd Reg Fdbk Pct] 1009
r
[Speed Ref B] 48 [Spd Draw Out Pct] 1019 [Spd Feedback] 122
[Speed Ref B Pct] 49 [Droop Out] 1006 [Spd Feedback Pct] 121
[Speed Ref Out] 385 [Droop Out Pct] 1007 [Actual Speed] 924
[Spd Ref Out Pct] 384 [Speed Reg In] 118 [Encoder Speed] 420
[Ramp In] 110 [Speed Reg In Pct] 117 [Tachometer Speed] 1408
[Ramp In Pct] 111 [Spd Reg Err] 1010 [Resolver Speed] 428
[Ramp Out] 113 [Spd Reg Err Pct] 1011
Current Meters [Inertia Comp Out] 232 [Field Current] 351 [Flux Ref Pct] 500
[Spd Reg Out Pct] 236 [Fld Current Pct] 234 [Field Curve Out] 476
[Current Reg In] 41 [Cur Lim Pos Out] 10 [Selected TorqRef] 14
[Arm Current] 200 [Cur Lim Neg Out] 11 [Motor Trq Ref] 17
[Arm Current Pct] 199 [Filt TorqCur Pct] 928
Drive Data [FaultCode] 57 [Output Power] 1052 [Software Version] 331
[AC Line Voltage] 466 [Drive Type] 300 [Drive Checksum] 332
[AC Line Freq] 588 [Drive Size] 465
[Output Voltage] 233 [Elapsed Lifetime] 235
Motor Control Motor Data [Max Ref Speed] 45 [Rated Motor Volt] 175 [Nom Mtr Fld Amps] 280
Motor
Contr
[Max Feedback Spd] 162 [Nom Mtr Arm Amps] 179 [Drv Fld Brdg Cur] 374
ol

Field Config [Field Reg Enable] 497 [Field Mode Sel] 469 [Fld Weaken Ratio] 456
[Field Economy En] 499 [Max Fld Flux Pct] 467 [Arm Volt Kp] 493
[Field Econ Delay] 1407 [Min Fld Curr Pct] 468 [Arm Volt Ki] 494
Torq Attributes [Current Limit] 7 [Torque Ref] 39 [Zero Torque] 353
[Current Lim Pos] 8 [Trim Torque] 40
[Current Lim Neg] 9 [Torque Reduction] 342
Speed Feedback [Fdbk Device Type] 414 [Feedback Offset] 563 [SpdReg FB Bypass] 458
[Anlg Tach Gain] 562 [Spd Fdbk Control] 457
Autotune [Autotune Cur Lim] 1048 [Spd Reg Autotune] 1027 [Spd Tune Inertia] 1030
[CurrReg Autotune] 452 [Speed Tune Dir] 1029 [SpdTune Friction] 1031
[Arm Resistance] 453 [Speed Tune Kp] 1032 [SpdReg Kp Pct] 1034
[Arm Inductance] 454 [Speed Tune Ki] 1033 [SpdReg Ki Pct] 1035
Speed Command Limits [Minimum Speed] 1 [Min Speed Rev] 6 [Max Speed Fwd] 3
Speed
Comm
[Min Speed Fwd] 5 [Maximum Speed] 2 [Max Speed Rev] 4
and

Discrete Speeds [Jog Speed] 266 [Preset Speed 3] 156 [Preset Speed 7] 160
[Jog Off Delay] 1409 [Preset Speed 4] 157 [TB Manual Ref] 267
[Preset Speed 1] 154 [Preset Speed 5] 158
[Preset Speed 2] 155 [Preset Speed 6] 159
Speed References [Trim Ramp] 42 [Trim Speed] 43 [Speed Ratio] 1017
[Trim Ramp Pct] 378 [Trim Speed Pct] 379
Speed Regulator [Speed Reg En] 242 (1) [Spd Reg Kp] 87 [Spd Reg Ki] 88
(1) This parameter available for use with firmware revision 2.005 and lower only.

Dynamic Control Control Config [Spd Trq Mode Sel] 241

Dynam
ic
Ramp Rates [Speed Ramp En] 245 [Accel Time 2] 24 [Jog Ramp Time] 1410
Contr
ol
[Ramp Type Select] 18 [Decel Time 2] 32 [S Curve Time] 19
[Accel Time 1] 660 [MOP Accel Time] 22
[Decel Time 1] 662 [MOP Decel Time] 30
Restart Modes [Start At Powerup] 1344 [Powerup Delay] 1345

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Chapter 3 Programming and Parameters

File Group Parameters

Utility Reference Config [Direction Mode] 1322 [Man Ref Preload] 210 [MOP Select] 1375
Utility
[Save HIM Ref] 209 [MOP Ref Config] 249
Drive Memory [Param Access Lvl] 211 [Reset Defaults] 258 [Language] 302
Diagnostics [Drive Status 1] 381 [Last Stop Source] 1402 [At Zero Speed] 395
[Drive Status 2] 382 [Start Inhibits] 1403 [CurrLimit Active] 349
[Speed Ref Source] 1329 [Drive Logic Rslt] 1328 [Spd Limit Active] 372
[Spd Ref Sel Sts] 1330 [At Speed] 394
Faults [Clear Fault Que] 263 [Status2 at Fault] 1350 [Fault Voltage] 1374
[Fault Clear] 1347 [Fault Arm Amps] 1371 [Fault 1 Code] 1351
[Fault Clr Mode] 1348 [Fault Speed] 1372
[Status1 at Fault] 1349 [Fault Field Amps] 1373
Alarms [Drive Alarm 1] 1380
Communications Comm Control [DPI Baud Rate] 589 [DPI Fdbk Select] 1321 [DPI Port Value] 1343
Comm
unicat
[DPI Port Sel] 590
ion

Masks & Owners [Logic Mask] 591 [MOP Mask] 598 [Reference Owner] 604
[Start Mask] 592 [Local Mask] 599 [Accel Owner] 605
[Jog Mask] 593 [Decel Mask] 631 [Fault Clr Owner] 606
[Direction Mask] 594 [Stop Owner] 600 [MOP Owner] 607
[Reference Mask] 595 [Start Owner] 601 [Local Owner] 608
[Accel Mask] 596 [Jog Owner] 602 [Decel Owner] 609
[Fault Clr Mask] 597 [Direction Owner] 603
Datalinks [Data In A1] 610 [Data In D1] 616 [Data Out C1] 622
[Data In A2] 611 [Data In D2] 617 [Data Out C1] 623
[Data In B1] 612 [Data Out A1] 618 [Data Out D1] 624
[Data In B2] 613 [Data Out A2] 619 [Data Out D2] 625
[Data In C1] 614 [Data Out B1] 620 [Data In Val Sel] 1319
[Data In C2] 615 [Data Out B2] 621 [Data In SelData] 1320
Security [Logic Mask] 591
Input / Output Analog Inputs [Anlg In1 Sel] 70 [Anlg In1 Target] 295 [Anlg In1 Cmp Eq] 1045
Inputs
[Anlg In1 Config] 71 [Anlg In2 Target] 296 [Analog In1 Value] 1404
/ Outpu
ts [Anlg In2 Sel] 75 [Anlg In3 Target] 297 [Analog In2 Value] 1405
[Anlg In2 Config] 76 [Anlg In1 Cmp] 1042 [Analog In3 Value] 1406
[Anlg In3 Sel] 80 [Anlg In1 Cmp Err] 1043
[Anlg In3 Config] 81 [Anlg In1 Cmp Dly] 1044
Analog Outputs [Anlg Out1 Sel] 66 [Anlg Out4 Sel] 69 [Analog Out3 Scale] 64
[Anlg Out2 Sel] 67 [Analog Out1 Scale] 62 [Analog Out4 Scale] 65
[Anlg Out3 Sel] 68 [Analog Out2 Scale] 63
Digital Inputs [Dig In Status] 564 [Digital In9 Sel] 141 [Dig In Term 6] 570
[Digital In1 Sel] 133 [Digital In10 Sel] 142 [Dig In Term 7] 571
[Digital In2 Sel] 134 [Digital In11 Sel] 143 [Dig In Term 8] 572
[Digital In3 Sel] 135 [Digital In12 Sel] 144 [Dig In Term 9] 573
[Digital In4 Sel] 136 [Dig In Term 1] 565 [Dig In Term 10] 574
[Digital In5 Sel] 137 [Dig In Term 2] 566 [Dig In Term 11] 575
[Digital In6 Sel] 138 [Dig In Term 3] 567 [Dig In Term 12] 576
[Digital In7 Sel] 139 [Dig In Term 4] 568
[Digital In8 Sel] 140 [Dig In Term 5] 569
Digital Outputs [Dig Out Status] 581 [Digital Out4 Sel] 148 [Digital Out8 Sel] 152
[Digital Out1 Sel] 145 [Digital Out5 Sel] 149 [Relay Out 1 Sel] 1392
[Digital Out2 Sel] 146 [Digital Out6 Sel] 150 [Relay Out 2 Sel] 629
[Digital Out3 Sel] 147 [Digital Out7 Sel] 151
DPI Inputs [DPI P1 Select] 1323 [DPI P3 Select] 1325 [DPI P5 Select] 1327
[DPI P2 Select] 1324 [DPI P4 Select] 1326

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 Programming and Parameters Chapter 3

Advanced Parameter View

Parameter 211 [Param Access Lvl] set to option 1 “Advanced”.

File Group Parameters
Monitor Speed Meters [Speed Ref A] 44 [Ramp Out Pct] 114 [Spd Reg Fdbk] 1008
Monito
[Speed Ref A Pct] 47 [Speed Draw Out] 1018 [Spd Reg Fdbk Pct] 1009
r
[Speed Ref B] 48 [Spd Draw Out Pct] 1019 [Spd Feedback] 122
[Speed Ref B Pct] 49 [Droop Out] 1006 [Spd Feedback Pct] 121
[Speed Ref Out] 385 [Droop Out Pct] 1007 [Actual Speed] 924
[Spd Ref Out Pct] 384 [Speed Reg In] 118 [Encoder Speed] 420
[Ramp In] 110 [Speed Reg In Pct] 117 [Tachometer Speed] 1408
[Ramp In Pct] 111 [Spd Reg Err] 1010 [Resolver Speed] 428
[Ramp Out] 113 [Spd Reg Err Pct] 1011
Current Meters [Inertia Comp Out] 232 [Fld Current Pct] 234 [Flux Ref Pct] 500
[Spd Reg Out Pct] 236 [SpdReg PosLmOut] 89 [Field Curve Out] 476
[Current Reg In] 41 [SpdReg NegLmOut] 90 [Selected TorqRef] 14
[Arm Current] 200 [Cur Lim Pos Out] 10 [Motor Trq Ref] 17
[Arm Current Pct] 199 [Cur Lim Neg Out] 11
[Field Current] 351 [Filt TorqCur Pct] 928
Drive Data [FaultCode] 57 [Output Power] 1052 [Elapsed Lifetime] 235
[AC Line Voltage] 466 [Firing Angle] 165 [Software Version] 331
[AC Line Freq] 588 [Drive Type] 300 [Drive Checksum] 332
[Output Voltage] 233 [Drive Size] 465
Motor Control Motor Data [Max Ref Speed] 45 [Nom Mtr Fld Amps] 280 [MtrOvrld Speed] 334
Motor
Contr
[Max Feedback Spd] 162 [Drv Fld Brdg Cur] 374 [SAR Volts Scale] 464
ol
[Rated Motor Volt] 175 [MtrOvrld Type] 376 [Drive Type Sel] 201
[Nom Mtr Arm Amps] 179 [MtrOvrld Factor] 333 [Min Firing Angle] 21
Field Config [Field Reg Enable] 497 [Arm Volt Kp Base] 495 [Reset Fld Curve] 920
[Field Economy En] 499 [Arm Volt Ki Base] 496 [Fld Const 40 Pct] 916
[Field Econ Delay] 1407 [Fld Reg Kp] 91 [Fld Const 70 Pct] 917
[Field Mode Sel] 469 [Fld Reg Ki] 92 [Fld Const 90 Pct] 918
[Max Fld Flux Pct] 467 [Force Min Field] 498 [Flux Divide] 462
[Min Fld Curr Pct] 468 [Out Volt Level] 921 [Flux Filter BW] 463
[Fld Weaken Ratio] 456 [Fld Reg Kp Base] 97 [Ext FC Curr Hyst] 410
[Arm Volt Kp] 493 [Fld Reg Ki Base] 98
[Arm Volt Ki] 494 [Set Fld Curve] 919
Torq Attributes [Current Limit] 7 [Torque Reduction] 342 [TrqTpr Lim3] 754
[Current Lim Pos] 8 [Zero Torque] 353 [TrqTpr Lim4] 755
[Current Lim Neg] 9 [TrqTpr Enable] 750 [TrqTpr Spd] 756
[Current Rate Lim] 12 [TrqTpr Lim0] 751 [Torq Cur Filter] 926
[Torque Ref] 39 [TrqTpr Lim1] 752 [FC Lim Ramp] 411
[Trim Torque] 40 [TrqTpr Lim2] 753 [FC Lim Ramp Time] 412
Speed Feedback [Fdbk Device Type] 414 [Spd FB Filt BW] 915 [Reslvr Type Sel] 423
[Anlg Tach Gain] 562 [Act Spd Filter] 923 [Reslvr Spd Ratio] 424
[Feedback Offset] 563 [Encoder PPR] 169 [Resolver Config] 425
[Spd Fdbk Control] 457 [Encoder Config] 170 [Resolver Status] 426
[SpdReg FB Bypass] 458 [Encoder Out Sel] 1021 [Reslvr Position] 427
[Spd Fdbk Invert] 461 [Encoder Err Chk] 652 [Resolver Pos Sel] 429
[Spd FB Loss Lvl] 455 [Encoder Counts] 1022 [Resolver Spd Sel] 430
[Spd FB Filt Gain] 914 [Fdbk Option ID] 422 [Reslvr Cable Bal] 431
Autotune [Autotune Cur Lim] 1048 [Speed Tune Kp] 1032 [Torque Const] 1013
[CurrReg Autotune] 452 [Speed Tune Ki] 1033 [Inertia] 1014
[Arm Resistance] 453 [Spd Tune Inertia] 1030 [Friction] 1015
[Arm Inductance] 454 [SpdTune Friction] 1031 [Spd Reg Kp Base] 93
[Spd Reg Autotune] 1027 [I Reg Error] 587 [Spd Reg Ki Base] 94
[Speed Tune Dir] 1029 [Inertia C Filter] 1012 [SpdReg Kp Pct] 1034
[SpdReg Ki Pct] 1035
Test Generator [TstGen Output] 58 [Arm Test Angle] 167 [OpenSCR Flt Cfg] 216
[TstGen Frequency] 59 [Fld Test Angle] 168 [OpenSCR Threshld] 217
[TstGen Amplitude] 60 [SCR Diag Test En] 213 [OpenSCR Trip Lvl] 218
[TstGen Offset] 61 [SCR Diag Status] 214
[Alpha Test] 166 [OpenSCR WarnLvl] 215

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Chapter 3 Programming and Parameters

File Group Parameters

Speed Command Limits [Minimum Speed] 1 [Min Speed Rev] 6 [Max Speed Fwd] 3
Speed
Comm
[Min Speed Fwd] 5 [Maximum Speed] 2 [Max Speed Rev] 4
and
Discrete Speeds [Jog Speed] 266 [Preset Speed 3] 156 [Preset Speed 7] 160
[Jog Off Delay] 1409 [Preset Speed 4] 157 [TB Manual Ref] 267
[Preset Speed 1] 154 [Preset Speed 5] 158
[Preset Speed 2] 155 [Preset Speed 6] 159
Speed References [Trim Ramp] 42 [Trim Speed] 43 [Speed Ratio] 1017
[Trim Ramp Pct] 378 [Trim Speed Pct] 379
Speed Regulator [Speed Reg En] 242 (1) [SpdOut FiltBW] 239 [Spd Zero P Gain] 126
[Spd Reg Kp] 87 [Speed Thresh Pos] 101 [Lock Speed Integ] 348
[Spd Reg Ki] 88 [Speed Thresh Neg] 102 [Flying Start En] 388
[Total Inertia] 433 [Threshold Delay] 103 [SpdReg AntiBckup] 643
[Spd Reg BW] 434 [At Speed Error] 104 [Spd Reg P Filter] 444
[Act Spd Reg BW] 435 [At Speed Delay] 105 [Spd Up Gain Pct] 445
[Spd Reg Damping] 436 [Ref Zero Level] 106 [Speed Up Base] 446
[Spd Reg Kp Outpt] 99 [Speed Zero Level] 107 [Speed Up Filter] 447
[Spd Reg Ki Outpt] 100 [Speed Zero Delay] 108 [SpdReg Kp Bypass] 459
[Spd Reg Pos Lim] 95 [Spd Zero I En] 123 [SpdReg Ki Bypass] 460
[Spd Reg Neg Lim] 96 [Spd Ref Zero En] 124 [SpdReg BW Bypass] 448
[SpdOut FiltGain] 238 [Spd Zero P En] 125 [SpdFuncSelect] 1016
(1) This parameter available for use with firmware revision 2.005 and lower only.
Dynamic Control Control Config [Spd Trq Mode Sel] 241 [SLAT Err Stpt] 15 [SLAT Dwell Time] 16
Dynam
Ramp Rates [Speed Ramp En] 245 [MOP Accel Time] 22 [S Curve Accel 2] 667
ic Contr
ol [Ramp Type Select] 18 [MOP Decel Time] 30 [S Curve Decel 2] 668
[Accel Time 1] 660 [Jog Ramp Time] 1410 [Ramp Delay] 20
[Decel Time 1] 662 [S Curve Time] 19 [Zero Ramp Output] 344
[Accel Time 2] 24 [S Curve Accel 1] 665 [Zero Ramp Input] 345
[Decel Time 2] 32 [S Curve Decel 1] 666 [Freeze Ramp] 373
Load Limits [Enable Droop] 699 [Droop Limit] 700 [Torq Limit Type] 715
[Droop Percent] 696 [Load Comp] 698
[Droop Filter] 697 [Torq Red CurLim] 13
Stop Modes [Fast Stop Time] 38 [Closing Speed] 1262 [Ramp In Zero En] 1265
[Spd 0 Trip Delay] 627 [Opening Delay] 1263 [Actuator Delay] 1266
Restart Modes [Start At Powerup] 1344 [Powerup Delay] 1345
Adaptv Regulator [Adaptive Spd En] 181 [Adaptive Joint 1] 186 [Adaptive I Gain2] 191
[Adaptive Reg Typ] 182 [Adaptive Joint 2] 187 [Adaptive P Gain3] 192
[Adaptive Ref] 183 [Adaptive P Gain1] 188 [Adaptive I Gain3] 193
[Adaptive Spd 1] 184 [Adaptive I Gain1] 189
[Adaptive Spd 2] 185 [Adaptive P Gain2] 190

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 Programming and Parameters Chapter 3

File Group Parameters

Applications PI Control [Enable PI] 769 [PI Prop Gain PID] 765 [PI Central v3] 778
Applic
ations
[PI Output] 771 [PI Integral Gain] 764 [PI Central v sel] 779
[PI Steady Thrsh] 695 [PI Upper Limit] 784 [PI Central vs0] 780
[PID Steady Delay] 731 [PI Lower Limit] 785 [PI Central vs1] 781
[PI Init Prop Gn] 793 [PI Central v1] 776 [PI integr freeze] 783
[PI Init Intgl Gn] 734 [PI Central v2] 777
PD Control [Enable PD] 770 [PD Prop Gain 2] 788 [PD Deriv Gain 1] 766
[PD Output PID] 421 [PD Prop Gain 3] 790 [PD Deriv Gain 2] 789
[PD Prop Gain 1] 768 [PD Deriv Filter] 767 [PD Deriv Gain 3] 791
PID Control [Enable PI PD] 1258 [PID Target] 782 [PID Clamp] 757
[PID Output] 774 [PID Output Scale] 773 [PID Setpoint 0] 760
[Feed Fwd PID] 758 [PID Output Sign] 772 [PID Setpoint 1] 761
[Real FF PID] 418 [PID Feedback] 763 [PID Setpoint Sel] 762
[PID Source] 786 [PID Error] 759 [PID Accel Time] 1046
[PID Source Gain] 787 [PID Error Gain] 1254 [PID Decel Time] 1047
Init Diam Calc [Diameter Calc] 794 [Gear Box Ratio] 797 [Diameter Calc St] 800
[DncrPosSpd] 795 [Dancer Constant] 798
[Max Deviation] 796 [Minimum Diameter] 799
Diameter Calc [Minimum Diameter] 799 [Line Speed Pct] 1160 [Diam Preset 1] 1165
[Max Diameter] 1153 [Line Spd Thresh] 1155 [Diam Preset 2] 1166
[Roll Diameter] 1154 [Base Omega] 1163 [Diam Preset 3] 1167
[Diam Threshold] 1158 [Diameter Filter] 1162 [Diam Preset Sel] 1168
[Diameter Reached] 1159 [Diam Init Filter] 1206 [Diameter Reset] 1157
[Winder Type] 1187 [Diam Stdy Delay] 1207 [Diam Calc Dis] 1161
[Line Spd Source] 1204 [Diam Inc Dec En] 1205
[Line Spd Gain] 1156 [Diam Preset 0] 1164
Winder Functions [Torque Winder En] 1209 [InertiaCompCnst] 1191 [Ref Line Speed] 1286
[Tension Ref] 1180 [InertiaCompVar] 1192 [W Target] 1210
[Act Ten Ref Pct] 1194 [Static Friction] 1174 [W Reference] 1217
[Torq Current Pct] 1193 [Static F Zero] 1287 [Winder Side] 1201
[Int Acc Calc En] 1183 [Dynamic Friction] 1175 [W Gain] 1202
[Time AccDec Min] 1182 [Actual Comp] 1213 [W Offset] 1199
[Acc Dec Filter] 1212 [Closed Loop En] 1214 [Offs Accel Time] 1198
[Line Accel Pct] 1184 [Close Loop Comp] 1208 [Speed Match] 1195
[Line Decel Pct] 1185 [Tension Scale] 1181 [Spd Match Gain] 1200
[Line FastStp Pct] 1186 [Taper Enable] 1176 [Spd Match Acc] 1196
[Accel Status] 1188 [Initial Diameter] 1177 [Spd Match Dec] 1197
[Decel Status] 1189 [Final Diameter] 1178 [Spd Match Torque] 1216
[Fast Stop Status] 1190 [Tension Reduct] 1179 [Spd Match Compl] 1203
[Variable J Comp] 1171 [Speed Demand En] 1215 [Jog TW Enable] 1256
[Constant J Comp] 1172 [Ref Spd Source] 1284 [Jog TW Speed] 1255
[Materl Width Pct] 1173 [Ref Speed Gain] 1285
Torque Prove [Torq Prove Cfg] 1100 [Spd Band Intgrtr] 1106 [Float Tolerance] 1111
[Torq Prove Setup] 1101 [Brk Release Time] 1107 [MicroPsnScalePct] 1112
[Torq Prove Sts] 1103 [Brk Set Time] 1108 [ZeroSpdFloatTime] 1113
[Torq Limit Slew] 1104 [Brk Alarm Travel] 1109 [Brake Test Torq] 1114
[Speed Dev Band] 1105 [Brk Slip Count] 1110
Scale Blocks [Scale1 Input] 484 [Scale3 Input] 1218 [Scale5 Input] 1236
[Scale1 Output] 485 [Scale3 Output] 1219 [Scale5 Output] 1237
[Scale1 Mul] 486 [Scale3 Mul] 1220 [Scale5 Mul] 1238
[Scale1 Div] 487 [Scale3 Div] 1221 [Scale5 Div] 1239
[Scale1 In Max] 488 [Scale3 In Max] 1222 [Scale5 In Max] 1240
[Scale1 In Min] 489 [Scale3 In Min] 1223 [Scale5 In Min] 1241
[Scale1 In Off] 490 [Scale3 In Off] 1224 [Scale5 In Off] 1242
[Scale1 Out Off] 491 [Scale3 Out Off] 1225 [Scale5 Out Off] 1243
[Scale1 In Abs] 492 [Scale3 In Abs] 1226 [Scale5 In Abs] 1244
[Scale2 Input] 553 [Scale4 Input] 1227 [Scale6 Input] 1245
[Scale2 Output] 554 [Scale4 Output] 1228 [Scale6 Output] 1246
[Scale2 Mul] 555 [Scale4 Mul] 1229 [Scale6 Mul] 1247
[Scale2 Div] 556 [Scale4 Div] 1230 [Scale6 Div] 1248
[Scale2 In Max] 557 [Scale4 In Max] 1231 [Scale6 In Max] 1249
[Scale2 In Min] 558 [Scale4 In Min] 1232 [Scale6 In Min] 1250
[Scale2 In Off] 559 [Scale4 In Off] 1233 [Scale6 In Off] 1251
[Scale2 Out Off] 560 [Scale4 Out Off] 1234 [Scale6 Out Off] 1252
[Scale2 In Abs] 561 [Scale4 In Abs] 1235 [Scale6 In Abs] 1253

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Chapter 3 Programming and Parameters

File Group Parameters

Utility Reference Config [Direction Mode] 1322 [Man Ref Preload] 210 [MOP Select] 1375
Utility
[Save HIM Ref] 209 [MOP Ref Config] 249
Drive Memory [Param Access Lvl] 211 [Reset Defaults] 258 [Language] 302
Diagnostics [Drive Status 1] 381 [Spd Limit Active] 372 [Ramp Select 1] 404
[Drive Status 2] 382 [Speed Threshold] 393 [Spd Fdbk State] 651
[Speed Ref Source] 1329 [Torque Positive] 346 [Reslvr Error Cnt] 432
[Spd Ref Sel Sts] 1330 [Torque Negative] 347 [MtrOvrld Status] 1290
[Last Stop Source] 1402 [MOP Inc Active] 396 [TestPoint Sel] 1381
[Start Inhibits] 1403 [MOP Dec Active] 397 [TestPoint Data] 1382
[Drive Logic Rslt] 1328 [Spd Select 0] 400 [TaskLoad 1 ms] 1384
[At Speed] 394 [Spd Select 1] 401 [TaskLoad 2 ms] 1385
[At Zero Speed] 395 [Spd Select 2] 402 [TaskLoad 8 ms] 1386
[CurrLimit Active] 349 [Ramp Select 0] 403
Faults [Clear Fault Que] 263 [Fault 2 Code] 1352 [Fault 2 Time] 1362
[Fault Clear] 1347 [Fault 3 Code] 1353 [Fault 3 Time] 1363
[Fault Clr Mode] 1348 [Fault 4 Code] 1354 [Fault 4 Time] 1364
[Status1 at Fault] 1349 [Fault 5 Code] 1355 [Fault 5 Time] 1365
[Status2 at Fault] 1350 [Fault 6 Code] 1356 [Fault 6 Time] 1366
[Fault Arm Amps] 1371 [Fault 7 Code] 1357 [Fault 7 Time] 1367
[Fault Speed] 1372 [Fault 8 Code] 1358 [Fault 8 Time] 1368
[Fault Field Amps] 1373 [Fault 9 Code] 1359 [Fault 9 Time] 1369
[Fault Voltage] 1374 [Fault 10 Code] 1360 [Fault 10 Time] 1370
[Fault 1 Code] 1351 [Fault 1 Time] 1361
Alarms [Drive Alarm 1] 1380 [FldLoss Flt Cfg] 473 [UnderVlt Flt Dly] 470
[Drive Alarm 2] 1394 [FldLoss Flt Dly] 475 [OverCurrent Thr] 584
[OverVolt Flt Cfg] 203 [Spd Loss Flt Cfg] 478 [Overspeed Val] 585
[Aux Inp Flt Cfg] 354 [MtrOvrld Flt Cfg] 479 [SSC Threshold] 409
[OverTemp Flt Cfg] 365 [UnderVolt Thresh] 481
User Defined [UsrDsplyMult0] 50 [UserDefined14] 517 [UsrDefBitWrdA15] 535
[UsrDsplyDiv0] 51 [UserDefined15] 518 [UsrDefBitWrdB] 536
[UsrValMult1] 53 [UsrDefBitWrdA] 519 [UsrDefBitWrdB0] 537
[UsrValDiv1] 54 [UsrDefBitWrdA0] 520 [UsrDefBitWrdB1] 538
[UserDefined0] 503 [UsrDefBitWrdA1] 521 [UsrDefBitWrdB2] 539
[UserDefined1] 504 [UsrDefBitWrdA2] 522 [UsrDefBitWrdB3] 540
[UserDefined2] 505 [UsrDefBitWrdA3] 523 [UsrDefBitWrdB4] 541
[UserDefined3] 506 [UsrDefBitWrdA4] 524 [UsrDefBitWrdB5] 542
[UserDefined4] 507 [UsrDefBitWrdA5] 525 [UsrDefBitWrdB6] 543
[UserDefined5] 508 [UsrDefBitWrdA6] 526 [UsrDefBitWrdB7] 544
[UserDefined6] 509 [UsrDefBitWrdA7] 527 [UsrDefBitWrdB8] 545
[UserDefined7] 510 [UsrDefBitWrdA8] 528 [UsrDefBitWrdB9] 546
[UserDefined8] 511 [UsrDefBitWrdA9] 529 [UsrDefBitWrdB10] 547
[UserDefined9] 512 [UsrDefBitWrdA10] 530 [UsrDefBitWrdB11] 548
[UserDefined10] 513 [UsrDefBitWrdA11] 531 [UsrDefBitWrdB12] 549
[UserDefined11] 514 [UsrDefBitWrdA12] 532 [UsrDefBitWrdB13] 550
[UserDefined12] 515 [UsrDefBitWrdA13] 533 [UsrDefBitWrdB14] 551
[UserDefined13] 516 [UsrDefBitWrdA14] 534 [UsrDefBitWrdB15] 552
Communications Comm Control [DPI Baud Rate] 589 [DPI Fdbk Select] 1321 [DPI Port Value] 1343
Comm
[DPI Port Sel] 590
unicat
ion
Masks & Owners [Logic Mask] 591 [MOP Mask] 598 [Reference Owner] 604
[Start Mask] 592 [Local Mask] 599 [Accel Owner] 605
[Jog Mask] 593 [Decel Mask] 631 [Fault Clr Owner] 606
[Direction Mask] 594 [Stop Owner] 600 [MOP Owner] 607
[Reference Mask] 595 [Start Owner] 601 [Local Owner] 608
[Accel Mask] 596 [Jog Owner] 602 [Decel Owner] 609
[Fault Clr Mask] 597 [Direction Owner] 603
Datalinks [Data In A1] 610 [Data In D1] 616 [Data Out C1] 622
[Data In A2] 611 [Data In D2] 617 [Data Out C1] 623
[Data In B1] 612 [Data Out A1] 618 [Data Out D1] 624
[Data In B2] 613 [Data Out A2] 619 [Data Out D2] 625
[Data In C1] 614 [Data Out B1] 620 [Data In Val Sel] 1319
[Data In C2] 615 [Data Out B2] 621 [Data In SelData] 1320
Security [Logic Mask] 591 [Write Mask Act] 1377 [Port Mask Act] 1379
[Logic Mask Act] 1376 [Write Mask Cfg] 1378

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 Programming and Parameters Chapter 3

File Group Parameters

Input / Output Analog Inputs [Anlg In1 Sel] 70 [Anlg In2 Offset] 79 [Anlg In2 Target] 296
Inputs
/ Outpu
[Anlg In1 Config] 71 [Anlg In2 Tune] 260 [Anlg In3 Target] 297
ts
[Anlg In1 Scale] 72 [Anlg In2 Filter] 801 [Anlg In1 Cmp] 1042
[Anlg1 Tune Scale] 73 [Anlg In3 Sel] 80 [Anlg In1 Cmp Err] 1043
[Anlg In1 Offset] 74 [Anlg In3 Config] 81 [Anlg In1 Cmp Dly] 1044
[Anlg In1 Tune] 259 [Anlg In3 Scale] 82 [Anlg In1 Cmp Eq] 1045
[Anlg In1 Filter] 792 [Anlg3 Tune Scale] 83 [Analog In1 Value] 1404
[Anlg In2 Sel] 75 [Anlg In3 Offset] 84 [Analog In2 Value] 1405
[Anlg In2 Config] 76 [Anlg In3 Tune] 261 [Analog In3 Value] 1406
[Anlg In2 Scale] 77 [Anlg In3 Filter] 802
[Anlg2 Tune Scale] 78 [Anlg In1 Target] 295
Analog Outputs [Anlg Out1 Sel] 66 [Anlg Out4 Sel] 69 [Analog Out3 Scale] 64
[Anlg Out2 Sel] 67 [Analog Out1 Scale] 62 [Analog Out4 Scale] 65
[Anlg Out3 Sel] 68 [Analog Out2 Scale] 63
Digital Inputs [ContactorControl] 1391 [Digital In12 Sel] 144 [Dig In Term 1] 565
[Dig In Status] 564 [Inversion In 1] 1276 [Dig In Term 2] 566
[Digital In1 Sel] 133 [Inversion In 2] 1277 [Dig In Term 3] 567
[Digital In2 Sel] 134 [Inversion In 3] 1278 [Dig In Term 4] 568
[Digital In3 Sel] 135 [Inversion In 4] 1279 [Dig In Term 5] 569
[Digital In4 Sel] 136 [Inversion In 5] 1280 [Dig In Term 6] 570
[Digital In5 Sel] 137 [Inversion In 6] 1281 [Dig In Term 7] 571
[Digital In6 Sel] 138 [Inversion In 7] 1282 [Dig In Term 8] 572
[Digital In7 Sel] 139 [Inversion In 8] 1283 [Dig In Term 9] 573
[Digital In8 Sel] 140 [Inversion In 9] 1387 [Dig In Term 10] 574
[Digital In9 Sel] 141 [Inversion In 10] 1388 [Dig In Term 11] 575
[Digital In10 Sel] 142 [Inversion In 11] 1389 [Dig In Term 12] 576
[Digital In11 Sel] 143 [Inversion In 12] 1390
Digital Outputs [Dig Out Status] 581 [Digital Out7 Sel] 151 [Inversion Out 4] 1270
[Digital Out1 Sel] 145 [Digital Out8 Sel] 152 [Inversion Out 5] 1271
[Digital Out2 Sel] 146 [Relay Out 1 Sel] 1392 [Inversion Out 6] 1272
[Digital Out3 Sel] 147 [Relay Out 2 Sel] 629 [Inversion Out 7] 1273
[Digital Out4 Sel] 148 [Inversion Out 1] 1267 [Inversion Out 8] 1274
[Digital Out5 Sel] 149 [Inversion Out 2] 1268 [Inversion Relay1] 1393
[Digital Out6 Sel] 150 [Inversion Out 3] 1269 [Inversion Relay2] 1275
DPI Inputs [DPI P1 Select] 1323 [DPI P3 Select] 1325 [DPI P5 Select] 1327
[DPI P2 Select] 1324 [DPI P4 Select] 1326

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Chapter 3 Programming and Parameters

Monitor File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

44 [Speed Ref A] Default: Read Only 16-bit 45
Displays the first speed reference of the drive in rpm. This parameter can be Int
Min/Max: –/+ 1.3 x Par 45 [Max Ref Speed] (1)
sourced from many signals and is the factory default selection for Par 70 Units: rpm
[Anlg In1 Sel]. See block diagram Speed Reference Selection on page 365 for
possible source signals. (1)
The value of [Max Ref Speed] cannot exceed 6000 rpm.
Note: The maximum value of this parameter was changed from –/+ Par 45
for firmware revision 3.001.
47 [Speed Ref A Pct] Default: Read Only Real 45
Displays the first speed reference of the drive as a percentage of Par 45 [Max
Min/Max: –/+130.0
Ref Speed]. This parameter can be sourced from many signals. See block Units: %
diagram Speed Reference Selection on page 365 for possible source signals.
Notes: This parameter can be assigned to an analog input. The min. and max.
values of this parameter were changed from –/+100.0 for firmware revision
3.001.
48 [Speed Ref B] Default: Read Only 16-bit 45
Displays the second speed reference of the drive in rpm. This parameter can Int
Min/Max: –/+ 1.3 x Par 45 [Max Ref Speed] (1)
be sourced from many signals. See block diagram Speed Reference Selection Units: rpm
on page 365 for possible source signals.
Note: The maximum value of this parameter was changed from –/+ Par 45 (1) The value of [Max Ref Speed] cannot exceed 6000 rpm.

for firmware revision 3.001.

49 [Speed Ref B Pct] Default: Read Only Real 45
Displays the second speed reference of the drive as a percentage of Par 45
Min/Max: –/+130.0
[Max Ref Speed]. This parameter can be sourced from many signals. See block Units: %
diagram Speed Reference Selection on page 365 for possible source signals.
Speed Meters

Note: The min. and max. values of this parameter were changed from –/
MONITOR

+100.0 for firmware revision 3.001.

110 [Ramp In] Default: Read Only 16-bit
Total reference value input to the ramp in rpm. Int
Min/Max: –/+8192
Notes: This parameter can be assigned to an analog output. The min. and Units: rpm
max. values of this parameter were changed from –/+32766 for firmware
revision 3.001
111 [Ramp In Pct] Default: Read Only Real 45
Total reference value input to the ramp as a percentage of Par 45 [Max Ref
Min/Max: –/+200.0
Speed]. Units: %
Notes: This parameter can be assigned to an analog output. The min. and
max. values of this parameter were changed from –/+100.0 for firmware
revision 3.001.
113 [Ramp Out] Default: Read Only 16-bit
Output of the ramp in rpm. Int
Min/Max: –/+8192
Notes: This parameter can be assigned to an analog output. The min. and Units: rpm
max. values of this parameter were changed from –/+32766 for firmware
revision 3.001
114 [Ramp Out Pct] Default: Read Only Real 45
Output of the ramp as a percentage of Par 45 [Max Ref Speed].
Min/Max: –/+200.0
Note: The min. and max. values of this parameter were changed from –/ Units: %
+100.0 for firmware revision 3.001.
117 [Speed Reg In Pct] Default: Read Only Real
Total reference value input to the Speed Regulator as a percentage of Par 45
Min/Max: –/+200.0
[Max Ref Speed]. Units: %
Notes: This parameter can be assigned to an analog output. The min. and
max. values of this parameter were changed from –/+100.0 for firmware
revision 3.001.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

118 [Speed Reg In] Default: Read Only 16-bit
Total reference value input to the Speed Regulator in rpm. Int
Min/Max: –/+8192
Notes: This parameter can be assigned to an analog output. The min. and Units: rpm
max. values of this parameter were changed from –/+32766 for firmware
revision 3.001
121 [Spd Feedback Pct] Default: Read Only Real 66,
Actual speed as a percentage of the Par 162 [Max Feedback Spd]. 162
Min/Max: –/+200.0
Notes: This parameter can be assigned to an analog output and is the factory Units: %
default selection for Par 66 [Anlg Out1 Sel]. The min. and max. values of this
parameter were changed from –/+100.0 for firmware revision 3.001.
122 [Spd Feedback] Default: Read Only 16-bit
Actual speed in rpm. Int
Min/Max: –/+8192
Notes: This parameter can be assigned to an analog output. The min. and Units: rpm
max. values of this parameter were changed from –/+32766 for firmware
revision 3.001
428 [Resolver Speed] Default: Read Only 16-bit
Displays the speed feedback from the resolver module. Int
Min/Max: –/+8192
Note: This parameter was added for firmware revision 5.002. Units: rpm
384 [Spd Ref Out Pct] Default: Read Only Real 45
Output of the Speed Reference selection as a percentage of Par 45 [Max Ref
Min/Max: –/+200.0
Speed]. Units: %
Notes: This parameter can be assigned to an analog output. The min. and
max. values of this parameter were changed from –/+100.0 for firmware
revision 3.001.
385 [Speed Ref Out] Default: Read Only 16-bit
Output of the Speed Reference selection. Int
Min/Max: –/+8192
Speed Meters

Notes: This parameter can be assigned to an analog output. The min. and
MONITOR

Units: rpm
max. values of this parameter were changed from –/+32766 for firmware
revision 3.001
420 [Encoder Speed] Default: Read Only 16-bit
Actual speed measured by the digital encoder. Int
Min/Max: –/+8192
Units: rpm
924 [Actual Speed] Default: Read Only 16-bit 121,
Filtered value of Par 122 [Spd Feedback]. Par 923 [Act Spd Filter] can be used Int 222,
Min/Max: –/+8192
to provide limited (first order low pass) filtering of this value. Units: rpm 923
Notes: This parameter can be assigned to an analog output. The min. and
max. values of this parameter were changed from –/+32766 for firmware
revision 3.001
1006 [Droop Out] Default: Read Only 16-bit 45
Displays the output of the Droop Compensation function. The [Droop Out] Int
Min/Max: –/+ Par 45 [Max Ref Speed]
signal (if enabled by Par 699 [Enable Droop]) is summed with Par 1018 Units: rpm
[Speed Draw Out] and 43 [Trim Speed]. Droop compensation specifies the
amount of adjustment in speed reference when operating at full load current.
Note: This parameter was added for firmware revision 4.001.
1007 [Droop Out Pct] Default: Read Only Real 45
The value of Par 1006 [Droop Out] shown as a percentage of Par 45 [Max Ref
Min/Max: –/+100.0
Speed]. Units: %
Note: This parameter was added for firmware revision 4.001.
1008 [Spd Reg Fdbk] Default: Read Only 16-bit
Speed Regulator Feedback signal after all filtering has been applied. Int
Min/Max: –/+8192
Note: This parameter was added for firmware revision 4.001. Units: rpm
1009 [Spd Reg Fdbk Pct] Default: Read Only Real 162
Par 1008 [Spd Reg Fdbk] shown as a percentage of Par 162 [Max Feedback
Min/Max: –/+200.0
Spd]. Units: %
Note: This parameter was added for firmware revision 4.001.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1010 [Spd Reg Err] Default: Read Only 16-bit 118,
Speed Regulator Error signal, the difference between Par 118 [Speed Reg In] Int 1008
Min/Max: –/+8192
and 1008 [Spd Reg Fdbk]. Units: rpm
Note: This parameter was added for firmware revision 4.001.
1011 [Spd Reg Err Pct] Default: Read Only Real 45
Par 1010 [Spd Reg Err] shown as a percentage of Par 45 [Max Ref Speed].
Min/Max: –/+200.0
Note: This parameter was added for firmware revision 4.001. Units: %
1018 [Speed Draw Out] Default: Read Only 16-bit 45
Speed Meters

Speed draw output value. Int

Min/Max: –/+ Par 45 [Max Ref Speed] 1
Notes: This parameter can be assigned to an analog output. See Speed Draw Units: rpm
Function on page 341 for more information. (1) The value of [Max Ref Speed] cannot exceed 8192 rpm.
1019 [Spd Draw Out Pct] Default: Read Only Real 45
Speed draw output as a percentage of Par 45 [Max Ref Speed].
Min/Max: –/+100.0
Notes: This parameter can be assigned to an analog output. The min. and Units: %
max. values of this parameter were changed from –/+100.00 for firmware
revision 3.001.
1408 [Tachometer Speed] Default: Read Only Real
Actual speed measured by the DC analog tachometer.
Min/Max: –/+8192
Note: The min. and max. values of this parameter were changed from –/ Units: rpm
+32770 for firmware revision 3.001
10 [Cur Lim Pos Out] Default: Read Only Real 179
Displays the value of the current limit for the positive torque direction as a
Min/Max: 0 / 250
percentage of the value in Par 179 [Nom Mtr Arm Amps]. Units: %
11 [Cur Lim Neg Out] Default: Read Only Real 179
Displays the value of the current limit for the negative torque direction as a
Min/Max: 0 / 200
percentage of the value in Par 179 [Nom Mtr Arm Amps].
MONITOR

Units: %
14 [Selected TorqRef] Default: Read Only Real 179,
Displays the selected torque reference based on Par 241 [Spd Trq Mode Sel] 241
Min/Max: –/+250
value. Scaled as a percentage of Par 179 [Nom Mtr Arm Amps]. Units: %
Note: This parameter was added for firmware revision 3.001.
17 [Motor Trq Ref] Default: Read Only Real 179
Displays the total motor torque reference. Scaled as a percentage of Par 179
Min/Max: –/+250
[Nom Mtr Arm Amps]. Units: %
Note: This parameter was added for firmware revision 3.001.
41 [Current Reg In] Default: Read Only Real 179
Current Meters

Total current reference value expressed as a percentage of the value in Par

Min/Max: –/+250
179 [Nom Mtr Arm Amps]. Units: %
Note: This parameter can be assigned to an analog output.
89 [SpdReg PosLmOut] Default: Read Only Real
Indication of the positive limit value in effect on the output of the speed
Min/Max: –/+250
regulator. Units: %
Note: This parameter was added for firmware revision 5.002.
90 [SpdReg NegLmOut] Default: Read Only Real
Indication of the negative limit value in effect on the output of the speed
Min/Max: –/+250
regulator. Units: %
Note: This parameter was added for firmware revision 5.002.
199 [Arm Current Pct] Default: Read Only 16-bit 179
Armature current expressed as a percentage of the value in Par 179 [Nom Mtr Int
Min/Max: –/+250
Arm Amps]. Units: %
Note: This parameter can be assigned to an analog output and is the default
selection for Par 67 [Anlg Out2 Sel].
200 [Arm Current] Default: Read Only Real
Armature current in Amperes.
Min/Max: –/+2.5 x [Nom Mtr Arm Amps]
Note: This parameter can be assigned to an analog output. Units: A

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

232 [Inertia Comp Out] Default: Read Only Real
Displays the output of the Inertia Compensation function. The [Inertia Comp
Min/Max: –/+200
Out] signal (if selected by Par 1016 [SpdFuncSelect]) is summed with Pars 14 Units: %
[Selected TorqRef] and 40 [Trim Torque]. Inertia compensation provides a
torque feed forward signal during changes in motor speed reference.
Notes: This parameter was added for firmware revision 4.001. In revision
6.004, when Inertia Loss/Compensation is not selected, this parameter value
can reach invalid values if parameter 1014 [Inertia] or 433 [Total Inertia]
becomes large.
234 [Fld Current Pct] Default: Read Only Real 280
Field current (present value) as a percentage of Par 280 [Nom Mtr Fld Amps].
Min/Max: 0.00 / 100.00
When running a permanent magnet motor, this parameter will display zero. Units: %
Note: This parameter can be assigned to an analog output and is the default
value for Par 68 [Anlg Out3 Sel].
236 [Spd Reg Out Pct] Default: Read Only Real 179
Output value of the speed regulator, as a percentage of Par 179 [Nom Mtr
Min/Max: –/+250
Arm Amps], used as the reference for the current regulator. Units: %
Current Meters

351 [Field Current] Default: Read Only Real

Present value of the field current. When running a permanent magnet motor,
Min/Max: 0.00 / 99.90
this parameter will display zero. Units: A
Note: This parameter can be assigned to an analog output.
476 [Field Curve Out] Default: Read Only Real
Displays the output value of the field current used as a reference to the field
Min/Max: 0.00 / 100.00
current regulator. Units: %
Note: This parameter was added for firmware revision 4.001.
500 [Flux Ref Pct] Default: Read Only Real 280
Field flux (reference) as a percentage of Par 280 [Nom Mtr Fld Amps]. When
Min/Max: 0.00 / 100.00
the Field Curve is linear (default setting), the field flux reference will be a
MONITOR

Units: %
linear percentage of the field current. If the Field Curve is set to values other
than the defaults (in Pars 916…918), the field flux reference percentage will
not be equal to the field current percentage (unless the flux is at 0% or
100%). When running a permanent magnet motor, this parameter will
display zero.
Notes: This parameter can be assigned to an analog output. This name of this
parameter was changed from [Field Ref Pct] for firmware revision 3.001.
928 [Filt TorqCur Pct] Default: Read Only 16-bit 926,
Filtered value of Par 1193 [Torq Current Pct]. The amount of filtering is set by Int 1193
Min/Max: –/+250
Par 926 [Torq Cur Filter]. Units: %
57 [FaultCode] Default: Read Only 16-bit 1351
A code that shows the last active fault on the drive. If there are no active Int
Min/Max: 0 / 65535
faults, this value will be zero (No Fault). The last 10 faults in the drive can be
viewed in Pars 1351…1370. See Fault Descriptions on page 222 for a list of
fault codes and descriptions.
165 [Firing Angle] Default: 120.00 Real
Actual SCR firing angle.
A Min/Max: 0.00 / 180.00
Notes: This parameter was added for firmware revision 7.001. Units: Deg
Drive Data

233 [Output Voltage] Default: Read Only Real

Measured output armature voltage.
Min/Max: -/+999.00
Note: This parameter can be assigned to an analog output and is the default Units: Vdc
selection for Par 69 [Anlg Out4 Sel].
235 [Elapsed Lifetime] Default: Read Only Real
Shows the operating time of the drive. This parameter counts the time for
Min/Max: 0.00 / 65535.0
which the drive is energized (even if the drive is disabled). Units: H.m
300 [Drive Type] Default: Read Only 16-bit
Displays of the drive type. Int
Min/Max: 10 / 11
“10” = Non-Regenerative
“11” = Regenerative

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

331 [Software Version] Default: Read Only Real
Displays the Major and Minor (Major.Minor) firmware version numbers active
Min/Max: 1.00 / 999.00
in the drive.
332 [Drive Checksum] Default: Read Only 16-bit
Provides a checksum value that indicates whether or not a change in drive Int
Min/Max: 0 / 65535
programming has occurred.
465 [Drive Size] Default: Read Only 16-bit
Armature current rating (as indicated by the configuration of DIP switch S15 Int
Min/Max: 0 / Based on drive current rating
on the control board). This value is used to determine the Drive Overload fault Units: A
(F64).
Note: S15 is set to the appropriate value at the factory. However, if the control
Drive Data
MONITOR

board was supplied separate from the drive and installed as a replacement
part, S15 must be manually set to the appropriate drive size. See DIP Switch
and Jumper Settings on page 77.
466 [AC Line Voltage] Default: Read Only 16-bit
AC input voltage. Int
Min/Max: 0 / 960
Units: Vac
588 [AC Line Freq] Default: Read Only Real
AC input frequency.
Min/Max: 0.00 / 70.00
Units: Hz
1052 [Output Power] Default: Read Only Real
Output power.
Min/Max: 0.00 / 9999.99
Note: This parameter can be assigned to an analog output. Units: kW

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 Programming and Parameters Chapter 3

Motor Control File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

21 [Min Firing Angle] Default: 25 16-bit 165
Specifies the minimum SCR firing angle (Alpha) that the drive can command. Int
Min/Max: 5/ 25
This parameter should only be changed in applications where full speed is Units: Deg
needed with a low AC line or operating in overload.
A Note: See Parameter 21 [Min Firing Angle] Configuration on page 320 for
detailed configuration instructions. This parameter was added for firmware
revision 7.001.

ATTENTION: When the drive is capable of regenerating power back to the AC line, external inverting fault
protection must be provided in the form of circuit breakers or fuses. Failure to provide this protection could result in
machine or equipment damage.

45 [Max Ref Speed] Default: 1750 32-bit 2,

Highest speed reference that can be commanded. The value of this parameter Int 456
Min/Max: 1 / 6000
also scales external speed reference values (rpm) to internal units (counts), Units: rpm
including analog inputs (10V = Par 45 rpm). Rated motor speed is
determined via Par 456 [Fld Weaken Ratio] when field weakening is used. If
field weakening is not used, set this parameter to the motor base speed.
Notes: If a speed feedback device is used (encoder, resolver, or tachometer),
see Drive Reference and Feedback Scaling on page 296 for instructions. The
maximum value was changed from “16383” for firmware revision 3.001.
162 [Max Feedback Spd] Default: 1750.00 Real 169,
Specifies the scaling between internal (counts) and external speed feedback 414,
Min/Max: 1.00 / 6000
values. Typically, this parameter is set to the same value as Parameter 45 Units: rpm 456,
[Max Ref Speed]. If an analog (DC) tachometer is used, this parameter's value 458,
must be set to be compatible with the S4 switches on the control board (see 585
DIP Switch and Jumper Settings on page 77). If armature voltage feedback is
MOTOR CONTROL

used, this parameter must be set to the motor nameplate base speed. Set Par
Motor Data

585 [Overspeed Val] 10% higher than the value entered into Par 162. Rated
motor speed is determined via Par 456 [Fld Weaken Ratio] when field
weakening is used. If field weakening is not used, set this parameter to the
motor base speed.
Notes: If a speed feedback device is used (encoder, resolver, or tachometer),
see Drive Reference and Feedback Scaling on page 296 for instructions. The
maximum value was changed from “16383” for firmware revision 3.001.
175 [Rated Motor Volt] Default: 240.0 Real 162,
Maximum armature voltage of the drive. Typically, this value is set to the 169,
Min/Max: 20.0 / 999.0
Motor Nameplate Armature voltage. When Par 469 [Field Mode Sel] is set to 1 Units: V 469,
“Field Weaken”, 4 “Wired FC FW”, or 5 “Fiber FC FW” the value in this 481
parameter equals the voltage at which the field weakening phase begins.
Note: This parameter affects the threshold of an overvoltage condition, as
indicated by an “Arm Overvoltage” fault (F5).
179 [Nom Mtr Arm Amps] Default: Based on drive current rating Real 465
Rated motor nameplate armature current. The settings for the current limit
Min/Max: 0.10 / Based on drive current rating
and the overload function are based on this current value. Also, set this value Units: A
to be greater than 1/3 the value of Par 465 [Drive Size].
201 [Drive Type Sel] Default: 0= “Off” 16-bit
Options: 0= “Off” Int
Important: This parameter is only applicable to non-regenerative
(2-quadrant) drives. 1= “On”
A
Allows non-regenerative drives to use an external 4-quadrant controller.
• “On” = Ramp, Speed, Torque current references and Speed measurement
have the same behavior as a four quadrant drive.

ATTENTION: Failure to set this parameter to a value appropriate for the intended application could result in
equipment damage and/or personal injury.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
280 [Nom Mtr Fld Amps] Default: Par 374 [Drv Fld Brdg Cur] x 0.33 Real 374
Rated motor nameplate field current (IdFN). Leave set to the default value for
Min/Max: 0.00 / [Drv Fld Brdg Cur]
permanent magnet motor applications. For PowerFlex DC Field Controller Units: A
applications, set the value in this parameter equal to the value of Par 374
[Drv Fld Brdg Curr].
333 [MtrOvrld Factor] Default: 70 16-bit
Sets the derating factor for motor overload. The derating begins when the Int
A Min/Max: 20 / 100
motor speed is below the value set in Par 334 [MtrOvrld Speed]. The motor Units: %
overload level is determined by Par 376 [MtrOvrld Type] (“StandardDuty” is
150% of Par 179 [Nom Mtr Arm Amps] for 60 sec. or 200% for 3 sec.,
“HeavyDuty” is 200% for 60 sec.) and is linearly decreased from its maximum
to the value of the motor overload factor at zero speed (zero speed is defined
by Par 107 [Zero Speed Level]). This parameter can be used to lower the level
of current that will cause the motor overload function to trip based on motor
speed (The trip action is determined by Par 479 [MtrOvrld Flt Cfg]). For
example, a value of 70% implies continuous operation up to 100% of motor
nameplate current when operating above the value of Par 334 [MtrOvrld
Speed] and only 70% (1.00 * 70%) of motor nameplate current when
operating at zero speed. Setting this parameter to 100% disables the motor
overload derating function so the standard motor overload function is always
active. Note: This parameter was added for firmware revision 6.001.
334 [MtrOvrld Speed] Default: 0 16-bit
MOTOR CONTROL

Sets the motor speed (as a percentage of Par 45 [Max Ref Speed]) where the Int
A Min/Max: 0 / 100
Motor Data

derating factor (Par 333 [MtrOvrld Factor]) for motor overload capacity Units: %
begins. The motor overload capacity is linearly reduced when operating
below [MtrOvrld Speed]. This is to account for the reduced self-cooling
capability of typical motors operating at slower speeds. For motors with low
speed cooling capacity (for example, blower cooling), reduce this setting to
take full advantage of the motor being used. Setting this parameter to 0%
disables the motor overload derating function so the standard overload
function is independent of motor speed. Note: This parameter was added for
firmware revision 6.001.
374 [Drv Fld Brdg Cur] Default: 1.00 Real
Drive rated field bridge current (IdFN). The value in this parameter must be set
Min/Max: 0.50 / 570.00
equal to the value chosen with DIP switch S14 on the control board (see Units: A
Table 16 on page 62 for DIP switch configuration). Leave set to the default
value for permanent magnet motor applications. For PowerFlex DC Field
Controller applications, set the value of this parameter to the motor field
rating.
Note: Changed the max. value from 80.00 for firmware revision 7.001
376 [MtrOvrld Type] Default: 0= “StandardDuty” 16-bit 179,
Allows selection of the type of motor overload calculation based on Par 179 Int 479,
Options: 0= “StandardDuty”
[Motor Arm Amps]. 1= “HeavyDuty” 1290
• StandardDuty = 150% load for 1 minute or 200% load for 3 seconds
A before a motor overload condition is indicated.
• HeavyDuty = 200% load for 1 minute before a motor overload condition
is indicated (250% for 30 sec). This selection requires that the drive be
oversized relative to the motor to be able to provide the necessary current
without faulting from a “Drive Overload” (F64).
Note: This parameter was added for firmware revision 3.001.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
464 [SAR Volts Scale] Default: 1.0 Real
Scales the following parameters so that they show actual voltage values
Min/Max: 0.5 / 10.0
rather than drive calculated values when in Standalone Regulator (SAR)
mode:

175 [Motor Rated Volt] 495 [Arm Volt Kp Base]

Motor Data

233 [Output Voltage] 496 [Arm Volt Ki Base]

466 [AC Line Voltage] 1052 [Output Power]
481 [Undervolt Thresh] 1374 [Fault Voltage]

Notes: This parameter was added for firmware revision 4.001. See Appendix
H PowerFlex DC Standalone Regulator Installation on page 397 for more
information.
Important: When the drive is not in SAR mode, this parameter is clamped to
the default value (1.0).
91 [Fld Reg Kp] Default: 2.00 Real 97
Proportional gain (KP) of the flux regulator expressed as a percentage of Par
A Min/Max: 0.00 / 100.00
97 [Fld Reg Kp Base]. Leave set to the default value for permanent magnet Units: %
motor or PowerFlex DC Field Controller applications.
92 [Fld Reg Ki] Default: 1.00 Real 98
Integral gain (KI) of the flux regulator expressed as a percentage of Par 98 [Fld
A Min/Max: 0.00 / 100.00
Reg Ki Base]. Leave set to the default value for permanent magnet motor or Units: %
PowerFlex DC Field Controller applications.
97 [Fld Reg Kp Base] Default: 3276.70 Real 91
MOTOR CONTROL

The proportional gain (KP0) of the field current regulator (base value). Leave
Min/Max: 0.10 / 32767.00
set to the default value for permanent magnet motor or PowerFlex DC Field
Controller applications.
A
98 [Fld Reg Ki Base] Default: 3276.70 Real 92
Integral gain (KI0) of the field current regulator in (base value). Leave set to
Min/Max: 0.10 / 32767.00
the default value for permanent magnet motor or PowerFlex DC Field
Controller applications.
A
Field Config

410 [Ext FC Curr Hyst] Default: 5 16-bit 411,

Defines the armature percentage threshold in the reverse direction that Int 412
A Min/Max: 1 / 100
causes field inversion. Units: %
Note: This parameter was added for firmware revision 7.001.
456 [Fld Weaken Ratio] Default: 100 16-bit 921,
The ratio of Motor Nameplate Base Speed to Par 45 [Max Ref Speed] when Int 469
Min/Max: 0 / 100
Par 469 [Field Mode Sel] 1 “Field Weaken”, 4 “Wired FC FW”, or 5 “Fiber FC Units: %
FW”. This value is the percentage of the maximum application speed when
field weakening will begin: “Motor Base Speed” / Par 45 [Max Ref Speed] x
100. If Par 469 [Field Mode Sel] = 0 “Base Speed”, this parameter must be =
100%. Leave set to the default value for permanent magnet motor
applications.
462 [Flux Divide] Default: 0= “Torque Ref” 16-bit
Selects division by flux for Inertia Compensation or Torque Reference. Leave Int
A Options: 0= “Torque Ref”
set to the default value for permanent magnet motor applications. 1= “Inertia Comp”
Note: Added for firmware revision 3.001.
463 [Flux Filter BW] Default: 50 16-bit
Adjustable low pass filter on the value of Par 500 [Flux Ref Pct]. The filtered Int
A Min/Max: 0 / 2000
result is used by the Torque Reference divide by flux function. Leave set to the Units: ms
default value for permanent magnet motor applications.
Note: Added for firmware revision 3.001.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
467 [Max Fld Flux Pct] Default: 100 16-bit 468
Maximum allowable field flux. The maximum value (100%) corresponds to Int
Min/Max: Par 468 [Min Fld Curr Pct] / 100
the value set in Par 280 [Nom Mtr Fld Amps]. The value of this field linearly Units: %
affects the field current, unless a flux curve is set in Pars 916, 917, and 918
[Fld Const xx Pct]. Leave set to the default value for permanent magnet
motor applications.
Note: This parameter can be assigned to an analog input or output.

ATTENTION: Failure to set this parameter to a value appropriate for the intended application could result in
excessive motor speed, equipment damage, and/or bodily injury.

468 [Min Fld Curr Pct] Default: 30 16-bit 467,

Minimum allowable field current. The value set in this parameter also Int 499
Min/Max: 0 / Par 467 [Max Fld Flux Pct]
influences the threshold at which the “Fld Current Loss” (F6) fault occurs. The Units: %
threshold is half of the value of Par 468 [Min Fld Curr Pct]. The value of Par
351 [Field Current] equals the value of this parameter when Par 499 [Field
Economy En] = 1 “Enabled” and Field Economy becomes active. Leave set to
the default value for permanent magnet motor applications.

ATTENTION: Failure to set this parameter to a value appropriate for the intended application could result in
excessive motor speed, equipment damage, and/or personal injury.

469 [Field Mode Sel] Default: 0= “Base Speed” 16-bit 456,

Operating mode of the field controller. Int 916,
Options: 0= “Base Speed”
MOTOR CONTROL

• “Base Speed” = The motor field is regulated with constant current and 1= “Field Weaken” 917,
Field Config

controls the motor from zero to base speed. If a curve is defined through 2= “External” 918,
Pars 916, 917 and 918 [Fld Const xx Pct], this value will change linearly 3= “PM External” 921
through Par 467 [Max Fld Flux Pct] (which is a percentage of the nominal 4= “Wired FC FW”
flux value set in Par 280 [Nom Mtr Fld Amps]). 5= “Fiber FC FW”
• “Field Weaken” = The motor field is regulated with a combination of 6= “Wired FC BS”
torque and constant power (armature and field regulation -- field 7= “Fiber FC BS”
weakening). The maximum armature voltage is configured in Par 175
[Rated Motor Volt]. When using a DC contactor, this parameter is set to
this option, and Par 458 [SpdReg FB Bypass] is set to 1 “Enabled,” the
armature voltage feedback terminals A1 and A2 must be connected to the
motor terminals A1 and A2, respectively.
• “External” = The motor field power is supplied by an external rectifier/
converter (the drive’s field output is disabled).
• “PM External” = External field created by a permanent magnet (PM)
motor.
• “Wired FC FW” = Motor field with weakening regulated by PowerFlex DC
Field Controller via a wired connection.
• “Fiber FC FW” = Motor field with weakening regulated by PowerFlex DC
Field Controller via a fiber-optic cable connection.
• “Wired FC BS” = Motor field (no weakening) regulated by PowerFlex DC
Field Controller via a wired connection.
• “Fiber FC BS” = Motor field (no weakening) regulated by PowerFlex DC
Field Controller via a fiber-optic cable connection.
Notes: Option 3 “PM External” was added for firmware revision 5.002.
Options 4…7 were added for firmware revision 7001.
493 [Arm Volt Kp] Default: 30.00 Real 495
Proportional gain (KP) of the field voltage regulator expressed as a
Min/Max: 0.00 / 100.00
percentage of the value defined in Par 495 [Arm Volt Kp Base]. This Units: %
parameter is not used when Par 469 [Field Mode Sel] is set to 4…7 (external
field is controller by a PowerFlex DC Field Controller).
494 [Arm Volt Ki] Default: 40.00 Real 496
Integral gain (KI) of the field voltage regulator expressed as a percentage of
Min/Max: 0.00 / 100.00
the value defined in Par 496 [Arm Volt Ki Base]. This parameter is not used Units: %
when Par 469 [Field Mode Sel] is set to 4…7 (external field is controller by a
PowerFlex DC Field Controller).

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
495 [Arm Volt Kp Base] Default: Based on drive current rating Real 493
The proportional gain (KP0) of the field voltage regulator (base value). This
Min/Max: 0.10 / Based on drive current rating
parameter is not used when Par 469 [Field Mode Sel] is set to 4…7 (external Units: A/V
field is controller by a PowerFlex DC Field Controller).
A
496 [Arm Volt Ki Base] Default: 0.90 x P496max Real 494
The integral coefficient (KI0) of the field voltage regulator (base value). This
Min/Max: 0.01 / Based on drive current rating
parameter is not used when Par 469 [Field Mode Sel] is set to 4…7 (external Units: A / V / ms
field is controller by a PowerFlex DC Field Controller).
A
497 [Field Reg Enable] Default: 1= “Enabled” 16-bit
Enables/Disables the field regulator. Leave set to the default value for Int
Options: 0= “Disabled”
permanent magnet motor applications. 1= “Enabled”
• “Enabled” = The field regulator is enabled and controlling the field
output.
• “Disabled” = The field regulator is disabled (the field current is zero).
498 [Force Min Field] Default: 0= “Disabled” 16-bit
Enables/Disables the minimum field current value. Leave set to the default Int
Options: 0= “Disabled”
value for permanent magnet motor applications. 1= “Enabled”
• “Enabled” = The field current corresponds to the value set via Par 468
A [Min Fld Curr Pct].
• “Disabled” = The field current is regulated based on the quadrant mode
and situation in which the drive is operating.
Note: This parameter can be assigned to a digital input (35 “Force MinFld”).

ATTENTION: Enabling (forcing) the minimum field current while the drive is running could result in excessive motor
speed, equipment damage, and/or bodily injury.
MOTOR CONTROL
Field Config

499 [Field Economy En] Default: 1= “Enabled” 16-bit 395,

When this parameter is set to 1 = “Enabled” and the value in Par 107 [Speed Int 468,
Options: 0= “Disabled”
Zero Level] is reached (after the amount of time specified in Par 1407 [Field 1= “Enabled” 1407
Econ Delay] has elapsed), the minimum field current (set via Par 468 [Min Fld
Curr Pct]) is produced. Leave set to the default value for permanent magnet
motor applications.
• “Disabled” = Disables field economy
• “Enabled” = Enables field economy
916 [Fld Const 40 Pct] Default: 40.00 Real 469
This value corresponds to the field current required to produce 40% armature
Min/Max: 0.00 / 100.00
voltage when the motor is running at base speed. Leave set to the default Units: %
value for permanent magnet motor applications.
A
917 [Fld Const 70 Pct] Default: 70.00 Real 469
This value corresponds to the field current required to produce 70% armature
Min/Max: 0.00 / 100.00
voltage when the motor is running at base speed. Leave set to the default Units: %
value for permanent magnet motor applications.
A
918 [Fld Const 90 Pct] Default: 90.00 Real 469
This value corresponds to the field current required to produce 90% armature
Min/Max: 0.00 / 100.00
voltage when the motor is running at base speed. Leave set to the default Units: %
value for permanent magnet motor applications.
A
919 [Set Fld Curve] Default: 1 16-bit 916,
When set to “0”, this parameter controls the motor field current to field Int 917,
Min/Max: 0/1
reference curve according to the values specified in the [Fld Const xx Pct] 918
parameters. With this curve is defined, the result of [Max Fld Flux Pct] / [Flux
A Ref Pct] equals the percentage of field current according to the characteristic
of the curve. This field is Write Only. After the value of this field is set to “0”, it
will automatically return to “1”. Leave set to the default value for permanent
magnet motor applications.
Note: See Tuning the Field Current Curve on page 358 for more information.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
920 [Reset Fld Curve] Default: 0 16-bit
When set to “1”, resets the drive to use a linear field curve. When this Int
Min/Max: 0/1
parameter is set, Par 280 [Nom Mtr Fld Amps] is linearly changed through Units:
[Max Fld Flux Pct] / [Flux Ref Pct]. This field is Write Only. After the value of
A this field is set to “1”, it will automatically return to “0”. Leave set to the
default value for permanent magnet motor applications.
921 [Out Volt Level] Default: 100.0 Real 469
The percentage of maximum output voltage based on the value in Par 175
A Min/Max: 0.0 / 110.0
[Rated Motor Volt]. In regenerative, field-weakened applications (hoist, Units: %
elevator, unwinder, etc.) set the value of this parameter less than 100%, to
Field Config

allow operation when overcoming gravity. The value of this parameter also
determines the voltage where the drive begins field de-fluxing while Field
Weaken mode is active (Par 469 [Field Mode Sel] = 1 “Field Weaken”, 4
“Wired FC FW”, or 5 “Fiber FC FW”). Leave set to the default value for
permanent magnet motor applications.
Notes: This parameter can be assigned to an analog output or analog input
(by selecting “Out Volt Lvl”). The maximum value of this parameter was
changed from “100” for firmware revision 3.001.
1407 [Field Econ Delay] Default: 300 16-bit 107,
Amount of time to elapse once the drive reaches zero speed (as determined Int 499
Min/Max: 0 / 1800
by Par 107 [Speed Zero Level]) before field economy becomes active. Leave Units: s
set to the default value for permanent magnet motor applications.
7 [Current Limit] Default: 150 16-bit 8,
Symmetrical current limit expressed as a percentage of the value in Par 179 Int 9,
Min/Max: 0 / 250
[Nom Mtr Arm Amps]. This value applies to both current directions for four Units: % 179
quadrant drives.
• If Par 7 [Current Limit] is changed, Pars 8 [Current Lim Pos] and 9 [Current
MOTOR CONTROL

Lim Neg] are set to the same value. If either the value of Pars 8 [Current
Lim Pos] or 9 [Current Lim Neg] is changed later, the last change is valid.
Note: The maximum value for this parameter has been changed from 200%
to 250% for firmware revision 5.006.
8 [Current Lim Pos] Default: 150 Real 7
The drive current limit for the positive current direction expressed as a
Min/Max: 0 / 250
percentage of the value in Par 179 [Nom Mtr Arm Amps]. Units: %
Notes: This parameter can be assigned to an analog input. The maximum
value for this parameter has been changed from 200% to 250% for firmware
revision 5.006.
9 [Current Lim Neg] Default: 150 Real 7
The drive current limit for the negative current direction expressed as a
Torq Attributes

Min/Max: 0 / 250
percentage of the value in Par 179 [Nom Mtr Arm Amps]. This parameter is Units: %
not active for two quadrant drives.
Notes: This parameter can be assigned to an analog input. The maximum
value for this parameter has been changed from 200% to 250% for firmware
revision 5.006.
12 [Current Rate Lim] Default: 25 Real
Specifies the largest change in armature current reference that will be
Min/Max: 0.1 / 250
allowed per current loop scan (2.7 ms @ 60Hz, 3.3 ms @ 50Hz AC line Units: %
frequency). A value of 100% indicates that the armature current reference
will not be permitted to change by more than rated motor current in a given
speed loop scan period.
Note: This parameter was added for firmware revision 5.002.
39 [Torque Ref] Default: 0 Real
First current reference value, before any trim signals are incorporated, as a
Min/Max: – / +200
percentage of the value set in Par 179 [Nom Mtr Arm Amps]. For firmware Units: %
revision 2.005 or lower, this parameter is only used when Par 242 [Speed Reg
En] = 0 “Disabled”.
Note: The current reference value is proportional to the armature current of
the motor and determines the torque. The polarity determines the torque
direction.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
40 [Trim Torque] Default: 0 Real
Second current reference value as a percentage of the value set in Par 179
Min/Max: – / +200
[Nom Mtr Arm Amps]. [Trim Torque] is added to Torque Reference and can be Units: %
used as a correction value for the torque reference (regardless of the value of
Par 242 [Speed Reg En]).
342 [Torque Reduction] Default: 0= “Not Active” 16-bit 13
Selection for torque reduction. When the torque reduction function is active Int
Options: 0= “Not Active”
(1 “Active”), the current limit changes accordingly by the percentage defined 1= “Active”
in Par 13 [Torq Red CurLim]. When this parameter is set to 0 “Not Active”,
torque reduction is not active.
For example:
Par 7 [Current Limit] (or Pars 8 [Current Lim Pos] and 9 [Current Lim Neg])
= 80%
Par 13 [Torq Red CurLim] = 70%
If Par 342 [Torque Reduction] = 0 “Not Active”, the current limit = 80%
If Par 342 [Torque Reduction] = 1 “Active”, the current limit = 70%
Note: This parameter can be assigned to a digital input.
353 [Zero Torque] Default: 1= “Not Active” 16-bit 41
Sets the reference value for the armature current (Par 41 [Current Reg In]) to Int
Options: 0= “Active”
zero so that the drive has no torque. 1= “Not Active”
• “Not Active” = Par 41 [Current Reg In] is not set to zero.
• “Active” = Par 41 [Current Reg In] is set zero. The drive has no torque.
411 [FC Lim Ramp] Default: 0= “Disabled” 16-bit 410,
Enables an armature current limit ramp after a field inversion. Int 411
A Options: 0= “Disabled”
Note: Added for firmware revision 7.001 1= “Enabled”
412 [FC Lim Ramp Time] Default: 800 16-bit 410,
Armature current limit ramp time after field inversion (if enabled through Int 411
A Min/Max: 200 / 10000
MOTOR CONTROL

P411 [FC Lim Ramp]). Note: Added for firmware revision 7.001
Torq Attributes

Units: ms
750 [TrqTpr Enable] Default: 0= “Disabled” 16-bit 751,
Enables/Disables the current/speed curve function. Int 752,
Options: 0= “Disabled”
• “Disabled” = The limits current /speed curve is disabled 1= “Enabled” 753,
• “Enabled” = The limits current /speed curve is enabled 754,
A Note: See Current / Speed Curve on page 294 for more information. 755,
756
751 [TrqTpr Lim0] Default: 0 16-bit 750,
The current limit of the current/speed curve that operates constantly up to Int 756
Min/Max: 0 / 200
the speed set in Par 756 [TrqTpr Spd]. When the current/speed curve function Units: %
is enabled (set in Par 750 [TrqTpr Enable]), this parameter will override the
A current limits set in Pars 10 [Cur Lim Pos Out] and 11 [Cur Lim Neg Out].
752 [TrqTpr Lim1] Default: 0 16-bit 750,
First reduced current limit of the current/speed curve. The value defined in Int 756
Min/Max: 0 / 200
this parameter must be less than the value in Par 751 [TrqTpr Lim0] and Units: %
greater than the values in Pars 753 [TrqTpr Lim2], 754 [TrqTpr Lim3] and 755
A [TrqTpr Lim4].
753 [TrqTpr Lim2] Default: 0 16-bit 750,
Second reduced current limit of the current/speed curve. The value defined in Int 756
Min/Max: 0 / 200
this parameter must be less than the value in Par 752 [TrqTpr Lim1] and Units: %
greater than the values in Pars 754 [TrqTpr Lim3] and 755 [TrqTpr Lim4].
A
754 [TrqTpr Lim3] Default: 0 16-bit 750,
Third reduced current limit of the current/speed curve. The value defined in Int 756
Min/Max: 0 / 200
this parameter must be less than the value in Par 753 [TrqTpr Lim2] and Units: %
greater than the value in Par 755 [TrqTpr Lim4].
A
755 [TrqTpr Lim4] Default: 0 16-bit 750,
Last reduced current limit of the current/speed curve. The value defined in Int 756
Min/Max: 0 / 200
this parameter must be less than the value in Par 754 [TrqTpr Lim3]. The drive Units: %
will operate at this current limit up to the value set in parameter 162 [Max
A Feedback Spd].

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
756 [TrqTpr Spd] Default: 0 16-bit 750,
Threshold speed at which torque reduction begins, as determined by the Int 756
Min/Max: 0 / Par 162
current/speed curve.
Torq Attributes

Units: rpm
A
926 [Torq Cur Filter] Default: 0.100 Real 1193
First rate low-pass filter for Par 1193 [Torq Current Pct].
A Min/Max: 0.001 / 0.250
Note: The name of this parameter was changed from [Filt Torq Cur] for Units: s
firmware revision 3.001.
169 [Encoder PPR] Default: 1024.00 Real 162
Number of pulses per revolution of the digital encoder. The value of Pars 169
Min/Max: 100.00 / 32770.00
[Encoder PPR] and 162 [Max Feedback Spd] must be set as indicated in Valid
Speed Feedback Values on page 300.
A
170 [Encoder Config]
Configures the encoder moving average filter.
• Bits 0 “Move Avg b0”, 1 “Move Avg b1”, and 2 “Move Avg b2” - Select the moving average speed filter period (see Table 170A: Moving Average
below).
A Note: This parameter was added for firmware revision 6.001.

Move Avg b2
Move Avg b1
Move Avg b0
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Default x x x x x x x x x x x x Reserved
x 0 0 1
MOTOR CONTROL

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Table 170A - Moving Average

Bit Bit
Speed Feedback

2 1 0 Filter Period 2 1 0 Filter Period

0 0 0 2 ms 1 0 0 16 ms
0 0 1 4 ms 1 0 1 2 ms
0 1 0 8 ms 1 1 0 2 ms
0 1 1 2 ms 1 1 1 2 ms

414 [Fdbk Device Type] Default: 3= “Armature” 16-bit

The source of speed feedback. It is strongly recommended that a feedback Int
Options: 1= “Encoder”
device be used when running a permanent magnet motor. 2= “DC Tach”
• 1 “Encoder” = Digital encoder (jumpers S20, S21, see page 78) 3= “Armature”
• 2 “DC Tach” = DC analog tachometer (jumper S4, see page 78) 4= “Resolver”
• 3 “Armature” = Internal measurement of the armature voltage
• 4 “Resolver” = The resolver feedback module must be installed and
configured
Note: Option 4 “Resolver” was added for firmware revision 5.002.
422 [Fdbk Option ID] Default: Read Only 16-bit
Displays information about the resolver feedback option module (if Int
A Min/Max: 0 / 8191
installed).
Module ID (bits 15…11), Version (bits 10…6), Revision High
(bits 5…3), Revision Low (bits 2…0) (For example, a value of 6217
indicates Module ID 3, Version 1, Revision 1.1). If no resolver module is
detected this value will be set to 0.
Note: This parameter was added for firmware revision 5.002.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
423 [Reslvr Type Sel] Default: 1= “T2014x1/AMCI” 16-bit 414
The type of resolver used. See Resolver Type Selection on page 329 for Int
Options: 1= “T2014x1/AMCI”
descriptions of the attributes associated with each resolver type. To use the 2= “T2014x2/2087”
resolver as a speed feedback device, Par 414 [Fdbk Device Type] must = 4 3= “T2014x5/2087”
A “Resolver”. 4= “Resolver 04”
Important: After changing this parameter power to the drive must be 5= “Resolver 05”
cycled to have the new value incorporated into the resolver feedback 6= “Resolver 06”
module's operation. 7= “Resolver 07”
Note: This parameter was added for firmware revision 5.002. 8= “Resolver 08”
9= “Resolver 09”
10 = “Resolver 10”
11 = “Resolver 11”
12 = “Resolver 12”
13 = “Resolver 13”
14 = “Resolver 14”
15 = “Resolver 15”
MOTOR CONTROL
Speed Feedback

ATTENTION: If the incorrect resolver type is selected in Par 423 [Reslvr Type Sel], the resolver could be subject to
excessive voltage and/or the motor could run at excessive speed or become damaged, which could result in
personal injury or destruction of equipment.

424 [Reslvr Spd Ratio] Default: 1= “x1” 16-bit 423,

Ratio of resolver electrical to mechanical turns (a value of “x5” means 5 Int 425
Options: 1= “x1”
electrical turns for each mechanical revolution). The selected value must 2= “x2”
match the resolver selected in Par 423 [Reslvr Type Sel] for correct speed 3= “x3”
A determination. This parameter affects the maximum speed that can be 4= “x4”
measured by the resolver, see Table 425A, in Par 425 [Resolver Config], for 5= “x5”
limitations. See Resolver Type Selection on page 329 for descriptions of the
attributes associated with each resolver type.
Note: This parameter was added for firmware revision 5.002.

ATTENTION: If the incorrect resolver speed ratio is selected in Par 424 [Reslvr Spd Ratio], the motor could run at
excessive speed or become damaged, which could result in personal injury or destruction of equipment.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
425 [Resolver Config]
Configures the attributes of the resolver feedback module.
• Bits 2 “Resolution 0” and 3 “Resolution 1” - Select the resolver to digital conversion resolution. See Table 425A: Resolution Settings below for
selections. The selection of resolver resolution affects the maximum speed that can be measured by the resolver. These numbers are theoretical
A and actual limits could be higher based the application of the drive. Note the maximum speed of the drive is 6000 rpm.
• Bit 4 “Energize” - Energizes the resolver. Setting the bit to zero de-energizes the resolver (typically, leave set = 1).
• Bit 5 “Resolver Dir” - Determines the counting direction. This bit can be used to change the resolver direction when it doesn't match the motor
direction (that is, when wired backwards). 0 = forward (counting up), 1 = reverse (counting down).

ATTENTION: Changing bit 5 “Resolver Dir” when the resolver direction matches the motor direction and Par 414 [Fdbk
Device Type] is set to 4 “Resolver” may cause the motor to run at excessive speed or become damaged, which could
result in personal injury or destruction of equipment.

• Bits 10 “Move Avg b0”, 11 “Move Avg b1”, and 12 “Move Avg b2” - Select the moving average speed filter period (see Table 425B: Moving Average
below).
MOTOR CONTROL
Speed Feedback

Note: This parameter was added for firmware revision 5.002.

Move Avg b2
Move Avg b1
Move Avg b0

Resolution 1
Resolution 0
Options

Resolver Dir
Reserved
Reserved
Reserved

Reserved
Reserved
Reserved
Reserved

Reserved
Reserved
Energize
Default x x x 0 1 0 x x x x 0 1 0 0 x x
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Table 425A - Resolution Settings Table 425B - Moving Average

Bit Maximum Speed (rpm) Bit Bit
3 2 Resolution x1 x2 x5 12 11 10 Filter Period 12 11 10 Filter Period
0 0 10 bit 39,000 19,500 7800 0 0 0 2 ms 1 0 0 16 ms
0 1 12 bit 13,800 6900 2760 0 0 1 4 ms 1 0 1 2 ms
1 0 14 bit 3480 1740 696 0 1 0 8 ms 1 1 0 2 ms
1 1 16 bit 900 450 180 0 1 1 2 ms 1 1 1 2 ms

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
426 [Resolver Status] 431
Indicates the status of the resolver module.
• Bit 0 “CableBalSts” - Cable balance tuning process status. 0 = cable balanced (tuned), 1 = cable not balanced or the test is currently active. See
Resolver Cable Balance Tuning Test on page 328 for details.
• Bit 1 “CableBalTest” - Cable balance tuning test results. 0 = cable balance (tuning) test completed, 1 = cable can't be balanced or the motor was
not at minimum speed during test. See Resolver Cable Balance Tuning Test on page 328 for details.
• Bit 2 “ReslvrMinSpd” - Module has detected motion greater than the minimum speed. Also permits cable balance tuning test. 0 = motor turning,
1 = motor not turning.
• Bit 3 “CableCompSts” - Cable length compensation status. 0 = cable length compensation is OK, 1 = cable length compensation failed.
• Bit 4 “Energized” - Indicates the value written to Par 425 [Resolver Config], bit 4 “Energize”. 0 = resolver is not energized, 1 = resolver is energized.
• Bit 8 “Open Wire” - Indicates if a problem with cable wiring or resolver configuration was detected. This bit is also is set if the maximum tracking
speed of the resolver is exceeded (see Table 425A in Par 425 [Resolver Config]). 0 = resolver feedback signals are OK, 1 = resolver has an open wire.
• Bit 9 “PwrSupplySts” - Indicates the resolver module power supply status. 0 = power supply is OK, 1 = power supply has an error.
• Bit 10 “HardwareSts” - Power-up hardware diagnostics status. 0 = diagnostics passed, 1 = diagnostics failed.
• Bit 11 “ParametersOK” - Indicates the resolver configuration parameters status. 0 = a parameter configuration error exists, 1 = parameter
configuration is OK.
• Bit 12 “SSI Comm OK” - Resolver module communication status as determined by the drive. 0 = a communication error exists, 1 = communication
is OK.
• Bit 13 “SSI Comm Err” - Latched indication of three consecutive SSI communication errors (bit 12 = 1) as determined by the drive. 0 = no error. 1 =
three consecutive SSI communication errors have occurred. In this case a “Resolver Error” fault (F93) is displayed and the must be cleared using the
“Clear Faults” function. See Fault Descriptions on page 222 for more information.
Note: This parameter was added for firmware revision 5.002.

CableCompSts
ParametersOK

PwrSupplySts

Options

ReslvrMinSpd
SSI Comm OK
SSI Comm Err

HardwareSts

CableBalTest
CableBalSts
Open Wire
Reserved
Reserved

Reserved
Reserved
Reserved
Energize

Default x x 0 0 0 0 0 0 x x x 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MOTOR CONTROL
Speed Feedback

427 [Reslvr Position] Default: 0 Read

32-bit indication of resolver position. 16-bit revolution count (upper word) + Only
A Min/Max: -/+232
16-bit position count (lower word).
Note: This parameter was added for firmware revision 5.002.
429 [Resolver Pos Sel] Default: 0= “Off” 16-bit 763
When set to 1 “PID Feedback”, resolver position data (16-bits) is routed to Par Int
Options: 0= “Off”
763 [PID Feedback]. If this parameter is set to 1, Par 430 [Resolver Spd Sel] 1= “PID Feedback”
must be set to 0 “Off”.
A Note: This parameter was added for firmware revision 5.002.
430 [Resolver Spd Sel] Default: 0= “Off” 16-bit 42,
Routes the resolver speed to the selected parameter. If this parameter is set Int 43,
Options: 0= “Off”
to a value other than 0, Par 429 [Resolver Pos Sel] must be set to 0 “Off”. 1= “Trim Speed” (Par 43) 44, 48
Note: This parameter was added for firmware revision 5.002. 2= “Trim Ramp” (Par 42)
A
3= “Speed Ref A” (Par 44)
4= “Speed Ref B” (Par 48)
431 [Reslvr Cable Bal] Default: 0= “Off” 16-bit
Starts the resolver cable balance (tuning) process. Note that this test requires Int
A Options: 0= “Off”
the resolver to be rotating at a minimum speed. See Resolver Cable Balance 1= “On”
Tuning Test on page 328 for cable balance tuning details.
• 1 “On” = starts the test
• 0 “Off” = disables the test
The drive also automatically clears this value after it is initiated (similar to the
drive “Autotune” tests).
Note: This parameter was added for firmware revision 5.002.
455 [Spd FB Loss Lvl] Default: 40 16-bit 457,
Maximum allowed value of armature voltage (as a percentage of Par 175 Int 478
A Min/Max: 10 / 40
[Rated Motor Volt]) with less than 5% measured speed feedback (relative to Units: %
Par 162 [Max Feedback Spd]) before a Speed Feedback Loss condition (fault
or alarm) is reported.
Note: The name of this parameter was changed from [Spd Fdbk Error],
changed the default value from 22, and min./max. values from 10/100 for
firmware revision 5.002.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
457 [Spd Fdbk Control] Default: 1= “Enabled” 16-bit 414,
Enables/Disables speed feedback control. The speed feedback control Int 455,
Options: 0= “Disabled”
function is automatically disabled when armature voltage feedback is 1= “Enabled” 478
selected (Par 414 [Fdbk Device Type] = 3 “Armature”).

ATTENTION: If speed feedback control is disabled (Par 457 [Spd Fdbk Control] set to 0 “Disabled”) and Par 414
[Device Type] is set to 1 “Encoder”, 2 “DC Tach”, or 4 “Resolver”, the motor could run at excessive speed or become
damaged, which could result in personal injury or destruction of equipment.

458 [SpdReg FB Bypass] Default: 0= “Disabled” 16-bit 162,

Enables/Disables an automatic switch to armature voltage feedback when a Int 459,
Options: 0= “Disabled”
“Speed Fdbk Loss” (F91) fault occurs due to a speed feedback signal loss. 1= “Enabled” 460,
When this parameter is set to “Enable”, Par 478 [Spd Loss Flt Cfg] must be set 469,
to 1 “Alarm” to allow the motor to continue to run with no speed feedback 478
signal. After an automatic switch to armature feedback, the speed regulator
works with Pars 459 [SpdReg Kp Bypass] and 460 [SpdReg Ki Bypass] and the
D derivative part of the speed regulator is automatically excluded. Pars
[SpdReg Kp Bypass] and [SpdReg Ki Bypass] must be properly tuned.

IMPORTANT If Field Weakening and Speed Reg FB Bypass

are both enabled when using a DC contactor,
the armature voltage feedback terminals A1
And A2 on the drive must be connected to the
motor terminals A1 and A2, respectively.
MOTOR CONTROL
Speed Feedback

461 [Spd Fdbk Invert] Default: 0= “Disabled” 16-bit

Enables / Disables speed feedback negation. Note: This parameter was added Int
Options: 0= “Disabled”
for firmware revision 3.001. 1= “Enabled”
A
ATTENTION: The Drive can overspeed if Par 461 [Spd Fdbk Invert] is set incorrectly for your application. Failure to
observe this precaution could result in damage to, or destruction of, the equipment.

562 [Anlg Tach Gain] Default: 1.0000 Real

Fine scaling of the speed feedback received from the DC analog tachometer
Min/Max: 0.9000 / 3.0000
(Par 414 [Fdbk Device Type] = 2 “DC Tach”). The voltage feedback value
received from the tachometer is multiplied by this value. To maximize the
feedback speed resolution, this parameter can be used to scale the voltage
setting selected with DIP switch S4 to Par 162 [Max Feedback Spd].
563 [Feedback Offset] Default: 0.00 Real
Offset scaling of the feedback circuit. The value of this parameter applies
Min/Max: –/+20.00
regardless of the type of feedback device selected in Par 414 [Fdbk Device Units: rpm
Type].
Note: The name of this parameter was changed from [Anlg Tach Zero] for
firmware revision 3.001.
652 [Encoder Err Chk] Default: 0 “Disabled” 16-bit 457
Enables/Disables monitoring of the digital encoder connection status. Int
A Options: 0= “Disabled”
• Set this parameter to 1 “Enabled” when using a differential encoder and 1= “Enabled”
connection status monitoring is required.
• Set this parameter to “Disabled” when using a single-ended encoder.
Note: The encoder error fault (F92) will only be reported while the drive is
active.
When an alarm is detected, the HIM displays the “Spd Fdbk Loss” (F91) fault.
This parameter can be programmed on a digital output. This function is
activated by setting Par 457 [Spd Fdbk Control] = “Enabled”.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
914 [Spd FB Filt Gain] Default: 1.000 Real 915
First order lead/lag filter gain on the speed feedback signal.
A Min/Max: 0.000 / 2.000
Note: This parameter was added for firmware revision 3.001.
915 [Spd FB Filt BW] Default: 0 16-bit 914
First order lead/lag filter bandwidth on the speed feedback signal. Int
A Min/Max: 0 / 2000
Note: This parameter was added for firmware revision 3.001. Units: ms
923 [Act Spd Filter] Default: 0.100 Real 924
First order low pass filter time constant for Par 924 [Actual Speed].
A Min/Max: 0.001 / 1.000
Speed Feedback

Units: s
1021 [Encoder Out Sel] Default: 0= “Off” 16-bit
Defines the speed reference to which the encoder signal can be input. This Int
Options: 0= “Off”
parameter is typically set to 0 “Off” and the encoder is used for speed 1= “Trim Speed”
feedback only. When set to other than 0 “Off”, the choice of the speed 2= “Trim Ramp”
A reference destination must be made according to the configuration of the 3= “Speed Ref A”
speed regulator (for example “Speed Ref A” cannot be used with an active 4= “Speed Ref B”
ramp).
1022 [Encoder Counts] Default: Read Only 32-bit
Displays an accumulated pulse count (32-bit integer) from the encoder. Each 32 Int
A Min/Max: –/+ 2
edge is counted, so a 1024 PPR device produces 4096 counts per revolution.
Movement in either the forward or reverse direction results in an increase in
the counter value.
Note: This parameter was added for firmware revision 3.001.
93 [Spd Reg Kp Base] Default: 0.30 RO 87,
The proportional gain (KP0) of the speed regulator (base value). Note: This 99
Min/Max: 0.001 / Based on drive current rating
parameter was moved from the Speed Command file and Speed Regulator Units: A / rpm
group for firmware revision 6.001.
A
MOTOR CONTROL

94 [Spd Reg Ki Base] Default: 0.30 RO 88,

The integral gain (KI0) of the speed regulator (base value). Note: This 100
Min/Max: 0.001 / Based on drive current rating
parameter was moved from the Speed Command file and Speed Regulator Units: A/ rpm x ms
group for firmware revision 6.001.
A
452 [CurrReg Autotune] Default: 0= “Off” 16-bit
Setting this parameter to 1 “On” and pressing “Start” on the HIM keypad Int
Options: 0= “Off”
initiates the current regulator auto tuning procedure. When the auto tuning 1= “On”
procedure is complete, this parameter automatically resets to 0 “Off”. The
resulting armature resistance and inductance values are set in parameters
453 [Arm Resistance] and 454 [Arm Inductance], respectively.
Autotune

ATTENTION: Do not attempt to perform current regulator tuning with a PowerFlex DC drive and permanent
magnet motor, drive and/or motor damage may occur.

453 [Arm Resistance] Default: 0.50 Real 452

Motor armature resistance. This parameter can be manually changed to a
Min/Max: Based on drive current rating
value other than the value obtained when the current regulator auto tuning Units: Ohm
is completed.
454 [Arm Inductance] Default: 4.00 Real 452
Motor armature inductance. This parameter can be manually changed to a
Min/Max: Based on drive current rating
value other than the value obtained when the current regulator auto tuning Units: mH
is completed.
587 [I Reg Error] Default: Read Only 16-bit 452
Current Regulator tuning status parameter that is used as part of the manual Int
A Min/Max: –/+80
tuning process. See Fine-Tuning the Regulators on page 349 for details. Units: V
1012 [Inertia C Filter] Default: 0 16-bit
First order low–pass filter used to reduce noise caused by the speed Int
A Min/Max: 0 / 1000
differentiation process in the Inertia/Loss compensation block. Units: ms

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
1013 [Torque Const] Default: Based on motor current rating Real
The Motor torque constant used to calculate inertia and friction
A Min/Max: 0.01 / 99.99
compensation. This value is determined during speed auto tuning. Torque Units: N•m/A
Const = EMF/Sb. It should be the same as Motor Rated Torque / Motor Full
Load Amps.
1014 [Inertia] Default: Based on drive current rating (Par 179) Real
Motor inertia value. 1 Kg•m2 = 23.76 lb•ft2
A Min/Max: 0.001 / 999.999
Units: Kg•m2
1015 [Friction] Default: Based on drive current rating (Par 179) Real
Motor friction value.
A Min/Max: 0.000 / 99.990
1 N•m = 0.738 lb•ft Units: N•m
1027 [Spd Reg Autotune] Default: 0= “Off” 16-bit 280,
Starts the auto tuning procedure for the speed regulator. Setting this Int 467
Options: 0= “Off”
parameter to 1 “On” and pressing “Start” on the HIM keypad initiates the 1= “On”
speed regulator auto tuning procedure. When the auto tuning procedure is
complete, this parameter automatically resets to 0 “Off”. Run this test with
inertia connected to the motor (if present), but without process load (i.e.,
material).
Speed Regulator Autotune assumes full field is applied. Verify Pars 280 [Nom
Mtr Fld Amps] and 467 [Max Fld Flux Pct] are set correctly. Tuning with less
than full field current will result in different gains because of the lower motor
torque values.
Note: Non-default values for Par 107 [Speed Zero Level] or Par 108 [Speed
Zero Delay] can interfere with successful Speed Loop autotuning.
MOTOR CONTROL
Autotune

ATTENTION: The motor will rotate during the Speed Regulator tuning procedure. A hazard of personal injury exists
due to motor shaft rotation and/or machinery motion.

1029 [Speed Tune Dir] Default: 1= “Forward” 16-bit

Choice of the rotation direction of the motor shaft (rotation, as seen from the Int
Options: 1= “Forward”
motor shaft side) for the speed regulator auto tuning procedure. 2= “Reverse”
• “Forward” = Clockwise rotation
• “Reverse” = Counter-clockwise rotation
1030 [Spd Tune Inertia] Default: Read Only Real
Motor inertia value identified during the speed regulator auto tuning
Min/Max: 0.001 / 999.990
procedure. Units: Kg x m2
1031 [SpdTune Friction] Default: Read Only Real
Motor friction value identified during the speed regulator auto tuning
Min/Max: 0.00 / 99.99
procedure. Units: N•m
1032 [Speed Tune Kp] Default: Read Only Real
Proportional gain value of the speed regulator identified during the speed
Min/Max: 0.00 / 100.00
regulator auto tuning procedure.
1033 [Speed Tune Ki] Default: Read Only Real
Integral gain value of the speed regulator identified during the speed
Min/Max: 0.00 / 100.00
regulator auto tuning procedure.
1034 [SpdReg Kp Pct] Default: Read Only Real 87,
Internal proportional gain value, original Par 87 [Spd Reg Kp], percentage of 93
Min/Max: 0.00 / 100.00
Par 93 [Spd Reg Kp Base]. Units: %
This parameter was added for firmware revision 6.001.
1035 [SpdReg Ki Pct] Default: Read Only Real 88,
Internal proportional gain value, original Par 88 [Spd Reg Ki], percentage of 94
Min/Max: 0.00 / 100.00
Par 94 [Spd Reg Ki Base]. Units: %
This parameter was added for firmware revision 6.001.

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 Programming and Parameters Chapter 3

Data Type

Related
Autotune Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
1048 [Autotune Cur Lim] Default: 20 16-bit
Value of the torque current limit applied during the speed regulator auto Int
Min/Max: 0 / Based on drive current rating
tuning procedure. Units: %
58 [TstGen Output] Default: 0= “NotConnected” 16-bit 59,
Allows you to select a simulated parameter as the output for the test Int 60,
Options: 0= “NotConnected”
generator. The test generator is used to manually tune the regulators. It 1= “Reserved” 61
consists of a square wave generator whose frequency, offset and amplitude 2= “Torq Cur Ref”
A can be manipulated. 3= “Field Ref”
• “NotConnected” - No internal parameters defined by the generator. 4= “Ramp Ref”
• “Reserved” - Not used. 5= “Speed Ref”
• “Torq Cur Ref” - The output of the generator defines the reference value of
the torque current. 100% corresponds to “full load torque current” (FLT).
• “Field Ref” - The output of the generator defines the field reference value.
100% corresponds to the rated field current based on the motor
nameplate data parameters.
• “Ramp Ref” - The output of the generator defines the ramp reference
value. 100% corresponds to the value specified in Par 45 [Max Ref Speed].
This is the value immediately before the Ramp function.
• “Speed Ref” - The output of the generator defines the speed reference
value. This is the value immediately before the Speed Regulator function.

ATTENTION: Uncontrolled machine operation could result with a motor connected during these tests and may
cause personal injury and/or equipment damage. Verify that the drive is not connected to a motor armature circuit
before enabling these test modes.
MOTOR CONTROL

P58
TstGen Output
Test Generator

Generator
Output

P60
TstGen Amplitude

P61
TstGen Offset

Time

P59
TstGen Frequency

59 [TstGen Frequency] Default: 0.10 Real 58

Output frequency of the test generator.
A Min/Max: 0.10 / 62.50
Units: Hz
60 [TstGen Amplitude] Default: 0.00 Real 58
Amplitude of the delta signal produced by the test generator.
A Min/Max: 0.00 / 200.00
Units: %
61 [TstGen Offset] Default: 0.00 Real 58
Offset of the test generator.
A Min/Max: –/+200.00
Units: %

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
166 [Alpha Test] Default: 0= “Off” 16-bit 167,
Diagnostic test mode that selects the SCR bridge to activate. The SCR firing Int 168
Options: 0= “Off”
angles are specified by Pars 167 [Arm Test Angle] and 168 [Fld Test Angle]. 1= “Armature Fwd”
Important: Alpha Test is an open loop diagnostic tool that requires a 2= “Armature Rev”
A hardware Enable input be wired and functional at the terminal block. 3= “Field Fwd”
Reading Alpha Test Mode on page 289 is required before completing this test.
0 = Off
1 = Armature Fwd
2 = Armature Rev
3 = Field Fwd
Note: This parameter was added for firmware revision 3.001.

ATTENTION: Allow only qualified electrical personnel familiar with the construction and operation of this
equipment and the hazards involved to perform this test. Failure to observe this precaution could result in
equipment damage and/or bodily injury.

ATTENTION: This is an open loop test, disconnect the motor armature and field leads and replace them with
dummy loads. Failure to observe this precaution could result in machine damage and/or bodily injury.
MOTOR CONTROL
Test Generator

ATTENTION: Uncontrolled machine operation could result with a motor connected during these tests and may
cause personal injury and/or equipment damage. Verify that the drive is not connected to a motor armature circuit
before enabling these test modes.

167 [Arm Test Angle] Default: 180 Real 166

Sets the armature SCR firing angle for the Armature Forward and Armature
A Min/Max: 0 / 180
Reverse tests. 180 deg = minimum voltage, 5 deg = maximum voltage. This Units: deg
parameter is only changeable while the Armature Alpha Test is selected.
Note: This parameter was added for firmware revision 3.001.
168 [Fld Test Angle] Default: 180 Real 166
Sets the field SCR firing angle for the Field Forward test. 180 deg = minimum
A Min/Max: 0 / 180
voltage, 5 deg = maximum voltage. This parameter is only changeable while Units: deg
the Field Alpha Test is selected.
Notes: This parameter was added for firmware revision 3.001.
213 [SCR Diag Test En] 214,
Enables/Disables the SCR diagnostic tests. Both tests can be enabled simultaneously, but the “Shorted SCR” test will take precedence over the “Open 215,
SCR” test. Note: This parameter was added for firmware revision 6.001. 216,
217,
A
ShortSCR Tst
OpenSCR Tst

Options 218
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Default x x x x x x x x x x x x x x 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.
See page 117 for symbol descriptions Values
214 [SCR Diag Status] 213,
Bits 0…11 indicate which SCR or SCR pair is in error. The type of error is indicated in bits 13…15. Only one type of error is shown at a time. The 215,
A precedence of errors is “Shorted SCR,” “OpenSCR Trip,” and “OpenSCR Warn.” Note that “OpenSCR Warn” is independent from a SCR trip configured as 216,
an alarm. This parameter is only active when bit 0 “OpenSCR Tst” or bit 1 “ShortSCR Tst” of Par 213 is set to 1 “Enabled.” The SCR numbering shown is 217,
SCR1…SCR6 for the forward power bridge and SCR11…SCR16 for the reverse bridge (regenerative drives only). In the standard drive, SCRx 218
corresponds to the SCR package labeled KGx and SCR1x to the package labeled KG0x. See the appropriate PowerFlex DC Drive Hardware Service
Manual for your drive frame size for instructions on replacing SCR modules. For frame A drives, see 20P-TG001. For frame B drives, see 20P-TG002. For
frame C drives, see 20P-TG003. For frame D drives, see 20P-TG004.
Note: This parameter was added for firmware revision 6.001.
OpenSCR Warn
Options
OpenSCR Trip
Shorted SCR

Reserved
SCR 16
SCR 15
SCR 14
SCR 13
SCR 12
SCR 11
SCR 6
SCR 5
SCR 4
SCR 3
SCR 2
SCR 1
Default 0 0 0 x 0 0 0 0 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MOTOR CONTROL
Test Generator

215 [OpenSCR WarnLvl] Default: 1024 16-bit 213

Sets the open SCR warning level. This value determines when Par 214 [SCR Int
A Min/Max: 0 / 4096
Diag Status], bit 13 “OpenSCR Warn” is set. This parameter is only active
when Par 213 [SCR Diag Test En], bit 0 “OpenSCR Tst” is enabled.
Note: This parameter was added for firmware revision 6.001.
216 [OpenSCR Flt Cfg] Default: 0= “Ignore” 16-bit 213
Configures the open SCR error condition. This parameter is only active when Int
Options: 0= “Ignore”
Par 213 [SCR Diag Test En], bit 0 “OpenSCR Tst” is enabled. 1= “Alarm”
Note: This parameter was added for firmware revision 6.001. 2= “Fault”
A
217 [OpenSCR Threshld] Default: 50 16-bit 213
Sets the open SCR error level and when exceeded begins to accumulate. This Int
A Min/Max: 0 / 100
parameter is only active when Par 213 [SCR Diag Test En], bit 0 “OpenSCR Tst” Units: %
is enabled.
Note: This parameter was added for firmware revision 6.001.
218 [OpenSCR Trip Lvl] Default: 1024 16-bit 213,
Sets the open SCR trip level. The action taken by the drive when as open SCR Int 216
A Min/Max: 0 / 4096
trip occurs is determined by Par 216 [OpenSCR Flt Cfg]. This parameter is only
active when Par 213 [SCR Diag Test En], bit 0 “OpenSCR Tst” is enabled.
Note: This parameter was added for firmware revision 6.001.

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Chapter 3 Programming and Parameters

Speed Command File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

1 [Minimum Speed] Default: 0 32-bit 5,
Defines the minimum speed of the drive. This value applies to both directions Int 6
Min/Max: 0 / Par 45 [Max Ref Speed]
of motor rotation for four quadrant drives. A speed below the value set in Units: rpm
[Minimum Speed] is not possible, regardless of the set speed reference value.
If the value of [Minimum Speed] is changed, Pars 5 [Min Speed Fwd] and 6
[Min Speed Rev] are set to the same value. If either Par 5 [Min Speed Fwd] or
Par 6 [Min Speed Rev] is changed later, the last change is valid.
2 [Maximum Speed] Default: 1750 32-bit 3,
Defines the maximum speed of the drive. This value applies to both Int 4
Min/Max: 0 / Par 45 [Max Ref Speed]
directions of motor rotation for four quadrant drives. The value of this Units: rpm
parameter is input to the speed regulator and therefore takes into account
the reference value that comes from the ramp as well as the direction of
rotation. If the value of [Maximum Speed] is changed, Pars 3 [Max Speed
Fwd] and 4 [Max Speed Rev] are set to the same value. If either Par 3 [Max
Speed Fwd] or Par 4 [Max Speed Rev] is changed later, the last change is
valid.
Limits

3 [Max Speed Fwd] Default: 1750 32-bit 2

Defines the maximum speed for forward (clockwise) rotation of the motor. Int
Min/Max: 0 / Par 45 [Max Ref Speed]
The value of [Max Speed Fwd] affects the input of the speed regulator and Units: rpm
therefore takes into account both the reference values that come from the
ramp as well as the direction of motor rotation.
4 [Max Speed Rev] Default: 1750 32-bit 2
Defines the maximum speed for reverse (counterclockwise) rotation of the Int
SPEED COMMAND

Min/Max: 0 / Par 45 [Max Ref Speed]

motor for four quadrant drives only. The value of [Max Speed Rev] affects the Units: rpm
input of the speed regulator and therefore takes into account both the
reference values that come from the ramp as well as the direction of rotation.
5 [Min Speed Fwd] Default: 0 32-bit 1
Defines the minimum speed for forward (clockwise) rotation of the motor. Int
Min/Max: 0 / Par 45 [Max Ref Speed]
Speed reference values below the value in this parameter are clamped until Units: rpm
the reference exceeds this limit.
6 [Min Speed Rev] Default: 0 32-bit 1
Defines the minimum speed for reverse (counterclockwise) rotation of the Int
Min/Max: 0 / Par 45 [Max Ref Speed]
motor for four quadrant drives only. Speed reference values below the value Units: rpm
in this parameter are clamped until the reference exceeds this limit.
154 [Preset Speed 1] Default: 150 16-bit
155 [Preset Speed 2] Default: 300 Int
156 [Preset Speed 3] Default: 600
157 [Preset Speed 4] Default: 900
158 [Preset Speed 5] Default: 1200
159 [Preset Speed 6]
160 [Preset Speed 7] Default: 1500
Discrete Speeds

Provides an internal fixed speed command value. In bipolar mode, direction Default: 1750
is commanded by the sign of the reference. Min/Max: -/+6000
Notes: [Preset Speed 1] cannot be directly selected by the Speed Sel digital Units: rpm
inputs. However, Par 154 [Preset Speed 1] can be directed to Par 42 [Trim
Ramp] via the Scale Block parameters. See Reference Control on page 325 for
more information.
266 [Jog Speed] Default: 100 16-bit
Reference value for jog mode. Int
Min/Max: -/+6000
Notes: This parameter can be assigned to an analog input. See Reference Units: rpm
Control on page 325 for more information.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

267 [TB Manual Ref] Default: 0 16-bit 45
Reference value for the drive when the Terminal Block asserts Manual (1) Int
Min/Max: –/+ Par 45 [Max Ref Speed]
reference control. Units: rpm
Notes: This parameter can be assigned to an analog input. See Reference (1)
Control on page 325 for more information. The value of [Max Ref Speed] cannot exceed 6000 rpm.
Discrete Speeds

1409 [Jog Off Delay] Default: 1 16-bit

Specifies the amount of time that will elapse between removing the Jog Int
Min/Max: 0 - 10
input and commanding the main contactor to open. The amount of time Units: s
specified in [Jog Off Delay] will not begin to elapse until the measured speed
feedback is less than or equal to the value of parameter 107 [Speed Zero
Level]. This delay reduces the wear on the contactor when repeatedly
opening and closing the Jog input over a short period of time. If a stop
command is asserted before the jog off delay time has completed, the drive
will stop and the delay timer is canceled.
Note: This parameter was added for firmware revision 2.001.
42 [Trim Ramp] Default: 0 16-bit 45,
This value is added to the speed reference just before the Speed Ramp Int 378
Min/Max: –/+Par 45 [Max Ref Speed] (1)
function. Units: rpm
Notes: This parameter can be assigned to an analog input. See Reference
Control on page 325 for more information. (1)
The value of Par 45 [Max Ref Speed] cannot exceed 6000 rpm.
43 [Trim Speed] Default: 0 16-bit 45,
This value is added to the speed reference just before the speed regulator Int 379
Min/Max: –/+ Par 45 [Max Ref Speed] (1)
(and after the Speed Ramp function). Units: rpm
Speed References

Notes: This parameter can be assigned to an analog input. See Reference (1)
Control on page 325 for more information. The value of Par 45 [Max Ref Speed] cannot exceed 6000 rpm.

378 [Trim Ramp Pct] Default: 0.00 Real 42

Trim ramp value defined as a percentage of the value defined in Par 45 [Max
Min/Max: –/+100.00
SPEED COMMAND

Ref Speed]. Units: %

379 [Trim Speed Pct] Default: 0.00 Real 43
Trim speed reference value defined as a percentage of the of the value
Min/Max: –/+100.00
defined in Par 45 [Max Ref Speed]. Units: %
1017 [Speed Ratio] Default: 10000 16-bit
Determines the speed ratio value for the Speed-Draw function. Int
Min/Max: 0 / 32767
Notes: This value can be input to the drive digitally, or via an analog input.
See Speed Draw Function on page 341 for more information.
87 [Spd Reg Kp] Default: 3.00 Real 93,
Proportional gain of the speed regulator that can be adjusted while the drive 99
Min/Max: 0.00 / 100.00
is running. This parameter can only be changed when Par 434 [Spd Reg BW]
is set to zero. See Manually Tuning the Speed Regulator for Firmware Revision
6.001 and Later on page 317 for more information. Note: Units changed from
“%” to “none” for firmware revision 6.001.
88 [Spd Reg Ki] Default: 0.30 Real 94,
Integral gain of the speed regulator that can be adjusted while the drive is 100
Min/Max: 0.00 / 100.00
running. This parameter can only be changed when Par 434 [Spd Reg BW] is Units: sec-1
set to zero. See Manually Tuning the Speed Regulator for Firmware Revision
Speed Regulator

6.001 and Later on page 317 for more information. Note: Units changed from
“%” to “sec-1” for firmware revision 6.001.
95 [Spd Reg Pos Lim] Default: 200.00 Real 96
Positive Speed Regulator output limit. When this limit is active the positive
A integrator portion of the PI regulator is held to prevent windup. Min/Max: –/+250.00
Units: %
Note: This parameter was added for firmware revision 3.001.
96 [Spd Reg Neg Lim] Default: –200.00 Real 95
Negative Speed Regulator output limit. When this limit is active the negative
A integrator portion of the PI regulator is held to prevent windup. Min/Max: –/+250.00
Units: %
Note: This parameter was added for firmware revision 3.001.
99 [Spd Reg Kp Outpt] Default: Read Only Real 87,
Displays the active proportional coefficient of the speed regulator as a 93
A percentage of the value defined in Par 93 [Spd Reg Kp Base]. Note: Units Min/Max: 0.00 / 100.00
changed from “%” to “none” for firmware revision 6.001.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

100 [Spd Reg Ki Outpt] Default: Read Only Real 88,
Displays the active integral coefficient of the speed regulator as a percentage 94
A Min/Max: 0.00 / 100.00
of the value defined in Par 94 [Spd Reg Ki Base]. Note: Units changed from Units: sec-1
“%” to “sec-1” for firmware revision 6.001.
101 [Speed Thresh Pos] Default: 1000 16-bit 393
Threshold speed for the drive above or below which the value of Par 393 Int
A Min/Max: 1 / 6000
[Speed Threshold] changes. When the speed of the drive exceeds the value of Units: rpm
this parameter, Par 393 [Speed Threshold] displays “Above Thresh” (0). When
the speed of the drive is below the value of this parameter, Par 393 [Speed
Threshold] displays “Below Thresh” (1).
Note: See Speed Threshold Indicators on page 339 for more information.
102 [Speed Thresh Neg] Default: 1000 16-bit 393
Threshold speed for the drive above or below which the value of Par 393 Int
A Min/Max: 1 / 6000
[Speed Threshold] changes. When the speed of the drive exceeds the value Units: rpm
specified in this parameter, Par 393 [Speed Threshold] displays “Above
Thresh” (0). When the speed of the drive is below this threshold, Par 393
[Speed Threshold] displays “Below Thresh” (1).
SPEED COMMAND
Speed Regulator

Note: See Speed Threshold Indicators on page 339 for more information.
103 [Threshold Delay] Default: 100 16-bit 393
Amount of time that must elapse before indication that the drive speed is Int
A Min/Max: 0 / 65535
above the value set in Par 101 [Speed Thresh Pos] or below the value set in Units: ms
Par 102 [Speed Thresh Neg].
Note: See Speed Threshold Indicators on page 339 for more information.
104 [At Speed Error] Default: 100 16-bit 394
Defines the speed above and below the speed reference (in Par 118 [Speed Int
A Min/Max: 1 / 6000
Reg In]) at which the value of Par 394 [At Speed] changes. When the Units: rpm
difference between the speed reference and the actual speed is greater than
the value of this parameter, Par 394 [At Speed] displays “Not Equal” (0).
When the difference between the speed reference and the actual speed is
less than the value of this parameter, Par 394 [At Speed] displays “Equal” (1).
Note: See Speed Threshold Indicators on page 339 for more information.
105 [At Speed Delay] Default: 100 16-bit 394
Amount of time that must elapse before indication that the drive speed Int
A Min/Max: 0 / 65535
reference is within the range specified in Par 104 [At Speed Error] occurs. Units: ms
Note: See Speed Threshold Indicators on page 339 for more information.
106 [Ref Zero Level] Default: 20 16-bit 123,
Speed below which speed references are equal to zero speed. Switch used in Int 124,
A Min/Max: 1 / 6000
the Speed Zero function. Units: rpm 125,
Note: See Speed Threshold Indicators on page 339 for more information. 126

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

107 [Speed Zero Level] Default: 20 16-bit 395,
Speed below which the actual speed is considered equal to zero. When a Stop Int 1027
A Min/Max: 1 / 6000
command is issued and actual speed goes below this value, drive output is Units: rpm
disabled. The value applies to both rotation directions for four quadrant
drives.
Notes: Setting the value of this parameter too low could prevent the proper
functioning of field economy. If Par 107 and/or Par 108 are changed from
their default values it can affect the Speed Loop autotune function (Par
1027). Ideally, set these parameters to the default values when autotuning
the Speed Loop. Values substantially different from defaults will result in an
autotuning fault.
Note: See Speed Zero Function on page 340 for more information.
Actual Speed Par 107
[Speed Zero Level]

Fwd
Actual Speed = 0

Rev

Par 395
[At Zero Speed]

Par 108 [Speed Zero Delay]

108 [Speed Zero Delay] Default: 100 16-bit 395,

Amount of time that must elapse after the actual speed goes below the value Int 1027
Min/Max: 0 / 65535
SPEED COMMAND

A
Speed Regulator

set in Par 107 [Speed Zero Level] before Par 395 [At Zero Speed] changes Units: ms
state.
Note: See Speed Zero Function on page 340 for more information.
123 [Spd Zero I En] Default: 0= “Disable” 16-bit
Enables/Disables the output of the integral section of the speed regulator. Int
Options: 0= “Disable”
Used in the Zero Speed function. 1= “Enable”
• “Enabled” = The output of the integral section of the speed regulator is
A set to zero when the speed reference and the speed feedback are equal to
zero. The I component is enabled when a reference value is entered to
restart acceleration.
• “Disabled” = The speed regulator keeps its integral gain component
when the drive is at zero speed.
Note: See Speed Zero Function on page 340 for more information.
124 [Spd Ref Zero En] Default: 0= “Disable” 16-bit
This parameter is only active when Par 125 [Spd Zero P En] = 1 “Enabled”. Int
Options: 0= “Disable”
Used in the Zero Speed function. 1= “Enable”
• “Enabled” = The proportional gain, equal to Par 126 [Spd Zero P Gain] at
A zero speed, is equal to Par 87 [Spd Reg Kp] when the speed reference is
higher than the value defined in Par 106 [Ref Zero Level].
• “Disabled” = The proportional gain, equal to Par 126 [Spd Zero P Gain] at
zero speed, is equal to the value in Par 87 [Spd Reg Kp] when the speed
reference or the actual speed is higher than the value defined in Par 106
[Ref Zero Level].
Note: See Speed Zero Function on page 340 for more information.
125 [Spd Zero P En] Default: 0= “Disable” 16-bit
“Enabled” = When both the speed reference value and the actual speed Int
Options: 0= “Disable”
value = 0, the proportional gain value in Par 126 [Spd Zero P Gain] is active 1= “Enable”
after the delay time defined in Par 108 [Speed Zero Delay]. Used in the Zero
A Speed function.
“Disabled” = The speed regulator keeps its proportional gain component
when the drive is at zero speed.
Note: See Speed Zero Function on page 340 for more information.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

126 [Spd Zero P Gain] Default: 3.00 Real
The proportional gain of the speed regulator that is only active when the
A Min/Max: 0.00 / 100.00
value of the speed reference and actual speed = 0. This parameter is only Units: %
active when Par 125 [Spd Zero P En] = 1 “Enabled”. Used in the Zero Speed
function.
Note: See Speed Zero Function on page 340 for more information.
238 [SpdOut FiltGain] Default: 1.000 Real 239
First order lead/lag filter gain on the speed regulator output signal.
Min/Max: 0.000 / 2.000
Note: This parameter was added for firmware revision 3.001.
239 [SpdOut FiltBW] Default: 0 16-bit 238
First order lead/lag filter bandwidth on the speed regulator output signal. Int
Min/Max: 0 / 2000
Note: This parameter was added for firmware revision 3.001. Units: ms
242 [Speed Reg En] Default: 1= “Enabled” 16-bit 39,
Enables/Disables the speed regulator output to the torque/current regulator. Int 41,
Options: 0= “Disabled”
• “Enabled” = The speed regulator output is connected to the input of the 1= “Enabled” 236
torque/current regulator.
• “Disabled” = The speed regulator output is not connected to the input of
the torque/current regulator. Par 39 [Torque Ref] is connected to the input
of the current regulator.
Note: This parameter is only available for use with firmware revision 2.005
and lower.

ATTENTION: Failure to correctly set speed and voltage parameters or provide overspeed protection when operating
as a torque/current regulator could result in high motor speeds, equipment damage, and/or personal injury.
SPEED COMMAND
Speed Regulator

348 [Lock Speed Integ] Default: 1= “Not active” 16-bit

Enables or disables the integral (I) function of the speed regulator. Int
A Options: 0= “Active”
• “Not active” = The integral component of the speed regulator is enabled. 1= “Not active”
• “Active” = The integral component of the speed regulator is disabled.
388 [Flying Start En] Default: 0= “Off” 16-bit
Enables/Disables the ability of the drive to connect to a spinning motor at Int
A Options: 0= “Off”
actual rpm when a start command is issued. 1= “On”
• “On” = When the drive is turned on, the speed of the motor is measured
and the ramp output is set accordingly. The drive then runs at the set
reference value.
• “Off” = When the drive is turned on, the ramp starts from zero.
Main uses:
• To connect to a motor that is already spinning due to its load (for example,
in the case of a pump, the flowing medium).
• Re–connection to a spinning motor after a fault or alarm.
Note: If the Flying Start function is disabled (off), be sure that the motor is
not spinning when the drive is turned on, or harsh motor deceleration in
current limit may occur.
433 [Total Inertia] Default: 1.0 Real
Time, in seconds, for a motor coupled to a load to accelerate from zero to base
A Min/Max: 0.001 / 300.0
speed with rated motor torque applied. This value can be calculated by Units: s
Autotune or entered directly.
Note: This parameter was added for firmware revision 6.001.
434 [Spd Reg BW] Default: 10.0 Real 87,
Sets the bandwidth of the speed regulator in rad/sec. Bandwidth is also 88
A Min/Max: 0.0 / 100.0
referred to as the crossover frequency. Small signal time response is Units: rad / sec
approximately 1/BW and is the time to reach 63% of setpoint. A change to
this parameter will cause an automatic update of Pars 87 [Spd Reg Kp] and 88
[Spd Reg Ki]. To disable the automatic gain calculation, set this parameter to
a value of zero. Note: This parameter was added for firmware revision 6.001.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

435 [Act Spd Reg BW] Default: Read Only Real 434
Displays the actual speed regulator bandwidth or crossover frequency. It
A Min/Max: 0.0 / 100.0
represents the bandwidth in Par 434 [Spd Reg BW] after the maximum Units: rad / sec
bandwidth limits have been applied.
Note: This parameter was added for firmware revision 6.001.
436 [Spd Reg Damping] Default: 1.0 Real
Sets the drive damping factor of the characteristic equation and factors in the
A Min/Max: 0.5 / 30.0
calculation of the integral gain set in Par 88 [Spd Reg Ki]. A factor of 1.0 is
considered critical damping. When Par 434 [Spd Reg BW] is set to zero, the
damping factor has no effect on drive operation.
Note: This parameter was added for firmware revision 6.001.
444 [Spd Reg P Filter] Default: 0 16-bit 121,
Time constant used by the filter for the Speed Feedback circuit. Filtering of Int 122
A Min/Max: 0 / 1000
the high frequency components of the speed feedback signal is useful in the Units: ms
case of elastic coupling between the motor and load (i.e., joints or belts).
Note: This parameter was renamed for firmware revision 4.001.
445 [Spd Up Gain Pct] Default: 0.00 Real 446
The Speed Up function gain as a percentage of Par 446 [Speed Up Base].
A Min/Max: 0.00 / 100.00
Note: See Speed Up Function on page 338 for more information. Units: %
SPEED COMMAND
Speed Regulator

446 [Speed Up Base] Default: 1000.00 Real 445

The Speed Up function maximum gain. This value corresponds to 100% of Par
A Min/Max: 0.00 / 16000.00
445 [Spd Up Gain Pct]. Units: ms
Note: See Speed Up Function on page 338 for more information.
447 [Speed Up Filter] Default: 0 16-bit
The time constant of the filter for the D (derivative) component of the Speed Int
A Min/Max: 0 / 1000
Up function. Units: ms
Note: See Speed Up Function on page 338 for more information.
448 [SpdReg BW Bypass] Default: 10.0 Real
Sets the bandwidth of the speed regulator, when bypassed, in rad/sec.
A Min/Max: 0.0 / 100.0
Bandwidth is also referred to as the crossover frequency. Small signal time Units: rad / sec
response is approximately 1/BW and is the time to reach 63% of setpoint. A
change to this parameter will cause an automatic update of Pars
459 [SpdReg Kp Bypass] and 460 [SpdReg Ki Bypass]. To disable the
automatic gain calculation, set this parameter to a value of zero.
Note: This parameter was added for firmware revision 6.001.
459 [SpdReg Kp Bypass] Default: 0.90 x P459max Real 458
The proportional gain (KP) of the speed regulator when an encoder or
A Min/Max: 0.01 / Based on drive current rating
tachometer feedback signal is changed to armature feedback (Par 458
[SpdReg FB Bypass] = 1 “Enabled”). This parameter can only be modified
when Par 448 [SpdReg BW Bypass] is set to zero. See Manually Tuning the
Speed Regulator for Firmware Revision 6.001 and Later on page 317 for more
information.
Note: Units were changed from “%” to “none” for firmware revision 6.001.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

460 [SpdReg Ki Bypass] Default: 0.30 Real 458
The integral gain (KI) of the speed regulator when an encoder or tachometer
A feedback signal is changed to armature feedback (Par 458 Min/Max: 0.00 / 100.00
Units: sec-1
[SpdReg FB Bypass] = 1 “Enabled”). This parameter can only be modified
when Par 448 [SpdReg BW Bypass] is set to zero. See Manually Tuning the
Speed Regulator for Firmware Revision 6.001 and Later on page 317 for more
information.
Note: Units were changed from “%” to “sec-1” for firmware revision 6.001.
SPEED COMMAND

643 [SpdReg AntiBckup] Default: 0.0 Real

Speed Regulator

Allows control of over-shoot/under-shoot in the step response of the speed

Min/Max: 0.0 / 0.50
regulator. Over-shoot/under-shoot can be effectively
eliminated with a setting of 0.3, which will remove backup of the motor shaft
when zero speed is reached. This parameter has no affect on the drive's
response to load changes. A value of zero disables this feature.
Note: This parameter was added for firmware revision 4.001.
1016 [SpdFuncSelect] Default: 2= “Off” 16-bit 444,
Selection of the “Speed Up” or “Inertia/Loss compensation” function. Int 445,
Options: 0= “Speed Up”
Notes: See Speed Up Function on page 338 for more information. Option 2 1= “Inertia/loss” 447,
“Off” added for firmware revision 4.001. 2= “Off” 1012,
A 1013,
1014,
1015

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 Programming and Parameters Chapter 3

Dynamic Control File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

15 [SLAT Err Stpt] Default: 0.000 Real 16,
Configures the condition for transfer between Speed and Torque operation during 241
A Min/Max: 0.000 / Par 45/5 (see description)
“SLAT Min” or “SLAT Max” mode. If the Speed Error is greater than the value of Units: rpm
[SLAT Err Stpt] for the amount of time specified in Par 16 [SLAT Dwell Time], then
the “forced speed” mode is turned off.
Max. value setting example where Par 45 = 1750: 1750/5 = 350 rpm.
Note: This parameter was added for firmware revision 3.001.
16 [SLAT Dwell Time] Default: 0 16-bit 15,
Amount of time that the speed error must be greater than the value of Par 15 [SLAT Int 241
A Min/Max: 0/5
Err Stpt] to return to “SLAT Min” or “SLAT Max” mode. Units: s
Note: This parameter was added for firmware revision 3.001.
241 [Spd Trq Mode Sel] Default: 1= “Speed Reg” 16-bit 39,
Configures the drive for a Speed or Torque mode of operation. Int 236,
Options: 0= “Zero Trq Ref”
• “Zero Trq Ref” = The drive operates as a torque regulator with the torque 1= “Speed Reg” 382
reference (Par 14 [Selected TorqRef]) forced to zero. 2= “Torque Reg”
• “Speed Reg” = The drive operates as a speed regulator with the reference = Par
Control Config

3= “SLAT Min”
236 [Spd Reg Out Pct] + inertia compensation. 4= “SLAT Max”
• “Torque Reg” = The drive operates as a torque regulator with the reference 5= “Sum”
equal to the value of Par 39 [Torque Ref].
• “SLAT Min” = The drive operates in Speed Limited Adjustable Torque (SLAT) -
Minimum mode. The drive operates as a torque regulator when the value of Par
DYNAMIC CONTROL

39 [Torque Ref] is algebraically smaller in value than the speed regulator’s

output. The drive may automatically enter speed regulation mode based on
conditions within the speed regulator and the magnitude of the speed
regulator’s output relative to the torque reference.
• “SLAT Max” = The drive operates in SLAT – Maximum mode. The drive operates
as a torque regulator when the value of Par 39 [Torque Ref] is algebraically
larger in value than the speed regulator’s output. The drive may automatically
enter speed regulation mode based on conditions within the speed regulator
and the magnitude of the speed regulator’s output relative to the torque
reference.
• “Sum” = The drive operates as a speed regulator. The reference is derived from
the sum of the speed regulator output (Par 236 [Spd Reg Out Pct]) and the
torque reference (Par 39 [Torque Ref]).
Notes: See Speed / Torque Mode Selection on page 342 in Appendix C for more
detailed information. This parameter was added and is only available with
firmware revision 3.001 and higher.
18 [Ramp Type Select] Default: 0= “Linear” 16-bit
Determines the type of ramp used. Int
Options: 0= “Linear”
• 0 “Linear” = Linear ramp 1= “S shaped”
• 1 “S shaped” = S–shaped ramp
Ramp Rates

19 [S Curve Time] Default: 1.00 Real 18,

S-shaped ramp time constant. The value of this parameter is added to the time of 665,
Min/Max: 0.10 / 15.00
the linear accel and decel ramps, regardless of speed changes. Approximately half Units: s 666,
of the specified time is added at the beginning and half at the end of the accel and 667,
decel ramps. When the value of [S Curve Time] is changed, Pars 665 and 667 [S 668
Curve Accel x] and 666 and 668 [S Curve Decel x] are set to the same value. If any of
parameters 665…668 are changed later, the last change is valid.
Note: See S-curve Configuration on page 333 for more information.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

20 [Ramp Delay] Default: 100 16-bit 113,
Defines a ramp delay time when the ramp is active. Works with par [Digital Outx Int 346,
A Min/Max: 0 / 65535
Sel] set to 6 “Ramp Pos” or 7 “Ramp Neg”. Units: ms 347

Par 113 [Ramp Out]

Par 346 [Torque Positive]

Par 347 [Torque Negative]

Par 20
[Ramp Delay]

22 [MOP Accel Time] Default: 10 16-bit 2

The acceleration rate for the MOP reference in response to a digital input. The MOP Int
Min/Max: 0 / 65535
acceleration rate = Par 2 [Maximum Speed] / Par 22 [MOP Accel Time]. Units: s
If “0” is entered in this parameter, the ramp output directly follows the reference
value.
24 [Accel Time 2] Default: 10 16-bit 2
Sets the rate of acceleration for linear ramp 2. Int
Min/Max: 0 / 65535
Acceleration rate for ramp 2 = Par 2 [Maximum Speed] / Par 24 [Accel Time 2]. Units: s
DYNAMIC CONTROL

30 [MOP Decel Time] Default: 10 16-bit 2

Ramp Rates

The deceleration rate for the MOP reference in response to a digital input. The MOP Int
Min/Max: 0 / 65535
deceleration rate = Par 2 [Maximum Speed] / Par 30 [MOP Decel Time]. Units: s
32 [Decel Time 2] Default: 10 16-bit 2
Sets the rate of deceleration for linear ramp 2. Int
Min/Max: 0 / 65535
Deceleration rate for ramp 2 = Par 2 [Maximum Speed] / Par 32 [Decel Time 2]. Units: s
245 [Speed Ramp En] Default: 1= “Enabled” 16-bit
Enables or disables the ramp function. The Ramp Reference block is bypassed Int
Options: 0= “Disabled”
when this parameter is set to 0 “Disabled”. 1= “Enabled”
344 [Zero Ramp Output] Default: 1= “Not Active” 16-bit
Activates either the ramp output (1) or the brake function (0). When this Int
A Options: 0= “Active”
parameter is set to 0 “Active”, the drive brakes through the maximum available 1= “Not Active”
torque and the motor will perform a Current Limit Stop. Two quadrant drives do
not support a brake option.
• “Active” = The ramp output is disabled and Pars 113 [Ramp Out] and 114
[Ramp Out Pct] are immediately set to zero.
• “Not Active” = The ramp output is enabled. and Pars 113 [Ramp Out] and 114
[Ramp Out Pct] follow the Ramp Reference block commands.
345 [Zero Ramp Input] Default: 1= “Not Active” 16-bit 110,
Activates or deactivates the ramp input. Int 111
A Options: 0= “Active”
• “Active” = The ramp input is not active and Pars 110 [Ramp In] and 111 [Ramp 1= “Not Active”
In Pct] = 0.
• “Not Active” = The ramp input is activated and Pars 110 [Ramp In] and 111
[Ramp In Pct] correspond to the set reference.
373 [Freeze Ramp] Default: 1= “Not Active” 16-bit
Determines whether the last ramp output reference value is retained or whether Int
A Options: 0= “Active”
the ramp output reference value is active. 1= “Not Active”
• “Active” = The value of the ramp output at the time of activation is retained
irrespective of any possible reference value changes at the ramp input.
• “Not Active” = The ramp output value follows the ramp input value according
to the Ramp Reference Block commands.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

660 [Accel Time 1] Default: 10 16-bit 2
Sets the rate of acceleration for linear ramp 1. Int
Min/Max: 0 / 65535
Acceleration rate for ramp 1 = Par 2 [Maximum Speed] / Par 660 [Accel Time 1]. Units: s
662 [Decel Time 1] Default: 10 16-bit 2
Sets the rate of deceleration for linear ramp 1. Int
Min/Max: 0 / 65535
Deceleration rate for ramp 1 = Par 2 [Maximum Speed] / Par 662 [Decel Time 1]. Units: s
665 [S Curve Accel 1] Default: 1.00 Real 19
Amount of time (approximately half at the start and half at the end) applied to the
A S-curve during Accel 1 changes. When Par 19 [S Curve Time] is changed this Min/Max: 0.10 / 15.00
Units: s
parameter is automatically set to the same value. For asymmetrical S-curve ramps,
set this parameter after [S Curve Time] is changed.
Note: See S-curve Configuration on page 333 for more information.
666 [S Curve Decel 1] Default: 1.00 Real 19
Amount of time (approximately half at the start and half at the end) applied to the
A S-curve during Decel 1 changes. When Par 19 [S Curve Time] is changed this Min/Max: 0.10 / 15.00
Units: s
Ramp Rates

parameter is automatically set to the same value. For asymmetrical S-curve ramps,
set this parameter after [S Curve Time] is changed.
Note: See S-curve Configuration on page 333 for more information.
667 [S Curve Accel 2] Default: 1.00 Real 19
Amount of time (approximately half at the start and half at the end) applied to the
A S-curve during Accel 2 changes. When Par 19 [S Curve Time] is changed this Min/Max: 0.10 / 15.00
Units: s
parameter is automatically set to the same value. For asymmetrical S-curve ramps,
set this parameter after [S Curve Time] is changed.
DYNAMIC CONTROL

Note: See S-curve Configuration on page 333 for more information.

668 [S Curve Decel 2] Default: 1.00 Real 19
Amount of time (approximately half at the start and half at the end) applied to the
A S-curve during Decel 2 changes. When Par 19 [S Curve Time] is changed this Min/Max: 0.10 / 15.00
Units: s
parameter is automatically set to the same value. For asymmetrical S-curve ramps,
set this parameter after [S Curve Time] is changed.
Note: See S-curve Configuration on page 333 for more information.
1410 [Jog Ramp Time] Default: 10 16-bit 2
Sets the rate of acceleration and deceleration while the Jog function is active. The Int
Min/Max: 0 / 65535
Jog rate = Par 2 [Maximum Speed] / Par 1410 [Jog Ramp Time]. Units: s
Note: This parameter was added for firmware revision 2.001.
13 [Torq Red CurLim] Default: 100 16-bit 342
The armature current limit, defined as a percentage of the value defined in Par 179 Int
A [Nom Mtr Arm Amps] when Par 342 [Torque Reduction] is set to 1 “Active”. Min/Max: 0 / 200
Units: %
696 [Droop Percent] Default: 0.00 Real 41,
Droop function gain is a percentage of the ratio between Par 45 [Max Ref Speed] 45,
A Min/Max: 0.00 / 100.00
and the difference of Par 698 [Load Comp] – Par 41 [Current Reg In]. Therefore, Units: % 698
when the difference between Par 698 [Load Comp] and Par 41 [Current Reg In] =
Load Limits

100% and Par 696 [Droop Percent] = 100%, the speed reference correction signal
is equal to Par 45 [Max Ref Speed].
Note: See Droop Compensation on page 302 for more information.
697 [Droop Filter] Default: 100 16-bit
Droop filter time constant for the Droop function. Int
A Min/Max: 0 / 1000
Notes: See Droop Compensation on page 302 for more information. Changed the Units: ms
default value from 0 to 100 for firmware revision 6.001.
698 [Load Comp] Default: 0 16-bit
The load compensation signal. This value is typically equal to the “master” drive’s Int
A Min/Max: + / –200
current. The load compensation signal is a percentage of Idn. Units: %

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

699 [Enable Droop] Default: 0= “Disabled” 16-bit
Enables/Disables the Droop function. Int
A Options: 0= “Disabled”
• “Enabled” = The Droop function is enabled. 1= “Enabled”
• “Disabled” = The Droop function is disabled.
Note: This parameter can be assigned to a digital input.
700 [Droop Limit] Default: 1750 16-bit
The speed reference correction range within which the droop function becomes Int
A Min/Max: 0 / Par 45 [Max Ref Speed]
active. Units: rpm
Note: See Droop Compensation on page 302 for more information.
715 [Torq Limit Type] Default: 0= “T Lim PosNeg” 16-bit 7,
This parameter determines the response of the drive during a current limiting Int 8,
Options: 0= “T Lim PosNeg”
condition. 1= “T Lim MtrGen” 9,
Load Limits

• “T Lim PosNeg” = The active positive torque limit is set by the value defined in 162
A Par 7 [Current Limit] and the active negative torque limit is set by the value
defined in Par 9 [Current Lim Neg].
• “T Lim MtrGen” = With this option the following three conditions apply:
1.If the motor speed is greater than +1% of Par 162 [Max Feedback Spd], the
active positive torque limit is set by the value defined in Par 8 [Current Lim
Pos] and the active negative torque limit is set by the value defined in Par 9
[Current Lim Neg].
2.If the motor speed is less than –1% of Par 162 [Max Feedback Spd] the active
positive torque limit is set by the value defined in Par 9 [Current Lim Neg]
and the active negative torque limit is set by the value defined in Par 8
[Current Lim Pos].
DYNAMIC CONTROL

3.If the motor speed is greater than –1% of Par 162 [Max Feedback Spd] and
less than +1% of Par 162 [Max Feedback Spd] the active positive and
negative torque limits are set by the value defined in Par 8 [Current Lim Pos].
Note: The option names were corrected to those shown above for firmware revision
4.001.
38 [Fast Stop Time] Default: 10 16-bit 354,
The amount of time to decelerate the drive to a complete stop and disable the Int 365
A Min/Max: 0 / 65535
drive. The deceleration rate for Fast stop = [Maximum Speed] / [Fast Stop Time]. Units: s
This feature can be used when [Digital Inx Sel] is set to 30 “Fast Stop” or when
certain alarms are configured for “Fast Stop”. See Pars 354 [Aux Inp Flt Cfg] and 365
[OverTemp Flt Cfg].
627 [Spd 0 Trip Delay] Default: 0 16-bit
The amount of time that will elapse after the drive reaches zero speed before it is Int
A Min/Max: 0 / 40000
disabled. Units: ms
1262 [Closing Speed] Default: 30 16-bit
Stop Modes

Motor speed at which the brake is closed. Used with External Brake Control. Int
A Min/Max: 0 / 200
Units: rpm
1263 [Opening Delay] Default: 0 16-bit
Amount of time before the brake will open after the drive has been enabled. Used Int
A with External Brake Control. Min/Max: 0 / 30000
Units: ms
1265 [Ramp In Zero En] Default: 0= “Disabled” 16-bit
Enables/Disables the setting of the ramp input to zero. Used with External Brake Int
A Control. Options: 0= “Disabled”
1= “Enabled”
1266 [Actuator Delay] Default: 0 16-bit
Amount of time before the actuator releases the load. Used with External Brake Int
A Control. Min/Max: 0 / 30000
Units: ms

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Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1344 [Start At Powerup] Default: 0= “Disabled” 16-bit 1345
Enables/Disables the ability to issue a “Run” command and automatically resume Int
Options: 0= “Disabled”
running at commanded speed after drive input power is restored and the time in 1= “Enabled”
Par 1345 [Powerup Delay] has elapsed. Requires a digital input configured for
“Run” and a valid start condition.
Note: See Start At Powerup on page 348 for more information.
Restart Modes

ATTENTION: Equipment damage and/or personal injury may result if this parameter is used in an inappropriate
application. Do not use this function without considering applicable local, national and international codes,
standards, regulations or industry guidelines.

1345 [Powerup Delay] Default: 1 16-bit 1344

Defines the programmed delay time, in seconds, before a start command is Int
Min/Max: 1 / 10800
accepted after a power up. If a “Start”, “Run” or “Stop” command is asserted before Units: s
the time in this parameter expires, the “Start At Powerup” function will be aborted.
Note: See Start At Powerup on page 348 for more information.
181 [Adaptive Spd En] Default: 0= “Disabled” 16-bit 182,
Enables/Disables adaptive speed regulation. Int 183
Options: 0= “Disabled”
The adaptive speed regulator function enables different gains of the speed 1= “Enabled”
regulator depending on the speed or another variable (Par 183 [Adaptive Ref]).
A This allows adaptation of the speed regulator to your specific application. When
adaptive speed regulation is disabled, the regulator operates based on the settings
in the individual regulation parameters.
Note: See Adaptive Speed Regulator on page 335 for more information.
DYNAMIC CONTROL

182 [Adaptive Reg Typ] Default: 0= “Speed” 16-bit 183

Selects the type of regulation used. Int
Options: 0= “Speed”
• “Speed” = The regulator parameters follow a speed reference. 1= “Adaptive Ref”
• “Adaptive Ref” = The regulator parameters follow the reference produced by
A Par 183 [Adaptive Ref].
Note: See Adaptive Speed Regulator on page 335 for more information.
183 [Adaptive Ref] Default: 1000 16-bit 182
The variable reference that the speed regulator parameter will follow when Par Int
A 182 [Adaptive Reg Typ] = 1 “Adaptive Ref”. Min/Max: –/+6000
Adaptv Regulator

Units: rpm
Note: See Adaptive Speed Regulator on page 335 for more information.
184 [Adaptive Spd 1] Default: 20.34 Real 183,
A percentage of Par 45 [Max Ref Speed] or the maximum value of Par 183 186
A [Adaptive Ref]. Min/Max: 0.00 / 200.00
Units: %
Parameter set 1 is valid below the value set in this parameter and parameter set 2
is valid above the value set in this parameter. The transition between the values is
defined by Par 186 [Adaptive Joint 1].
Note: See Adaptive Speed Regulator on page 335 for more information.
185 [Adaptive Spd 2] Default: 40.69 Real 183,
A percentage of Par 45 [Max Ref Speed] or the maximum value of Par 183 187
A [Adaptive Ref]. Min/Max: 0.00 / 200.00
Units: %
Parameter set 2 is valid below the value set in this parameter and parameter set 3
is valid above the value set in this parameter. The transition between the values is
defined by Par 187 [Adaptive Joint 2].
Note: See Adaptive Speed Regulator on page 335 for more information.
186 [Adaptive Joint 1] Default: 6.11 Real 184
Defines a range above and below the value set in Par 184 [Adaptive Spd 1] within
A which there is a linear change in gain from parameter set 1 to parameter set 2 to Min/Max: 0.00 / 200.00
Units: %
prevent jumps in the adaptive speed regulator. The value in this parameter is
defined as percentage of the value defined Par 45 [Max Ref Speed].
Note: See Adaptive Speed Regulator on page 335 for more information.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

187 [Adaptive Joint 2] Default: 6.11 Real 185
Defines a range above and below the value set in Par 185 [Adaptive Spd 2] with in
A Min/Max: 0.00 / 200.00
which there is a linear change in gain from parameter set 2 to parameter set 3 to Units: %
prevent jumps in the adaptive speed regulator. The value in this parameter is
defined as percentage of the value defined Par 45 [Max Ref Speed].
Note: See Adaptive Speed Regulator on page 335 for more information.
188 [Adaptive P Gain1] Default: 10.00 Real 93,
Proportional gain for the range from zero to the value set in Par 184 [Adaptive Spd 184
A Min/Max: 0.00 / 100.00
1]. The value in this parameter is defined as percentage of the value defined in Par
93 [Spd Reg Kp Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
189 [Adaptive I Gain1] Default: 1.00 Real 94,
Integral gain for the range from zero to Par 184 [Adaptive Spd 1]. The value in this 184
A Min/Max: 0.00 / 100.00
parameter is defined as percentage of the value defined Par 94 [Spd Reg Ki Base]. Units: s-1
Note: See Adaptive Speed Regulator on page 335 for more information.
DYNAMIC CONTROL

190 [Adaptive P Gain2] Default: 10.00 Real 93,

Adaptv Regulator

Proportional gain for the range of values defined beginning with the value of Par 184,
A Min/Max: 0.00 / 100.00
184 [Adaptive Spd 1] to the value defined in Par 185 [Adaptive Spd 2]. The value in 185
this parameter is defined as percentage of the value defined Par 93 [Spd Reg Kp
Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
191 [Adaptive I Gain2] Default: 1.00 Real 94,
Integral gain for the range of values defined beginning with the value of Par 184 184,
A Min/Max: 0.00 / 100.00
[Adaptive Spd 1] to the value defined in Par 185 [Adaptive Spd 2]. The value in this Units: s-1 185
parameter is defined as percentage of the value defined Par 94 [Spd Reg Ki Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
192 [Adaptive P Gain3] Default: 10.00 Real 93,
Proportional gain for the range of values beginning above the value defined in Par 185
A Min/Max: 0.00 / 100.00
185 [Adaptive Spd 2]. The value in this parameter is defined as percentage of the
value defined Par 93 [Spd Reg Kp Base].
Note: See Adaptive Speed Regulator on page 335 for more information.
193 [Adaptive I Gain3] Default: 1.00 Real 94,
Integral gain for the range of values beginning above the value defined in Par 185 185
A Min/Max: 0.00 / 100.00
[Adaptive Spd 2]. The value in this parameter is defined as percentage of the value Units: s-1
defined Par 94 [Spd Reg Ki Base].
Note: See Adaptive Speed Regulator on page 335 for more information.

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 Programming and Parameters Chapter 3

Applications File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

695 [PI Steady Thrsh] Default: 0 16-bit 758
Feed–forward threshold for PI. Int
A Min/Max: 0 / 10000
• If the value if Par 758 [Feed Fwd PID] is less than the value of Par 695 [PI Steady
Thrsh] the integral regulation will be locked and the proportional gain assumes
the value set in Par 793 [PI Init Prop Gn].
• When the value of Par 758 [Feed Fwd PID] exceeds the value of Par 695 [PI
Steady Thrsh], the integral regulation with the gain set in Par 734 [PI Init Intgl
Gn] will be enabled.
• The Proportional / Integral (PI) block will maintain the gain values specified in
Pars 793 [PI Init Prop Gn] and 734 [PI Init Intgl Gn] for the time specified in Par
731 [PID Steady Delay]; once this time delay has elapsed, the values of [PI Init
Prop Gn] and [PI Init Intgl Gn] will be brought automatically to the values
specified in Pars 765 [PI Prop Gain PID] and 764 [PI Integral Gain], respectively.
731 [PID Steady Delay] Default: 0 16-bit 695,
The amount of time for which the gains in Pars 793 [PI Init Prop Gn] and 734 [PI Init Int 734,
A Min/Max: 0 / 60000
Intgl Gn] will remain enabled after feed–forward has exceeded the threshold value Units: ms 793
defined in Par 695 [PI Steady Thrsh].
734 [PI Init Intgl Gn] Default: 10.00 Real 695,
The initial value of the integral gain. This parameter is active when feed–forward is 731,
A Min/Max: 0.00 / 100.00
greater than the value defined in Par 695 [PI Steady Thrsh], or Par 769 [Enable PI] 769
transitions from “0” (low) to “1” (high) and the amount of time defined in Par 731
[PID Steady Delay] has elapsed.
764 [PI Integral Gain] Default: 10.00 Real
Integral gain of the PI block.
A Min/Max: 0.00 / 100.00
APPLICATIONS
PI Control

765 [PI Prop Gain PID] Default: 10.00 Real

Proportional gain of the PI block.
A Min/Max: 0.00 / 100.00

769 [Enable PI] Default: 0= “Disabled” 16-bit

Enables/Disables the PI portion of the PID regulator. If assigned to a digital input, Int
A Options: 0= “Disabled”
this parameter must be brought at a high logical level (+24V). 1= “Enabled”
771 [PI Output] Default: Read Only 16-bit 784,
Output value of the PI block, adapted to the value between the values defined in Int 785,
A Min/Max: 0 / 10000
Pars 784 [PI Upper Limit] and 785 [PI Lower Limit]. When the drive is turned on, 779
the value of this parameter is acquired automatically based on the value of Par 779
[PI Central v sel] x 1000.
776 [PI Central v1] Default: 0.00 Real 784,
The first value that can be selected, via Par 779 [PI Central v sel], as the initial 785,
A Min/Max: Par 785 [PI Lower Limit] / Par 784 [PI
output of the PID regulator’s integral component (corresponding to initial diameter Upper Limit] 779
1). The value entered in this parameter must be less than the value set in Par 784
[PI Upper Limit] and greater than the value set in Par 785 [PI Lower Limit].
777 [PI Central v2] Default: 0.00 Real 784,
The second value that can be selected, via Par 779 [PI Central v sel], as the initial 785,
A Min/Max: Par 785 [PI Lower Limit] / Par 784 [PI
output of the PID regulator’s integral component (corresponding to initial diameter Upper Limit] 779
2). The value entered in this parameter must be less than the value set in Par 784
[PI Upper Limit] and greater than the value set in Par 785 [PI Lower Limit].
778 [PI Central v3] Default: 0.00 Real 784,
The third value that can be selected, via Par 779 [PI Central v sel], as the initial 785,
A Min/Max: Par 785 [PI Lower Limit] / Par 784 [PI
output of the PID regulator’s integral component (corresponding to initial diameter Upper Limit] 779
3). The value entered in this parameter must be less than the value set in Par 784
[PI Upper Limit] and greater than the value set in Par 785 [PI Lower Limit].
Note: This parameter can be assigned to an analog input.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

779 [PI Central v sel] Default: 1 16-bit 769,
Selects one of the four possible initial output values of the PID regulator integral Int 776,
A Min/Max: 0/3
component (corresponding to the initial diameter) of the PI block. 777,
• “0” = When the PI block is disabled (Par 769 [Enable PI] = “Disabled”), the last 778,
value of the integral component calculated (corresponding to roll diameter) is 780,
stored in Par 771 [PI Output]. This value is used by the PID regulator when the PI 781
block is enabled again and the drive is restarted. This function is useful when
for any reason the drive must be turned off or if incoming power is removed
from the drive.
• “1”, “2”, or “3” = When the PI block is disabled (Par 769 [Enable PI] =
“Disabled”), the value of [PI Output] will be set to the value of the selected
parameter (“1” = 776 [PI Central v1], “2” = 777, [PI Central v2], or “3” = 778
[PI Central v3] x1000). This value is only used by the PID regulator when the
drive is powered up and Par 769 [Enable PI] is already enabled.
Note: Par 779 [PI Central v sel] can be set directly from the HIM or through two
digital inputs set respectively as “PI central vs0” and “PI central vs1”. See Pars 780
[PI Central vs0] and 781 [PI Central vs1] for more information on this configuration.
780 [PI Central vs0] Default: 0 16-bit
When assigned to a digital input and used in combination with Par 781 [PI Central Int
A Min/Max: 0/1
vs1], through binary selection, determines which of the four possible output
values is used as the initial level of the integral component (corresponding to the
initial diameter) of the PI block.

Par 780 Par 781 Selects the value in…

0 0 Par 771 [PI Output]
PI Control

0 1 Par 776 [PI Central v1]

1 0 Par 777 [PI Central v2]
1 1 Par 778 [PI Central v3]
APPLICATIONS

781 [PI Central vs1] Default: 0 16-bit

The output selector of the initial PI block. With the value of Par 780 [PI Central vs0] Int
A Min/Max: 0/1
determined, through binary selection, what between the four possible settings of
the integral initial level (correspondent to initial diameter) can be used. See Par
780 [PI Central vs0] for binary selections.
783 [PI integr freeze] Default: 0= “Off” 16-bit
Locks the selections made for the integral component of the PID regulator. Int
A Options: 0= “Off”
1= “On”
784 [PI Upper Limit] Default: 10.00 Real
Defines the upper limit of the adapting block for correction of the PI block.
A Min/Max: Par 785 [PI Lower Limit] / 10.00

785 [PI Lower Limit] Default: 0.00 Real

Defines the lower limit of the adapting block for correction of the PI block.
A Min/Max: –10.00 / Par 784 [PI Upper Limit]

793 [PI Init Prop Gn] Default: 10.00 Real 695,

The initial value of the proportional gain. This parameter is active when, 731,
A Min/Max: 0.00 / 100.00
• its value has exceeded the value of Par 695 [PI Steady Thrsh], 769
• the amount of time defined in Par 731 [PID Steady Delay] has elapsed, and
feed–forward is less than the value defined in Par 695 [PI Steady Thrsh], or
• Par 769 [Enable PI] transitions from “0” (low) to “1” (high) and the amount of
time defined in Par 731 [PID Steady Delay] has elapsed.
421 [PD Output PID] Default: Read Only 16-bit
Proportional / Derivative (PD) block output. Int
A Min/Max: –/+10000
PD Control

766 [PD Deriv Gain 1] Default: 1.00 Real 181

First derivative gain of the PD block. The value specified in this field depends on the
A Min/Max: 0.00 / 100.00
enabling and configuration of Par 181 [Adaptive Spd En].
767 [PD Deriv Filter] Default: 0 16-bit
Time constant of the filter from the derivative portion of the PD block. Int
A Min/Max: 1 / 1000
Units: ms

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

768 [PD Prop Gain 1] Default: 10.00 Real 181
First proportional gain of the block PD. The value specified in this field depends on
A Min/Max: 0.00 / 100.00
the enabling and configuration of Par 181 [Adaptive Spd En].
770 [Enable PD] Default: 0= “Disabled” 16-bit
Enables/disables the PD portion of the PID regulator. Int
A Options: 0= “Disabled”
Note: This parameter can be assigned to a digital input. 1= “Enabled”
788 [PD Prop Gain 2] Default: 10.0 Real 181
Second proportional gain of the block PD. The value specified in this field depends
Min/Max: 0.0 / 100.0
PD Control

A on the enabling and configuration of Par 181 [Adaptive Spd En].

789 [PD Deriv Gain 2] Default: 10.0 Real 181
Second derivative gain of the PD block. The value specified in this field depends on
A Min/Max: 0.0 / 100.0
the enabling and configuration of Par 181 [Adaptive Spd En].
790 [PD Prop Gain 3] Default: 10.0 Real 181
Third proportional gain of the block PD. The value specified in this field depends on
A Min/Max: 0.0 / 100.0
the enabling and configuration of Par 181 [Adaptive Spd En].
791 [PD Deriv Gain 3] Default: 1.00 Real 181
Third derivative gain of the PD block. The value specified in this field depends on
A Min/Max: 0.00 / 100.00
the enabling and configuration of Par 181 [Adaptive Spd En].
418 [Real FF PID] Default: Read Only 16-bit 758,
Represents the feed–forward value which has been recalculated according to the Int 771
Min/Max: –/+10000
PI correction. It will be calculated with the following formula:
Par 418 [Real FF PID] = (Par 758 [Feed Fwd PID] / 1000) x Par 771 [PI Output]
When either the negative or positive limit of this parameter has been reached,
further increases in the value of Par 771 [PI Output] will be blocked to avoid
undesirable saturation of the PID regulator. For example:
APPLICATIONS

When Par 758 [Feed Fwd PID] = +8000, the positive limit of Par 771 [PI Output]
will be automatically set at 10000 / (8000 / 1000) = 1250.
757 [PID Clamp] Default: 10000 16-bit 759,
The PID “clamp” allows a smooth tension setting of a controlled system winder/ Int 763,
A Min/Max: 0 / 10000
unwinder when the calculation of the initial diameter function cannot be used. 770
• When enabling the drive, the dancer is at the lowest point of its full scale. In this
case, with Par 759 [PID Error] at its maximum value, the motor could accelerate
too fast to properly configure the dancer for its central operating position. By
setting the value of Par 757 [PID Clamp] sufficiently low. e.g, = 1000, when the
drive starts and Par 770 [Enable PD] = 1 “Enable”, the value of Par 759 [PID
Error] is limited to 1000 until the signal coming from the dancer (via Par 763
PID Control

[PID Feedback]) goes above the value in this field. Then, the value of [PID
Clamp] is automatically returned to its maximum value of 10000. The PID clamp
is kept at 10000 until the drive stops or Par 770 [Enable PD] = 0 “Disabled”.
758 [Feed Fwd PID] Default: Read Only 16-bit
Feedback from the transducer position (dancer) or tension. Int
A Min/Max: –/+10000

759 [PID Error] Default: Read Only 16-bit

Error value input to the PID function (output of the PID Clamp block). Int
A Min/Max: –/+10000

760 [PID Setpoint 0] Default: 0 16-bit 763

First offset value added to Par 763 [PID Feedback]. This parameter can be assigned Int
A Min/Max: –/+10000
to an analog input, for example, for the tension setting when a load cell must be
used as feedback.
761 [PID Setpoint 1] Default: 0 16-bit 763
Second offset value added to Par 763 [PID Feedback]. Int
A Min/Max: –/+10000

762 [PID Setpoint Sel] Default: 0= “Setpoint 0” 16-bit 763

Selects the offset value added to Par 763 [PID Feedback]. This parameter can be Int
A Options: 0= “Setpoint 0”
assigned to a digital input. 1= “Setpoint 1”

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

763 [PID Feedback] Default: 0 16-bit
Analog input feedback value received from the transducer position (dancer) or Int
A Min/Max: –/+10000
tension (load cell).
772 [PID Output Sign] Default: 1= “Bipolar” 16-bit
Determines whether the output of the PID regulator is bipolar or positive (clamp of Int
A Options: 0= “Positive”
the negative side). 1= “Bipolar”
773 [PID Output Scale] Default: 1.00 Real 774
Scale factor for Par 774 [PID Output]. The value of this parameter depends on to
A Min/Max: –/+100.00
which parameter you want to send the PID regulator output.
774 [PID Output] Default: Read Only 16-bit
Displays the PID regulator output. Int
A Min/Max: –/+10000
Note: This parameter can be assigned to an analog output to provide a cascaded
reference in multi-drive systems.
782 [PID Target] Default: 0= “Not Used” 16-bit
Parameter number to which the PID Output value will be written. Int
A Note: Added option 48 “Reserved” for firmware revision 5.002.
Options:
APPLICATIONS
PID Control

0= “Not Used” 17 = “Max Fld Pct” (Par 467) 34 = “UsrDefined15” (Par 518)
1= “Cur Lim Pos” (Par 8) 18 = “Reserved” 35 = “Load Comp” (Par 698)
2= “Cur Lim Neg” (Par 9) 19 = “UsrDefined0” (Par 503) 36 = “Out Volt Lvl” (Par 921)
3= “Reserved” 20 = “UsrDefined1” (Par 504) 37 = “Reserved”
4= “Reserved” 21 = “UsrDefined2” (Par 505) 38 = “Speed Ratio” (Par 1017)
5= “TrqRedCurLim” (Par 13) 22 = “UsrDefined3” (Par 506) 39 = “Reserved”
6= “Torque Ref” (Par 39) 23 = “UsrDefined4” (Par 507) 40 = “Reserved”
7= “Trim Torque” (Par 40) 24 = “UsrDefined5” (Par 508) 41 = “Tension Red” (Par 1179)
8= “Reserved” 25 = “UsrDefined6” (Par 509) 42 = “Reserved”
9= “Trim Ramp” (Par 42) 26 = “UsrDefined7” (Par 510) 43 = “Reserved”
10 = “Trim Speed” (Par 43) 27 = “UsrDefined8” (Par 511) 44 = “CloseLp Comp” (Par 1208)
11 = “Reserved” 28 = “UsrDefined9” (Par 512) 45 = “Reserved”
12 = “Reserved” 29 = “UsrDefined10” (Par 513) 46 = “Reserved”
13 = “Reserved” 30 = “UsrDefined11” (Par 514) 47 = “Reserved”
14 = “Adaptive Ref” (Par 183) 31 = “UsrDefined12” (Par 515) 48 = “Reserved”
15 = “Reserved” 32 = “UsrDefined13” (Par 516)
16 = “Reserved” 33 = “UsrDefined14” (Par 517)

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

786 [PID Source] Default: 0 “Not Used” 16-bit
Parameter number from which the PID source value will be read. Int
A Notes: Added option 47 “Encoder Spd” for firmware revision 4.001. Added option
48 “Resolver Spd” for firmware revision 5.002.
Options:

0= “Not Used” 17 = “Max Fld Pct” (Par 467) 34 = “UsrDefined15” (Par 518)
1= “Cur Lim Pos” (Par 8) 18 = “Fld Ref Pct” (Par 500) 35 = “Load Comp” (Par 698)
2= “Cur Lim Neg” (Par 9) 19 = “UsrDefined0” (Par 503) 36 = “Out Volt Lvl” (Par 921)
3= “CurLimPosOut” (Par 10) 20 = “UsrDefined1” (Par 504) 37 = “Filt Trq Cur” (Par 928)
4= “CurLimNegOut” (Par 11) 21 = “UsrDefined2” (Par 505) 38 = “Speed Ratio” (Par 1017)
5= “TrqRedCurLim” (Par 13) 22 = “UsrDefined3” (Par 506) 39 = “Spd Draw Out” (Par 1018)
6= “Torque Ref” (Par 39) 23 = “UsrDefined4” (Par 507) 40 = “Roll Diam” (Par 1154)
7= “Trim Torque” (Par 40) 24 = “UsrDefined5” (Par 508) 41 = “Tension Red” (Par 1179)
8= “TorqueReg In” (Par 41) 25 = “UsrDefined6” (Par 509) 42 = “Torq Cur Pct” (Par 1193)
9= “Trim Ramp” (Par 42) 26 = “UsrDefined7” (Par 510) 43 = “Ten Ref Pct” (Par 1194)
10 = “Trim Speed” (Par 43) 27 = “UsrDefined8” (Par 511) 44 = “CloseLp Comp” (Par 1208)
11 = “Ramp In” (Par 110) 28 = “UsrDefined9” (Par 512) 45 = “Actual Comp” (Par 1213)
12 = “Ramp Out” (Par 113) 29 = “UsrDefined10” (Par 513) 46 = “W Reference” (Par 1217)
PID Control

13 = “Speed Reg In” (Par 118) 30 = “UsrDefined11” (Par 514) 47 = “Encoder Spd” (Par 420)
14 = “Adaptive Ref” (Par 183) 31 = “UsrDefined12” (Par 515) 48 = “Resolver Spd” (Par 428)
15 = “Arm Cur Pct” (Par 199) 32 = “UsrDefined13” (Par 516)
16 = “SpdRegOutPct” (Par 236) 33 = “UsrDefined14” (Par 517)

787 [PID Source Gain] Default: 1.00 Real 786

APPLICATIONS

Gain of the input value to Par 786 [PID Source].

A Min/Max: –/+100.00

1046 [PID Accel Time] Default: 0.00 Real

Ramp acceleration time after the block PID offset.
A Min/Max: 0.00 / 900.00
Units: s
1047 [PID Decel Time] Default: 0.00 Real
Ramp deceleration time after the block PID offset.
A Min/Max: 0.00 / 900.00
Units: s
1254 [PID Error Gain] Default: 1.005 Real 759
Gain percentage of Par 759 [PID Error].
A Min/Max: 0.000 / 32.005
Units: %
1258 [Enable PI PD] Default: Read Only 16-bit 769,
Indicates the combined status of Par 769 [Enable PI] and 770 [Enable PD]. If both Int 770
A Par 769 and Par 770 are enabled then Par 1258 [Enable PI PD] displays “Enabled”. If Min/Max: Disabled / Enabled
either of Par 769 or Par 770 is disabled, Par 1258 [Enable PI PD] displays “Disabled”.
794 [Diameter Calc] Default: 0 16-bit
Enables/Disables the diameter calculation function. If this parameter has been Int
Min/Max: 0/1
programmed via a digital input, it must be brought to a logical high level.
• “0” = The diameter calculation is disabled.
A • “1” = The diameter calculation is enabled.
795 [DncrPosSpd] Default: 0 16-bit
Init Diam Calc

Desired motor speed when the dancer is positioned in its central working position. Int
A Min/Max: –/+100

796 [Max Deviation] Default: 8000 16-bit

A value, expressed in counts of D/A, that corresponds to the position of maximum Int
A Min/Max: 0 / 10000
shift admitted by the dancer. This value is considered the starting measurement of
the dancer movement during the initial diameter calculation phase.
797 [Gear Box Ratio] Default: 1.000 Real
Ratio reduction between the motor and the roll (< = 1).
A Min/Max: 0.001 / 1.000

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

798 [Dancer Constant] Default: 1 16-bit
The measurement corresponding to the total bunching of the material in the Int
A Min/Max: 1 / 10000
dancer. Units: mm
799 [Minimum Diameter] Default: 100 16-bit
Minimum value of the roll diameter.
Init Diam Calc

Min/Max: 1 / 2000 Int

Note: Also included in the Diameter Calc group in the Applications file. Units: mm
A
800 [Diameter Calc St] Default: Read Only 16-bit
Status of the initial diameter calculation. Int
A • “0” = The initial diameter calculation has not completed. Min/Max: 0/1
• “1” = The initial diameter calculation has completed.
Note: This parameter can be assigned to a digital output.
1153 [Max Diameter] Default: 1.00 Real
Maximum roll diameter.
Min/Max: 0.00 / 32.00
Units: m
A
1154 [Roll Diameter] Default: Read Only Real
Displays the calculated roll diameter. Note: This parameter can be assigned to an
A analog output as a percentage of Par 1153 [Max Diameter]. Min/Max: 0.00 / 32.00
Units: m
1155 [Line Spd Thresh] Default: 5.00 Real 1162,
Line speed detecting threshold. When the value of Par 1286 [Ref Line Speed] is 1206,
A lower than the value of [Line Spd Thresh], the diameter calculation stops and the Min/Max: 0.00 / 150.00
Units: % 1207,
APPLICATIONS

diameter is kept at a constant value. When the value of [Ref Line Speed] overcomes 1286
the threshold, the diameter calculation is enabled with an initial filter
corresponding to the value in Par 1206 [Diam Init Filter] for the time set in Par 1207
[Diam Stdy Delay]. At the end of this time the filter will be set to the value of Par
1162 [Diameter Filter].
1156 [Line Spd Gain] Default: 0 16-bit 1160,
Calibration value used to obtain Par 1160 [Line Speed Pct] = 100% at its maximum Int 1284
Min/Max: 0 / 32767
Diameter Calc

A value. The value of this parameter depends on the value of Par 1284 [Ref Spd
Source]:
[Line Spd Gain] = [32768 x 16384 / (maximum value of [Ref Spd Source] x 8)] -1
1157 [Diameter Reset] Default: 0 16-bit 1168
Diameter reset. When this parameter is set to “1”, the diameter starting value is set Int
A to the value in Par 1168 [Diam Preset Sel]. Min/Max: 0/1

1158 [Diam Threshold] Default: 10.00 Real 1153,

Diameter threshold as a percentage of Par 1153 [Max Diameter]. Par 1159 1159
A [Diameter Reached] is set to “1” when the value in this parameter is exceeded. Min/Max: 0.00 / 150.00
Units: %
1159 [Diameter Reached] Default: Read Only 16-bit 1158
Indication that the diameter threshold set in Par 1158 [Diam Threshold] has been Int
A exceeded. Min/Max: 0/1
• “0” = The diameter threshold has not been exceeded.
• “1” = The diameter threshold has been exceeded.
1160 [Line Speed Pct] Default: Read Only Real
Line speed.
A Min/Max: 0.00 / 150.00
Units: %
1161 [Diam Calc Dis] Default: 1= “On” 16-bit 1155
Enables/Disables the diameter calculation (see also Par 1155 [Line Spd Thresh]). Int
A The last calculated diameter value is saved if this parameter is changed to 0 “Off” Options: 0=
1=
“Off”
“On”
while the diameter is being calculated.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1162 [Diameter Filter] Default: 100 16-bit
Diameter calculation filter. Int
A Min/Max: 0 / 5000
Units: ms
1163 [Base Omega] Default: 1500 16-bit
Winder speed at the maximum line speed and minimum diameter of the winder/ Int
A unwinder (motor shaft side). Min/Max: 0 / 8191
Units: rpm
1164 [Diam Preset 0] Default: 1.00 Real 799,
First preset starting diameter. The value of this parameter must be set between the 1153
A value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter]. Min/Max: 0.00 / 32.00
Units: m
1165 [Diam Preset 1] Default: 1.00 Real 799,
Second preset starting diameter. The value of this parameter must be set between 1153
A the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter]. Min/Max: 0.00 / 32.00
Units: m
1166 [Diam Preset 2] Default: 1.00 Real 799,
Third preset starting diameter. The value of this parameter must be set between 1153
A the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter]. Min/Max: 0.00 / 32.00
Units: m
1167 [Diam Preset 3] Default: 1.00 Real 799,
Fourth preset starting diameter. The value of this parameter must be set between 1153
Min/Max: 0.00 / 32.00
APPLICATIONS

A the value of Pars 799 [Minimum Diameter] and 1153 [Max Diameter]. This
Diameter Calc

Units: m
parameter can be assigned to an analog input. If an analog input is used, +10V
corresponds to the value of [Max Diameter] and the voltage corresponding to the
minimum diameter = 10 x ([Minimum Diameter] / [Max Diameter]).
1168 [Diam Preset Sel] Default: 0 16-bit 1164,
Selects the starting diameter for the Diameter Calculation function. Int 1165,
A • 0 = Par 1164 [Diam Preset 0] Min/Max: 0/3
1166,
• 1 = Par 1165 [Diam Preset 1] 1167
• 2 = Par 1166 [Diam Preset 2]
• 3 = Par 1167 [Diam Preset 3]
This parameter can also be set via two digital inputs programmed as 57 “Diam
Preset0” and 58 “Diam Preset1”; the selection in this case is carried out with binary
logic.

“Diam Preset1” “Diam Preset0” Selection

0 0 Par 1164 [Diam Preset 0]
0 1 Par 1165 [Diam Preset 1]
1 0 Par 1166 [Diam Preset 2]
1 1 Par 1167 [Diam Preset 3]

1187 [Winder Type] Default: 0= “Winder” 16-bit

Winder/unwinder selection. If the selection is carried out via a digital input: 0V = Int
A “Winder”, +24V = “Unwinder”. Options: 0= “Winder”
1= “Unwinder”

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Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1204 [Line Spd Source] Default: 0= “Not Used” 16-bit
Parameter number from which the line speed source for the winder function value Int
will be read.
Notes: Added options 0…47 for firmware revision 4.001. Added option 48
A “Resolver Spd” for firmware revision 5.002.
Options:

0= “Not Used” 17 = “Max Fld Pct” (Par 467) 34 = “UsrDefined15” (Par 518)
1= “Cur Lim Pos” (Par 8) 18 = “Fld Ref Pct” (Par 500) 35 = “Load Comp” (Par 698)
2= “Cur Lim Neg” (Par 9) 19 = “UsrDefined0” (Par 503) 36 = “Out Volt Lvl” (Par 921)
3= “CurLimPosOut” (Par 10) 20 = “UsrDefined1” (Par 504) 37 = “Filt Trq Cur” (Par 928)
4= “CurLimNegOut” (Par 11) 21 = “UsrDefined2” (Par 505) 38 = “Speed Ratio” (Par 1017)
5= “TrqRedCurLim” (Par 13) 22 = “UsrDefined3” (Par 506) 39 = “Spd Draw Out” (Par 1018)
6= “Torque Ref” (Par 39) 23 = “UsrDefined4” (Par 507) 40 = “Roll Diam” (Par 1154)
7= “Trim Torque” (Par 40) 24 = “UsrDefined5” (Par 508) 41 = “Tension Red” (Par 1179)
8= “TorqueReg In” (Par 41) 25 = “UsrDefined6” (Par 509) 42 = “Torq Cur Pct” (Par 1193)
Diameter Calc

9= “Trim Ramp” (Par 42) 26 = “UsrDefined7” (Par 510) 43 = “Ten Ref Pct” (Par 1194)
10 = “Trim Speed” (Par 43) 27 = “UsrDefined8” (Par 511) 44 = “CloseLp Comp” (Par 1208)
11 = “Ramp In” (Par 110) 28 = “UsrDefined9” (Par 512) 45 = “Actual Comp” (Par 1213)
12 = “Ramp Out” (Par 113) 29 = “UsrDefined10” (Par 513) 46 = “W Reference” (Par 1217)
13 = “Speed Reg In” (Par 118) 30 = “UsrDefined11” (Par 514) 47 = “Encoder Spd” (Par 420)
14 = “Adaptive Ref” (Par 183) 31 = “UsrDefined12” (Par 515) 48 = “Resolver Spd” (Par 428)
15 = “Arm Cur Pct” (Par 199) 32 = “UsrDefined13” (Par 516)
APPLICATIONS

16 = “SpdRegOutPct” (Par 236) 33 = “UsrDefined14” (Par 517)

1205 [Diam Inc Dec En] Default: 1= “Enabled” 16-bit

This parameter It is used to improve system stability for winder/unwinder Int
A applications. If this parameter is enabled and if applied to a winder, the calculated Options: 0=
1=
“Disabled”
“Enabled”
diameter can never decrease; if applied to an unwinder, the calculated diameter
can never increase.
1206 [Diam Init Filter] Default: 100 16-bit
Initial filter on the diameter calculation. Int
A Min/Max: 0 / 5000
Units: ms
1207 [Diam Stdy Delay] Default: 0 16-bit 1155,
The amount of time during which the value of Par 1206 [Diam Init Filter] is kept Int 1206
A active after the value defined in Par 1155 [Line Spd Thresh] has been overcome. Min/Max:
Units:
0 / 60000
ms
1171 [Variable J Comp] Default: 0.00 Real
Torque compensation due to the wound material as a percentage of the drive rated
A current. Min/Max: 0.00 / 199.99
Units: %
1172 [Constant J Comp] Default: 1.00 Real
Compensation of the fixed section (motor, reducer, pin) as a percentage of the drive
A rated current. Min/Max: – / +100.00
Winder Functions

Units: %
1173 [Materl Width Pct] Default: 100.00 Real
Width of the wound material as a percentage of the maximum width.
A Min/Max: 0.00 / 100.00
Units: %
1174 [Static Friction] Default: 0.00 Real
Compensation for static friction as a percentage of the drive rated current.
A Min/Max: 0.00 / 199.99
Units: %
1175 [Dynamic Friction] Default: 0.00 Real
Compensation for dynamic friction as a percentage of the drive rated current.
A Min/Max: 0.00 / 199.99
Units: %

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1176 [Taper Enable] Default: 0= “Disabled” 16-bit
Enables/Disables the Taper function. Int
A Options: 0= “Disabled”
1= “Enabled”
1177 [Initial Diameter] Default: 0.10 Real
Diameter that starts the taper tension reduction.
A Min/Max: 0.00 / 32.00
Units: m
1178 [Final Diameter] Default: 1.00 Real
Diameter that ends the taper tension reduction.
A Min/Max: 0.00 / 32.00
Units: m
1179 [Tension Reduct] Default: 0.00 Real 1180
Taper tension reduction as a percentage of Par 1180 [Tension Ref].
A Min/Max: 0.00 / 199.99
Units: %
1180 [Tension Ref] Default: 0.00 Real
Tension reference.
A Note: This parameter can be assigned to an analog input or output. Min/Max: 0.00 / 199.99
Units: %
1181 [Tension Scale] Default: 100 16-bit
Scale factor of the torque current. This parameter is used when the value of the Int
A maximum winding torque must be limited or when a closed loop control is used to Min/Max: 0 / 200
Units: %
adjust the torque current value to the real tension on the material measured by the
load cell.
1182 [Time AccDec Min] Default: 9.00 Real
The amount of time corresponding to the lower acceleration, deceleration and fast
A deceleration time. Min/Max: 0.15 / 300
Units: s
Winder Functions

1183 [Int Acc Calc En] Default: 1= “Enabled” 16-bit 1182,

APPLICATIONS

Enables/Disables the calculation for coil acceleration. Int 1184,

Options: 0= “Disabled”
• “Enabled” = This function carries out the calculation of the angular acceleration 1= “Enabled” 1185,
inside the drive. In this case it is necessary to set just the value of Par 1182 1186
A [Time AccDec Min].
• “Disabled” = It is necessary to set Pars 1184 [Line Accel Pct], 1185 [Line Decel
Pct], 1186 [Line FastStp Pct] and 1182 [Time AccDec Min] and to supply the
corresponding status indication to the digital inputs.
1184 [Line Accel Pct] Default: 100.00 Real 1182
Acceleration time as a percentage Par 1182 of [Time AccDec Min].
A Min/Max: 0.00 / 100.00
Units: %
1185 [Line Decel Pct] Default: 100.00 Real 1182
Deceleration time as a percentage of Par 1182 [Time AccDec Min].
A Min/Max: 0.00 / 100.00
Units: %
1186 [Line FastStp Pct] Default: 100.00 Real 1182
Fast deceleration time as a percentage of Par 1182 [Time AccDec Min].
A Min/Max: 0.00 / 100.00
Units: %
1188 [Accel Status] Default: Read Only 16-bit
Indicates the drive acceleration status. Int
A • “0” = Off - Drive not accelerating Min/Max: 0/1
• “1” = “On” - Drive accelerating
Note: This parameter can be assigned to a digital output.
1189 [Decel Status] Default: Read Only 16-bit
Indicates the drive deceleration status. Int
A • “0” = “Off” - Drive not decelerating Min/Max: 0/1
• “1” = “On” - Drive decelerating
Note: This parameter can be assigned to a digital output.
1190 [Fast Stop Status] Default: Read Only 16-bit
Indicates the drive fast stop status. Int
A • “0” = “Off” - Drive is not fast stopping Min/Max: 0/1
• “1” = “On” - Drive is fast stopping

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Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1191 [InertiaCompCnst] Default: Read Only Real
Displays the active compensation of the fixed section as a percentage of the drive
A rated current. Min/Max: 0.00 / 200.00
Units: %
1192 [InertiaCompVar] Default: Read Only Real
Displays the active compensation of the variable section as a percentage of the
A drive rated current. Min/Max: 0.00 / 200.00
Units: %
1193 [Torq Current Pct] Default: Read Only Real
Displays the amount of torque current required.
A Note: This parameter can be assigned to an analog output. Min/Max: 0.00 / 200.00
Units: %
1194 [Act Ten Ref Pct] Default: Read Only Real 1179,
Displays the percentage of tension reference less the Taper percentage set via Par 1180
A 1179 [Tension Reduct]. If the Taper function is not enabled, it corresponds to the Min/Max: 0.00 / 199.99
Units: %
value displayed in Par 1180 [Tension Ref].
1195 [Speed Match] Default: 0= “Off” 16-bit
Coil “launching” phase command for automatic switching. Int
A Note: This parameter can be assigned to a digital input or output. Options: 0= “Off”
1= “On”
1196 [Spd Match Acc] Default: 83.88 Real
Motor acceleration time during the launching phase.
A Min/Max: 0.30 / 300.00
Units: s
1197 [Spd Match Dec] Default: 83.88 Real
Motor deceleration time. If the motor decelerates during the launching phase a
A stop command is issued. Min/Max: 0.30 / 300.00
Units: s
Winder Functions

1198 [Offs Accel Time] Default: 83.88 Real

APPLICATIONS

Ramp time for the initial phase when the machine is stopped. It refers to Par 45
A [Max Ref Speed]. Min/Max: 0.30 / 300.00
Units: s
1199 [W Offset] Default: 0 16-bit
Speed reference offset for the initial phase of the winder/unwinder when the line Int
A is stopped. Min/Max: 0 / 1000
Units: rpm
1200 [Spd Match Gain] Default: 100 16-bit
Speed reference gain during the launching phase. 100% corresponds to a Int
A peripheral speed equal to the line speed. Min/Max: 0 / 150
Units: %
1201 [Winder Side] Default: 0 16-bit
Selection of the winding/unwinding side. Int
A • “0” = Up Min/Max: 0/1
• “1” = Down
Note: This parameter can be assigned to a digital input.
1202 [W Gain] Default: 0 16-bit
Sets the speed reference gain used to saturate the speed loop. This parameter is a Int
A percentage of the increasing/decreasing value of the angular speed reference. Min/Max: 0 / 100
Units: %
1203 [Spd Match Compl] Default: Read Only 16-bit
Indicates a completed launching ramp. If this parameter is assigned to a Int
A programmed digital output, it can be used to indicate that the coil can be changed. Min/Max: 0 / 32767
• “1” = Launching ramp completed
• “0” = Launching ramp not completed
1208 [Close Loop Comp] Default: Read Only 16-bit
Active compensation status (output of the PID regulator). Int
A Min/Max: – / +32767

1209 [Torque Winder En] Default: 0= “Disabled” 16-bit

Enables/disables the center winder function. Int
A Options: 0= “Disabled”
1= “Enabled”

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1210 [W Target] Default: 0 16-bit
Number of the parameter to which the winder speed reference is written. Int
Min/Max: 0 / 65535
Notes: Added options 0…47 for firmware revision 4.001. Added option 48
“Reserved” for firmware revision 5.002.
A Options:

0= “Not Used” 17 = “Max Fld Pct” (Par 467) 34 = “UsrDefined15” (Par 518)
1= “Cur Lim Pos” (Par 8) 18 = “Reserved” 35 = “Load Comp” (Par 698)
2= “Cur Lim Neg” (Par 9) 19 = “UsrDefined0” (Par 503) 36 = “Out Volt Lvl” (Par 921)
3= “Reserved” 20 = “UsrDefined1” (Par 504) 37 = “Reserved”
4= “Reserved” 21 = “UsrDefined2” (Par 505) 38 = “Speed Ratio” (Par 1017)
5= “TrqRedCurLim” (Par 13) 22 = “UsrDefined3” (Par 506) 39 = “Reserved”
6= “Torque Ref” (Par 39) 23 = “UsrDefined4” (Par 507) 40 = “Reserved”
7= “Trim Torque” (Par 40) 24 = “UsrDefined5” (Par 508) 41 = “Tension Red” (Par 1179)
8= “Reserved” 25 = “UsrDefined6” (Par 509) 42 = “Reserved”
9= “Trim Ramp” (Par 42) 26 = “UsrDefined7” (Par 510) 43 = “Reserved”
10 = “Trim Speed” (Par 43) 27 = “UsrDefined8” (Par 511) 44 = “CloseLp Comp” (Par 1208)
11 = “Reserved” 28 = “UsrDefined9” (Par 512) 45 = “Reserved”
12 = “Reserved” 29 = “UsrDefined10” (Par 513) 46 = “Reserved”
13 = “Reserved” 30 = “UsrDefined11” (Par 514) 47 = “Reserved”
14 = “Adaptive Ref” (Par 183) 31 = “UsrDefined12” (Par 515) 48 = “Reserved”
15 = “Reserved” 32 = “UsrDefined13” (Par 516)
16 = “Reserved” 33 = “UsrDefined14” (Par 517)
Winder Functions
APPLICATIONS

1212 [Acc Dec Filter] Default: 30 16-bit

Internal acceleration/deceleration calculation filter for the Torque Winder line Int
Min/Max: 0 / 5000
speed reference. Units: ms
1213 [Actual Comp] Default: Read Only 16-bit
Active compensation status (sums up the static, dynamic and inertial frictions) as a Int
A percentage of the drive rated current. Min/Max: –/+200
Units: %
Note: This parameter can be assigned to an analog output.
1214 [Closed Loop En] Default: 0= “Disabled” 16-bit
Enables/Disables closed loop tension control (used with a load cell). Int
Options: 0= “Disabled”
1= “Enabled”
A
1215 [Speed Demand En] Default: 0= “Disabled” 16-bit
Enables/Disables the speed reference calculation for the Torque Winder Int
A application. Options: 0= “Disabled”
1= “Enabled”
1216 [Spd Match Torque] Default: 100 16-bit
Sets the torque current during the launching and change phase. Int
A Min/Max: 0 / 200
Units: %
1217 [W Reference] Default: Read Only 16-bit 1160
Angular speed reference. Int
A Note: This parameter can be assigned to an analog output; 10V = 100% of Par 45 Min/Max: –/+8192
Units: rpm
[Max Ref Speed].
1255 [Jog TW Speed] Default: 0 16-bit 1160
Torque Winder jog reference. The parameter is entered as a percentage of Par 1160 Int
A [Line Speed Pct]. Min/Max: 0 / 100
Units: %
1256 [Jog TW Enable] Default: 0= “Disabled” 16-bit
Enables/Disables the Torque Winder jog function. Int
A Note: This parameter can be assigned to a digital input. Options: 0= “Disabled”
1= “Enabled”

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1284 [Ref Spd Source] Default: 0= “Not Used” 16-bit
Parameter number from which the line speed reference (used for inertia Int
compensation and line speed reference) will be read.
Notes: Added options 0…47 for firmware revision 4.001. Added option 48
A “Resolver Spd” for firmware revision 5.002.
Options:

0= “Not Used” 17 = “Max Fld Pct” (Par 467) 34 = “UsrDefined15” (Par 518)
1= “Cur Lim Pos” (Par 8) 18 = “Fld Ref Pct” (Par 500) 35 = “Load Comp” (Par 698)
2= “Cur Lim Neg” (Par 9) 19 = “UsrDefined0” (Par 503) 36 = “Out Volt Lvl” (Par 921)
3= “CurLimPosOut” (Par 10) 20 = “UsrDefined1” (Par 504) 37 = “Filt Trq Cur” (Par 928)
4= “CurLimNegOut” (Par 11) 21 = “UsrDefined2” (Par 505) 38 = “Speed Ratio” (Par 1017)
5= “TrqRedCurLim” (Par 13) 22 = “UsrDefined3” (Par 506) 39 = “Spd Draw Out” (Par 1018)
6= “Torque Ref” (Par 39) 23 = “UsrDefined4” (Par 507) 40 = “Roll Diam” (Par 1154)
7= “Trim Torque” (Par 40) 24 = “UsrDefined5” (Par 508) 41 = “Tension Red” (Par 1179)
8= “TorqueReg In” (Par 41) 25 = “UsrDefined6” (Par 509) 42 = “Torq Cur Pct” (Par 1193)
Winder Functions
APPLICATIONS

9= “Trim Ramp” (Par 42) 26 = “UsrDefined7” (Par 510) 43 = “Ten Ref Pct” (Par 1194)
10 = “Trim Speed” (Par 43) 27 = “UsrDefined8” (Par 511) 44 = “CloseLp Comp” (Par 1208)
11 = “Ramp In” (Par 110) 28 = “UsrDefined9” (Par 512) 45 = “Actual Comp” (Par 1213)
12 = “Ramp Out” (Par 113) 29 = “UsrDefined10” (Par 513) 46 = “W Reference” (Par 1217)
13 = “Speed Reg In” (Par 118) 30 = “UsrDefined11” (Par 514) 47 = “Encoder Spd” (Par 420)
14 = “Adaptive Ref” (Par 183) 31 = “UsrDefined12” (Par 515) 48 = “Resolver Spd” (Par 428)
15 = “Arm Cur Pct” (Par 199) 32 = “UsrDefined13” (Par 516)
16 = “SpdRegOutPct” (Par 236) 33 = “UsrDefined14” (Par 517)

1285 [Ref Speed Gain] Default: 0 16-bit 1284

Gain value for the line speed reference. The value of this parameter depends on the Int
A value of Par 1284 [Ref Spd Source]. The value of [Ref Speed Gain] is used to obtain Min/Max: 0 / 32767
a line speed reference = 100% at its maximum value.
1286 [Ref Line Speed] Default: Read Only Real
Line speed percentage.
A Min/Max: 0.00 / 150.00
Units: %
1287 [Static F Zero] Default: 0= “Disabled” 16-bit 1286
Enables/Disables friction compensation. Int
A • “Enabled” = The fiction compensation value is added to all speed values. Options: 0= “Disabled”
1= “Enabled”
• “Disabled” = The static friction compensation value is added to Par 1286 [Ref
Line Speed] = 1.5%.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1100 [Torq Prove Cfg]
Enables/Disables the torque/brake proving feature. When this feature is enabled, brake control comes from a digital output relay set to “Brake Set.”
• Bit 0 “TP Enable” - When set to “1,” the torque/brake proving features are enabled (regenerative drives only, non-regen. drives results in a type 2
alarm).
A • Bit 1 “Encoderless” - When set to “1,” enables encoderless operation. Bit 0 “TP Enable” must also be enabled and Par 414 [Fdbk Device Type] must
be set to 2 “DC Tach” or a type 2 alarm is generated.

ATTENTION: Encoderless TorqProve must be limited to lifting applications where personal safety is not a concern. Encoders
offer additional protection and must be used where personal safety is a concern. Encoderless TorqProve cannot hold a load at
zero speed without a mechanical brake and does not offer additional protection if the brake slips/fails. Loss of control in
suspended load applications can cause personal injury and/or equipment damage. See Lifting/Torque Proving on page 306
for more information.

• Bit 2 “Micro Psn” - When set to “0,” micro positioning only activates in float zone. When set to “1” micro positioning activates whenever a digital
input configured for “Micro Positioning” or Par 1101 [Torq Prove Setup], bit 1 “Float Micro” is asserted.
• Bit 3 “Preload” - When set to “0,” the drive uses the last holding torque reference for preload. When set to “1,” the drive uses “TorqRefA” if the
commanded direction is forward and “TorqRef B” if the commanded direction is reverse.
• Bit 4 “FW LoadLimit” - When set to “1,” enables a load calculation at base speed. The drive will then limit the maximum speed above base speed.
Torque samples are taken every 2.5 seconds to hold the load at base speed and calculates (based on motor characteristics and measured torque) the
maximum speed that holds the load. This feature limits the commanded speed if it is greater than what the motor/drive can hold. The limit remains
in effect until the speed drops below base speed and a new test is activated.
• Bit 5 “BrkSlipEncls” - When set to “1,” disables the partial brake slip routine when bit 1 “Encoderless” is set to 1.
• Bit 6 “BrkSlipStart” - When set to “1,” automatically starts the drive if brake slippage is detected.
• Bit 7 “Test Brake” - When set to “1,” the brake is tested at a start command. The torque value set in Par 1114 [Brake Test Torq] is applied against the
brake while movement is monitored.
• Bit 8 “Lift Stop Bk” - When set to “1,” the brake is set immediately upon receiving a “Lift Stop” input, rather than setting the brake after the ramp
APPLICATIONS

completes.
Torque Prove

• Bit 9 “BkSlp SpdLmt” - When set to “1,” the load is lowered at a fixed speed (Preset Speed 1) when a brake slip condition is detected.
Note: This parameter was added for firmware revision 6.001.
BkSlp SpdLmt

FW LoadLimit

Options
BrkSlipEncls
BrkSlipStart

Encoderless
Lift Stop Bk
Test Brake

TP Enable
Micro Psn
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Preload

Default x x x x x x 0 0 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1101 [Torq Prove Setup]

Lets you control specific torque proving functions through a communications device (rather than digital inputs).
A • Bit 0 “Lift Stop” - When set to “1,” initiates a current limit stop.
• Bit 1 “Float Micro” - When set to “1,” activates the micro position function when the drive is running and Float when the drive is stopping.
• Bit 2 “Decel Fwd” - When set to “1,” initiates a deceleration forward travel limit condition.
• Bit 3 “End Stop Fwd” - When set to “1,” initiates an end forward travel limit condition.
• Bit 4 “Decel Rev” - When set to “1,” initiates a deceleration reverse travel limit condition.
• Bit 5 “End Stop Rev” - When set to “1,” initiates an end reverse travel limit condition.
• Bit 6 “PHdwrOvrTrvl” - When set to “1,” initiates a positive hardware over travel limit: coast to stop fault.
• Bit 7 “NHdwrOvrTrvl” - When set to “1,” initiates a negative hardware over travel limit: coast to stop fault.
Note: This parameter was added for firmware revision 6.001.
NHdwrOvrTrvl
PHdwrOvrTrvl

End Stop Fwd

Options
End Stop Rev

Float Micro
Decel Fwd
Decel Rev
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Lift Stop

Default x x x x x x x x 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1103 [Torq Prove Sts] 1101
Status of the Torque Proving functions.
A Bit 0 “EndLimitActv” - When set to “1,” indicates that an end (forward or reverse) travel limit condition active.
Bit 1 “DecelLmtActv” - When set to “1,” indicates that a deceleration (forward or reverse) travel limit condition active.
Bit 2 “Micro Psn” - When set to “1,” indicates that a micro position condition active.
Bit 3 “BrkSlip1 Alm” - When set to “1,” indicates a brake slippage signal has been detected.
Bit 4 “Brake Set” - When set to “1,” indicates a brake set signal has been detected.
Bit 5 “LoadTestActv” - When set to “1,” indicates that a test for load above base speed operation is active.
Bit 6 “RefLoadLmted” - When set to “1,” indicates that the speed reference is limited due to load test results.
Bit 7 “Encoderless” - When set to “1,” indicates that encoderless torque proving mode is active.
Note: This parameter was added for firmware revision 6.001.

RefLoadLmted
Options

DecelLmtActv
EndLimitActv
LoadTestActv

BrkSlip1 Alm
Encoderless

Micro Psn
Brake Set
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Default x x x x x x x Reserved
x 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1104 [Torq Limit Slew] Default: 10.0 Real

Rate at which to ramp the torque limits to zero during brake proving.
A Note: This parameter was added for firmware revision 6.001. Min/Max: 0.5 / 300.0
Units: s
1105 [Speed Dev Band] Default: Par 162 [Max Feedback Spd] x 0.03 Real 162,
Acceptable amount of deviation between the commanded speed and the actual 1106
A speed (from a feedback device) when torque proving is enabled. When this value is Min/Max: Par 162 x 0.002 / Par 162 x 0.25
Units: rpm
exceeded for the time specified in Par 1106 [SpdBand Intgrtr], a “TorqPrv Spd
Band” (F94) fault occurs.
Note: This parameter was added for firmware revision 6.001.
APPLICATIONS

1106 [Spd Band Intgrtr] Default: 60 16-bit 1105

Torque Prove

Amount of time that the actual speed can deviate from the value set in Par 1105 Int
A [Speed Dev Band] before a “TorqPrv Spd Band” (F94) fault occurs. Min/Max: 1 / 500
Units: ms
Note: This parameter was added for firmware revision 6.001.
1107 [Brk Release Time] Default: 100 16-bit
Amount of time between the brake release command and when the drive begins Int
A to accelerate. In encoderless mode, this parameter sets the time to release the Min/Max: 0 / 1000
Units: ms
brake after the drive starts. Note: This parameter was added for firmware revision
6.001.
1108 [Brk Set Time] Default: 100 16-bit
Amount of time between the brake set command and when the start of brake Int
A proving. Note: This parameter was added for firmware revision 6.001. Min/Max: 0 / 1000
Units: ms
1109 [Brk Alarm Travel] Default: 1.00 Real 1100
Number of motor shaft revolutions allowed during the brake slippage test. Drive
A torque is reduced to check for brake slippage. When slippage occurs, the drive Min/Max: 0.00 / 1000.00
allows this number of motor shaft revolutions before regaining control. This
parameter value is not used when Par 1100 [Torq Prove Cfg], Bit 1 “Encoderless” is
set to “1” (enabled). Note: This parameter was added for firmware revision 6.001.
1110 [Brk Slip Count] Default: 0.25 Real 1100
Number of encoder/resolver revolutions that define a brake slippage condition.
A This parameter value is not used when Par 1100 [Torq Prove Cfg], Bit 1 Min/Max: 0.00 / 100.00
“Encoderless” is set to “1” (enabled). Note: This parameter was added for firmware
revision 6.001.
1111 [Float Tolerance] Default: Par 162 [Max Feedback Spd] x 0.03 Real 162,
Speed at which the float time (set in Par 1113 [ZeroSpdFloatTime]) starts. Also, the 1100
A speed at or below which the brake is closed when Par 1100 [Torq Prove Cfg], Bit 1 Min/Max: Par 162 x 0.002 / Par 162 x 0.25
Units: rpm
“Encoderless” is set to “1” (enabled). Note: This parameter was added for firmware
revision 6.001.
1112 [MicroPsnScalePct] Default: 10.0 Real 1100
Percent of the commanded speed reference used when bit 2 “Micro Psn” is set to
Min/Max: 0.1 / 100.0
“1” in Par 1100 [Torq Prove Cfg]. Bit 2 “Micro Psn,” also determines if the motor Units: %
needs to come to a stop before the setting in this parameter will take effect.
A Note: This parameter was added for firmware revision 6.001.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1113 [ZeroSpdFloatTime] Default: 5.0 Real 1100
Amount of time the drive is at or below the speed set in Par 1111 [Float Tolerance]
A before the brake is set. This parameter is not used when Par 1100 [Torq Prove Cfg] Min/Max: 0.1 / 500.0
Units: s
Torque Prove

Bit 1 “Encoderless” is set to “1” (enabled).

Note: This parameter was added for firmware revision 6.001.
1114 [Brake Test Torq] Default: 50 Real 1100
Percent of torque applied to the motor before the brake is released when Par 1100
A [Torq Prove Cfg], bit 7 “Test Brake” is set to “1” (enabled). Min/Max: 0 / 150
Units: %
Note: This parameter was added for firmware revision 6.001.
484 [Scale1 Input] Default: 0 16-bit
553 [Scale2 Input] Int
1218 [Scale3 Input] Min/Max: 0 / 1410
1227 [Scale4 Input]
1236 [Scale5 Input]
1245 [Scale6 Input]
Parameter number from which the value is read and used as the input quantity to
A the Scale block. See the Scale Blocks block diagram on page 379 for more
information.
485 [Scale1 Output] Default: 0 16-bit
554 [Scale2 Output] Int
1219 [Scale3 Output] Min/Max: 0 / 1410
1228 [Scale4 Output]
1237 [Scale5 Output]
1246 [Scale6 Output]
Parameter number to which the value of the Scale block output is written. See the
A Scale Blocks block diagram on page 379 for more information.
486 [Scale1 Mul] Default: 1.00 Real
APPLICATIONS

555 [Scale2 Mul]

1220 [Scale3 Mul] Min/Max: –/+10000.00
1229 [Scale4 Mul]
1238 [Scale5 Mul]
1247 [Scale6 Mul]
Multiplier of the input quantity (after a possible limitation). Resolution:
Scale Blocks

A 5 digits. See the Scale Blocks block diagram on page 379 for more information.
487 [Scale1 Div] Default: 1.00 Real
556 [Scale2 Div]
1221 [Scale3 Div] Min/Max: –/+10000.00
1230 [Scale4 Div]
1239 [Scale5 Div]
1248 [Scale6 Div]
Divisor, through which it is possible to divide the input quantity already multiplied
A and limited. Resolution: 5 digits. See the Scale Blocks block diagram on page 379
for more information.
488 [Scale1 In Max] Default: 0.00 Real
557 [Scale2 In Max] 31/ +231 – 1
1222 [Scale3 In Max] Min/Max: –2
1231 [Scale4 In Max]
1240 [Scale5 In Max]
1249 [Scale6 In Max]
Maximum limit of the input quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 379 for more information.
489 [Scale1 In Min] Default: 0.00 Real
558 [Scale2 In Min]
1223 [Scale3 In Min] Min/Max: – 231/ +231 – 1
1232 [Scale4 In Min]
1241 [Scale5 In Min]
1250 [Scale6 In Min]
Minimum limit of the input quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 379 for more information.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

490 [Scale1 In Off] Default: 0.00 Real
559 [Scale2 In Off] 31 31
1224 [Scale3 In Off] Min/Max: – 2 / +2 – 1
1233 [Scale4 In Off]
1242 [Scale5 In Off]
1251 [Scale6 In Off]
Offset to be added to the input quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 379 for more information.
491 [Scale1 Out Off] Default: 0.00 Real
560 [Scale2 Out Off]
1225 [Scale3 Out Off] Min/Max: – 231 31
/ +2 – 1
1234 [Scale4 Out Off]
APPLICATIONS
Scale Blocks

1243 [Scale5 Out Off]

1252 [Scale6 Out Off]
Offset to be added to the output quantity. Resolution: 5 digits. See the Scale Blocks
A block diagram on page 379 for more information.
492 [Scale1 In Abs] Default: 0= “Off” 16-bit
561 [Scale2 In Abs] Int
1226 [Scale3 In Abs] Options: 0= “Off”
1235 [Scale4 In Abs] 1= “On”
1244 [Scale5 In Abs]
1253 [Scale6 In Abs]
Controls how the input value is processed.
A • “Off” = The input quantity is processed with its sign.
• “On” = The input quantity is processed with a positive sign (absolute value).
It is possible to have the polarity change with the signs of the [ScalexMul] or
[ScalexDiv] parameters. See the Scale Blocks block diagram on page 379 for more
information.

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 Programming and Parameters Chapter 3

Utility File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

209 [Save HIM Ref]
Enables a feature to save the present reference value issued by the HIM to drive memory when a power loss occurs. The value is restored to the HIM at
power up.
Bit 0 - “At Pwr Down” 0 = Do not save, 1 = Save at power down

At Pwr Down
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Default x x x x x x x x x x x x x x x 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

210 [Man Ref Preload] Default: 1= “Enabled” 16-bit

Enables/disables a feature to automatically load the present “Auto” reference Int
Options: 0= “Disabled”
value into the HIM when “Manual” is selected. Allows smooth speed transition 1= “Enabled”
from “Auto” to “Manual.”
249 [MOP Ref Config]
Enables/Disables the feature that saves the present MOP reference at power down or at stop.
Reference Config

Notes: This parameter can be assigned to a digital input. Bits 2 and 3 were added for firmware revision 6.001.
• Bit 0 “Save PwrDown” - When set to “0” = Do not save, “1” = Save
• Bit 1 “Save At Stop” - When set to “0” = Do not save, “1” = Save
• Bit 2 “Reset AtStop” - When set to “0” = No MOP reset, “1” = Reset MOP at Stop
• Bit 3 “Reset At Flt” - When set to “0” = No MOP reset, “1” = Reset MOP at Fault

Save PwrDown
Options Reset AtStop
Save At Stop
Reset At Flt
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
UTILITY

Default x x x x x x x x x x x x 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1322 [Direction Mode] Default: 0= “Unipolar” 16-bit

Selects the method that will be used for changing direction. Int
Options: 0= “Unipolar”
• “Unipolar” - Drive Logic determines the direction. 1= “Bipolar”
• “Bipolar” - The sign of the reference determines the direction. 2= “Rev Disable”
• “Rev Disable” - Forward direction only (not changeable).
1375 [MOP Select] Default: 0= “OFF” 16-bit
Selects the destination of the MOP signal. Int
Options: 0= ”OFF”
1= “Speed Ref A”
2= “Speed Ref B”
3= “Trim Speed”
4= “TB Man Ref”
211 [Param Access Lvl] Default: 0= “Basic” 16-bit
Selects the parameter display level. Int
Options: 0= “Basic”
• “Basic” = Reduced parameter set. 1= “Advanced”
• “Advanced” = Full parameter set.
258 [Reset Defaults] Default: 0= “Ready” 16-bit
Setting this parameter to 1 “Factory” will load the default settings in the drive Int
Options: 0= “Ready”
Drive Memory

firmware. 1= “Factory”
302 [Language] Default: 0= “Not Selected” 16-bit
Selects the operating language of the drive. Only two languages are available in Int
Options: 0= “Not Selected”
the drive at any given time, English and one of the following: French, German, 1= “English”
Italian, Portuguese, or Spanish. The drive ships with the default language options 2= “French”
of English and Spanish only. The additional language files can be downloaded 3= “Spanish”
from the Product Compatibility and Download Center at: 4= “Italian”
https://compatibility.rockwellautomation.com/Pages/home.aspx 5= “German”
Note: This parameter was added for firmware revision 3.001. 6= “Reserved”
7= “Portuguese”

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

346 [Torque Positive] Default: Read Only 16-bit 20
Indicates whether the drive is operating with a positive torque reference. Int
A Min/Max: 0/1
• 1 “Active” = The drive is operating with a positive torque reference. The motor
is accelerating in the forward direction or decelerating in the negative direction
and Par 20 [Ramp Delay] has timed out.
• 0 “Not Active” = The drive is not operating with a positive torque reference.
Note: This parameter can be assigned to a digital output.
347 [Torque Negative] Default: Read Only 16-bit 20
Indicates whether the drive is operating with a negative torque reference. Int
A Min/Max: 0/1
• 1 “Active” = The drive is operating with negative torque reference. The motor is
accelerating in the reverse direction or decelerating in the forward direction
and Par 20 [Ramp Delay] has timed out.
• 0 “Not Active” = The drive is not operating with negative torque reference.
Diagnostics
UTILITY

Note: This parameter can be assigned to a digital output and is used for four
quadrant drives only.
349 [CurrLimit Active] Default: Read Only 16-bit
Indicates whether or not the drive is working within the set current limits. Int
Min/Max: 0/1
• 1 “Active” = The drive is currently in a current limited state.
• 0 “Not Active” =The drive is not in a current limited state.
Note: This parameter is assigned to digital output 4 (Par 148 [Digital Out4 Sel]) by
default.
372 [Spd Limit Active] Default: Read Only 16-bit
Indicates whether the current speed reference value is limited by the defined Int
Min/Max: 0/1
minimum and maximum limit values.
• 1 “Active” = The reference value is currently limited because the value entered
is out of range of the limit values defined.
• 0 “Not Active” = The reference value is within the defined limit values.
Note: This parameter can be assigned to a digital output.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

381 [Drive Status 1] Read Only
Present operating condition of the drive.
Bit 0 “Ready” - When set (= “1”), the drive is ready
Bit 1 “Active” - When set, the drive is active
Bit 2 “Command Dir” - The direction of commanded rotation, 0 = Reverse, 1 = Forward
Bit 3 “Actual Dir” - The actual direction of the motor, 0 = Reverse, 1 = Forward
Bit 4 “Accelerating” - When set, the drive is accelerating
Bit 5 “Decelerating” - When set, the drive is decelerating
Bit 6 “Alarm” - When set, the drive is in an alarm state
Bit 7 “Fault” - When set, the drive is faulted
Bit 8 “At Speed” -When set, the drive is at the commanded speed
Bit 9 - 11 “Local ID 0-2” (1)
Bit 12-15 “Spd Ref ID 0-3” (2)
Spd Ref ID 3 (2)
Spd Ref ID 2 (2)
Spd Ref ID 1 (2)
Spd Ref ID 0 (2)

Options

Command Dir
Decelerating
Local ID 2 (1)
Local ID 1 (1)
Local ID 0 (1)

Accelerating
Actual Dir
At Speed
Faulted

Ready
Active
Alarm
Default 0 0 0 0 0 0 1 0 0 0 0 0 1 1 0 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Diagnostics
UTILITY

(2) (1)
Bits Description Bits Description
15 14 13 12 11 10 9
0 0 0 0 Spd Ref A Auto 0 0 0 Port 0 (TB)
0 0 0 1 Spd Ref B Auto 0 0 1 DPI Port 1
0 0 1 0 Preset Spd 2 Auto 0 1 0 DPI Port 2
0 0 1 1 Preset Spd 3 Auto 0 1 1 DPI Port 3
0 1 0 0 Preset Spd 4 Auto 1 0 0 DPI Port 4
0 1 0 1 Preset Spd 5 Auto 1 0 1 DPI Port 5
0 1 1 0 Preset Spd 6 Auto 1 1 0 DPI Port 6
0 1 1 1 Preset Spd 7 Auto 1 1 1 No Local Control
1 0 0 0 TB Manual
1 0 0 1 DPI Port 1 Manual
1 0 1 0 DPI Port 2 Manual
1 0 1 1 DPI Port 3 Manual
1 1 0 0 DPI Port 4 Manual
1 1 0 1 DPI Port 5 Manual
1 1 1 0 DPI Port 6 Manual
1 1 1 1 Jog Ref

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

382 [Drive Status 2] Read Only
Present operating condition of the drive.
Bit 0 “Ready” - When set (= “1”), the drive is ready
Bit 1 “Active” - When set, the drive is active
Bit 2 “Running” - When set, the drive is running
Bit 3 “Jogging” - When set, the drive is being jogged
Bit 4 “Stopping” - When set, the drive is stopping
Bit 6 “Auto Tuning” - When set, the drive is auto tuning
Bit 7 “Forced Spd” - When set, the drive is in forced speed mode
Bit 8 “Speed Mode” - When set, the drive is in speed mode
Bit 9 “Torque Mode” - When set, the drive is in torque mode
Bit 10 “SpdRegPosLim” - When set, the Speed Regulator PI positive limit is active
Bit 11 “SpdRegNegLim” - When set, the Speed Regulator PI negative limit is active
Bit 12 “ArmAlphaTest” - When set, the Armature Alpha test is active
Bit 13 “FldAlphaTest” - When set, the Field Alpha test is active
Notes: Added bits 7…13 for firmware revision 3.001. See Torque Mode Selection Status Bits on page 347 for
more information.
SpdRegNegLim

Options
SpdRegPosLim
ArmAlphaTest

Torque Mode
FldAlphaTest

Speed Mode

Auto Tuning
Forced Spd

Curr Limit
Reserved
Reserved

Stopping

Running
Jogging

Ready
Active
Default x x 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

393 [Speed Threshold] Default: Read Only 16-bit 101,

Indicates if the drive is above or below the threshold speed specified in parameters
Diagnostics

Min/Max: 0/1 Int 102,

UTILITY

A 101 [Speed Thresh Pos] (clockwise rotation) and 102 [Speed Thresh Neg] (counter- 103
clockwise rotation).
• “0 Above Thresh” = The speed has exceeded the set speed threshold.
• “1 Below Thresh” = The speed has not exceeded the set speed threshold.
Notes: This parameter can be assigned to a digital output. See Speed Threshold
Indicators on page 339 for more information.
394 [At Speed] Default: Read Only 16-bit 104,
Indicates whether or not the current speed of the drive corresponds to the speed Int 105
Min/Max: 0/1
reference (specified in Par 118 [Speed Reg In]) before the speed regulator and the
ramp reference (if enabled) are applied. The speed above and below the speed
reference at which [At Speed] will indicate “1 Equal” is set in Par 104 [At Speed
Error].
• “0 Not Equal” - The drive is not working at the set speed reference.
• “1 Equal” - The drive is working at the set speed reference.
Notes: This parameter can be assigned to a digital output. It also corresponds to
the “At Speed” indication on the Status Line of the HIM. See Speed Threshold
Indicators on page 339for more information.
395 [At Zero Speed] Default: Read Only 16-bit 107,
Indicates whether or not the actual speed of the motor is below the zero speed Int 108
Min/Max: 0/1
threshold as specified in Par 107 [Speed Zero Level].
• “0 Equal” - The actual speed is below the value of Par 107 [Speed Zero Level]
and Par 108 [Speed Zero Delay] has timed out.
• “1 Not Equal” - The actual speed is above the value of Par 107 [Speed Zero
Level].
Notes: This parameter can be assigned to a digital output. See Speed Threshold
Indicators on page 339for more information.
396 [MOP Inc Active] Default: Read Only 16-bit
Indicates whether or not the drive is accelerating using the preselected ramp. Int
A Min/Max: 0/1
• 0 “No Accel” = the drive is not accelerating using a preselected ramp
• 1 “Accel” = the drive is accelerating using a preselected ramp

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

397 [MOP Dec Active] Default: Read Only 16-bit
Indicates whether the drive is decelerating using the preselected ramp. Int
A • 0 “No Decel” = The drive is not decelerating using a preselected ramp Min/Max: 0/1
• 1 “Decel” = The drive is decelerating using a preselected ramp
400 [Spd Select 0] Default: Read Only 16-bit 401,
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 17 “Speed Int 402
A Sel 1”. See Option Definitions for [Digital Inx Sel] on page 200 for instructions on Min/Max: 0/1
how to set digital input speed selects to different speed references.
• “0” = Digital input [Digital Inx Sel] set to 17 “Speed Sel 1” not asserted
• “1” = Digital input [Digital Inx Sel] set to 17 “Speed Sel 1” asserted
Note: By default, the state of this parameter is determined by digital input 5.
401 [Spd Select 1] Default: Read Only 16-bit 400,
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 18 “Speed Int 402
A Sel 2”. See Option Definitions for [Digital Inx Sel] on page 200 for instructions on Min/Max: 0/1
how to set digital input speed selects to different speed references.
• “0” = Digital input [Digital Inx Sel] set to 18 “Speed Sel 2” not asserted
• “1” = Digital input [Digital Inx Sel] set to 18 “Speed Sel 2” asserted
Note: By default, the state of this parameter is determined by digital input 6.
402 [Spd Select 2] Default: Read Only 16-bit 400,
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 19 “Speed Int 401
A Sel 3”. See Option Definitions for [Digital Inx Sel] on page 200 for instructions on Min/Max: 0/1
how to set digital input speed selects to different speed references.
• “0” = Digital input [Digital Inx Sel] set to 19 “Speed Sel 3” not asserted
• “1” = Digital input [Digital Inx Sel] set to 19 “Speed Sel 3” asserted
Note: By default, the state of this parameter is determined by digital input 7.
403 [Ramp Select 0] Default: Read Only 16-bit 404
Diagnostics

Indicates the state of the assigned digital input, [Digital Inx Sel], set to 25 “Acc2 & Int
UTILITY

A Dec2” or 26 “Accel 2”. Min/Max: 0/1

• “0” = Accel 1 ramp rate is selected
• “1” = Accel 2 ramp rate is selected
Note: This parameter can be assigned to indicate the state of a digital input.
404 [Ramp Select 1] Default: Read Only 16-bit 403
Indicates the state of the assigned digital input, [Digital Inx Sel], set to 25 “Acc2 & Int
A Dec2” or 27 “Decel 2”. Min/Max: 0/1
• “0” = Decel 1 ramp rate is selected
• “1” = Decel 2 ramp rate is selected
Note: This parameter can be assigned to indicate the state of a digital input.
432 [Reslvr Error Cnt] Default: 0 Read
Increments (16-bit unsigned) for every SSI communication message that contains Only
A an error (for example, CRC). The value of this parameter is reset to zero at drive Min/Max: 0 / 65536
power-up or when the “Clear Faults” function is used.
Note: This parameter was added for firmware revision 5.002.
651 [Spd Fdbk State] Default: Read Only 16-bit 414,
Indicates the status of the selected speed feedback device (DC tach, encoder, or Int 478
A resolver). A speed feedback loss can be configured as a fault or alarm in Par 478 Min/Max: 0/1
[Spd Loss Flt Cfg].
• “0” = Error
• “1” = OK
Notes: This parameter can be assigned to a digital output. The name of this
parameter was changed from [Encoder State] for firmware revision 5.002.
1290 [MtrOvrld Status] Default: Read Only Real 376,
Current percentage of motor overload (100% = motor overload). The current 479
A percentage displays regardless of the configuration of the motor overload Min/Max: 0 / 100
Units: %
condition (Par 479 [MtrOvrld Flt Cfg] = Fault, Alarm, or Ignore).
Note: This parameter was added for firmware revision 3.001.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1328 [Drive Logic Rslt]
The final logic command resulting from the combination of all DPI and discrete inputs. This parameter has the same structure as the product specific
logic command received via DPI and is used in peer-to-peer communications. For each bit, 1=Condition true and 0=Condition false.
Bit 0 “Stop” - Stop command
Bit 1 “Start” - Start command
Bit 2 “Jog” - Jog command
Bit 3 “Clear Faults” - Clear faults command
Bit 4 “Forward” - Forward direction command
Bit 5 “Reverse” - Reverse direction command
Bit 6 “Local” - Local control command”
Bit 7 “MOP Inc” - MOP Increment command
Bit 8 “Accel 1” - Acceleration Rate 1 command
Bit 9 “Accel 2” - Acceleration Rate 2 command
Bit 10 “Decel 1” - Deceleration Rate 1 command
Bit 11 “Decel 2” - Deceleration Rate 2 command
Bit 12…14 “Spd Ref ID 0”… “Spd Ref ID 2” - Speed reference source(1)
Bit 15 “MOP Dec” - MOP Decrement command
Spd Ref ID 2
Spd Ref ID 1
Spd Ref ID 0

Options

Clear Faults
MOP Dec

Forward
MOP Inc

Reverse
Decel 2
Decel 1
Accel 2
Accel 1

Local

Start
Stop
Jog
Diagnostics
UTILITY

Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

(1)
Bits Description
14 13 12
0 0 0 No Command - Manual Mode
0 0 1 Spd Ref A Auto
0 1 0 Spd Ref B Auto
0 1 1 Preset Spd 3 Auto
1 0 0 Preset Spd 4 Auto
1 0 1 Preset Spd 5 Auto
1 1 0 Preset Spd 6 Auto
1 1 1 Preset Spd 7 Auto
1329 [Speed Ref Source] Default: Read Only 16-bit 118
Displays the number of the parameter that is the source of the drive’s speed Int
Min/Max: 0 / (highest possible parameter
reference (Par 118 [Speed Reg In]). For example, if the value of this parameter is number)
“70,” then Par 70 [Analog In 1] is the source of the speed reference value shown in
Par 118 [Speed Reg In].
Note: This parameter was added for firmware revision 6.001.

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 Programming and Parameters Chapter 3

Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1330 [Spd Ref Sel Sts] 16-bit
Status of the speed reference selections. Int
• Bit 0 “Ref A Auto” - When set (= 1), the value of the speed reference is Par 44 [Speed Ref A] and the source in Par 1329 [Speed Ref Source]
(Par 1328 [Drive Logic Rslt], bits 12…14 = 001).
• Bit 1 “Ref B Auto” - When set, the value of the speed reference is Par 49 [Speed Ref B] and the source in Par 1329 [Speed Ref Source] (Par
1328 [Drive Logic Rslt], bits 12…14 = 010).
• Bit 2 “Min Spd Lim” - When set, the speed reference value is clamped to the value of Par 5 [Min Speed Fwd] or 6 [Min Speed Rev], based on
direction.
• Bit 3 “Max Spd Lim” - When set, the speed reference value is clamped to the value of Par 3 [Max Speed Fwd] or 4 [Max Speed Rev], based
on direction.
• Bit 4 “MicroPsnMult” - When set, the selected speed reference is multiplied by the value of Par 1112 [MicroPsnScalePct].
• Bit 5 “Trim Ramp” - When set, the speed reference is offset (non-zero) by the value in Par 42 [Trim Ramp].
• Bit 6”Trim Speed” - When set, the speed reference is offset (non-zero) by the value in Par 43 [Trim Speed].
• Bit 7 “Preset Auto” - When set, the speed reference is the “Preset Spd x Auto” source selected in Par 1328 [Drive Logic Rslt],
bits 12…14 = 011…111.
• Bit 8 “Manual Ref” - When set, the speed reference is the manual reference selected in Par 1328 [Drive Logic Rslt], bits 12…14 = 000.
• Bit 9 “Scaled Ref” - When set, the speed reference is the result of the scale block configured to write to the parameter specified in
Par 1329 [Speed Ref Source]. Note that if no speed reference is selected (Par 1329 [Speed Ref Source] = 0), this bit will be set (=1) if any of
the Scale Block input parameters are at their default value of 0.
• Bit 10 “Bipolar Ref” - When set, Par 1322 [Direction Mode] = 1 “Bipolar” and the sign of the reference determines motor rotation direction.
• Bit 11 “Rev Disable” - When set, Par 1322 [Direction Mode] = 2 “Rev Disable” and negative speed reference values are clamped to zero.
• Bit 12 “Unipolar Ref” - When set, Par 1322 [Direction Mode] = 0 “Unipolar” and the sign of the speed reference (and motor rotation
direction) is selected by Par 1328 [Drive Logic Rslt], bit 4 “Forward” or bit 5 “Reverse.”
• Bit 13 “Decel Lmt Sw” - When set, torque proving logic detected an active deceleration limit switch and selected Par 154 [Preset Speed 1]
for the reference.
• Bit 14 “End Lim Sw” - When set, torque proving logic detected an active end limit switch and selected zero speed for the reference.
Note: This parameter was added for firmware revision 6.001.
MicroPsnMult
Decel Lmt Sw

Options
Max Spd Lim
Min Spd Lim
Unipolar Ref
End Lim Sw

Rev Disable

Preset Auto
Manual Ref

Trim Speed
Bipolar Ref

Trim Ramp

Ref A Auto
Ref B Auto
Reserved

Scale Ref

Default x 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Diagnostics
UTILITY

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1381 [TestPoint Sel] Default: 566 16-bit

Selects the function whose value is displayed in [TestPoint Data]. These are Int
A internal values that are not accessible through any other parameters. Typically, Min/Max: 566 / 585
these are internal drive variables and registers. See Testpoint Codes and Functions
on page 233 for more information.
Note: Max value changed from 574 for firmware revision 7.001.
1382 [TestPoint Data] Default: Read Only 16-bit
The present value of the function selected in Par 1381 [Testpoint Sel]. Int
A Min/Max: -231 / 231 - 1

1384 [TaskLoad 1 ms] Default: Read Only Real

The load percentage of the 1 ms task in the firmware.
A Min/Max: 0.00 / 100.00

1385 [TaskLoad 2 ms] Default: Read Only Real

The load percentage of the 2 ms task in the firmware.
A Min/Max: 0.00 / 100.00

1386 [TaskLoad 8 ms] Default: Read Only Real

The load percentage of the 8 ms task in the firmware.
A Min/Max: 0.00 / 100.00

1402 [Last Stop Source] Default: Read Only 16-bit

Displays the source that initiated the most recent stop sequence. Int
Options: 0= “Pwr Removed”
1-5= “DPI Port 1-5”
6= “Reserved”
7= “Digital In”
8= “Fault”
9= “Not Enabled”
10 = “Reserved”
11 = “Jog”
12 = “Selftune”
13 = “Reserved”

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1403 [Start Inhibits]
Displays the inputs currently preventing the drive from starting. For each bit, 1=Inhibit condition true and 0=Inhibit condition false.

Type 2 Alarm
Options

Stop Assertd
Startup Actv
Diagnostics

DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1
Reserved
Reserved

Reserved

Reserved

Reserved
Digital In

Enable

Fault
Default x x x 0 0 0 0 0 x 0 0 1 x 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

263 [Clear Fault Que] Default: 0= “Ready” 16-bit

Allows you to clear the fault queue. See Chapter 4 Troubleshooting on page 219 for Int
Options: 0= “Ready”
information on clearing the fault queue. 1= “Clr Flt Que”
1347 [Fault Clear] Default: 0= “Ready” 16-bit
Allows you to reset drive faults and/or clear the fault queue. Int
Options: 0= “Ready”
1= “Clear Faults”
2= “Clr Flt Que”
1348 [Fault Clr Mode] Default: 1= “Enabled” 16-bit
Enables/Disables a fault reset (clear faults) attempt from any source. This does not Int
Options: 0= “Disabled”
apply to fault codes which are cleared indirectly via other actions. 1= “Enabled”
1349 [Status1 at Fault] 381
Captures and displays Par 381 [Drive Status 1] bit pattern at the time of the last fault. 0=Condition False, 1=Condition True.

Command Dir
Options
Decelerating
Accelerating
Spd Ref ID 3
Spd Ref ID 2
Spd Ref ID 1
Spd Ref ID 0

Actual Dir
Local ID 2
Local ID 1
Local ID 0
At Speed
UTILITY

Faulted

Ready
Active
Alarm

Default 0 0 0 0 1 1 1 0 1 0 0 0 1 1 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Faults

1350 [Status2 at Fault] 382

Captures and displays Par 382 [Drive Status 2] bit pattern at the time of the last fault. 0=Condition False, 1=Condition True.
Auto Tuning

Options
Curr Limit
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Stopping

Running
Jogging

Ready
Active

Default x x x x x x x x x 0 0 0 1 1 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1351 [Fault 1 Code] Default: Read Only 16-bit

1352 [Fault 2 Code] Int
1353 [Fault 3 Code] Min/Max: 0 / 32768
1354 [Fault 4 Code]
1355 [Fault 5 Code]
1356 [Fault 6 Code]
1357 [Fault 7 Code]
1358 [Fault 8 Code]
1359 [Fault 9 Code]
1360 [Fault 10 Code]
A code that represents the fault that tripped the drive. The codes will appear in
A these parameters in the order they occur (i.e., [Fault 1 Code] = the most recent
fault). See Fault Descriptions on page 222 for a list of possible codes.
Note: Par 1351 [Fault 1 Code] is accessible via the Basic Parameter view.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1361 [Fault 1 Time] Default: Read Only Real
1362 [Fault 2 Time]
1363 [Fault 3 Time] Min/Max: 0.000 / 134000000.000
1364 [Fault 4 Time] Units: hr.
1365 [Fault 5 Time]
1366 [Fault 6 Time]
1367 [Fault 7 Time]
1368 [Fault 8 Time]
1369 [Fault 9 Time]
1370 [Fault 10 Time]
The time between initial drive power up and the occurrence of the associated trip
A fault.
1371 [Fault Arm Amps] Default: Read Only 16-bit
Faults

Captures and displays the armature current (as a percentage of rated current) at Int
Min/Max: –/+200
the time of the last fault. Units: %
1372 [Fault Speed] Default: Read Only 16-bit
Captures and displays the output speed (rpm) of the drive at the time of the last Int
Min/Max: – / +8192
fault. Units: rpm
1373 [Fault Field Amps] Default: Read Only Real
Captures and displays the field current (as a percentage of rated current) at the
Min/Max: 0.00 / 100.00
time of the last fault. Units: %
1374 [Fault Voltage] Default: Read Only Real
Captures and displays the armature voltage at the time of the last fault.
Min/Max: - / + 999.00
Units: Vdc
203 [OverVolt Flt Cfg] Default: 2= “Fault” 16-bit
Determines the response of the drive to an overvoltage condition (F5 “Arm Int
Options: 0= “Ignore”
Overvoltage”). 1= “Alarm”
Note: See Chapter 4 for a list of alarm and fault descriptions. 2= “Fault”
A
UTILITY

ATTENTION: Setting this parameter to 0 “Ignore” or 1 “Alarm”, could result in motor and/or equipment damage. If
set to “Ignore” or “Alarm”, it is strongly recommended that an external means of protecting against this condition be
provided.

354 [Aux Inp Flt Cfg] Default: 2= “Fault” 16-bit

Determines the response of the drive to an external fault condition (F2 “Auxiliary Int
Options: 1= “Alarm”
Input”), i.e., no voltage at the digital input terminal assigned to [Digital Inx Sel] 2= “Fault”
with a value of 14 “Aux Fault”. 3= “Fast Stop”
A Notes: See Chapter 4 for a list of alarm and fault descriptions. Option 3 was 4= “Normal Stop”
changed from “Quick Stop” to “Fast Stop” for firmware revision 2.001. 5= “CurrLim Stop”
Alarms

ATTENTION: Setting this parameter to 1 “Alarm”, could result in motor and/or equipment damage. If set to “Alarm”, it
is strongly recommended that an external means of protecting against this condition be provided.

365 [OverTemp Flt Cfg] Default: 2= “Fault” 16-bit

Determines the response of the drive to a motor over temperature condition (F16 Int
Options: 0= “Ignore”
“Motor Over Temp”). 1= “Alarm”
Notes: See Chapter 4 for a list of alarm and fault descriptions. Option 3 was 2= “Fault”
A changed from “Quick Stop” for firmware revision 2.001. 3= “Fast Stop”
4= “Normal Stop”
5= “CurrLim Stop”

ATTENTION: Setting this parameter to 0 “Ignore” or 1 “Alarm”, could result in motor and/or equipment damage. If
set to “Ignore” or “Alarm”, it is strongly recommended that an external means of protecting against this condition be
provided.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

409 [SSC Threshold] Default: 50 16-bit
Specifies the amount of time invalid fiber communication packets can be received Int
A Min/Max: 0 / 250
before a fault is generated (2 ms per packet). Units: ms
Note: This parameter was added for firmware revision 7.001.
470 [UnderVlt Flt Dly] Default: 10 16-bit
Configures the length of time that an AC Line undervoltage condition can persist Int
A Min/Max: 0 / 100
before an AC undervoltage fault (F4) is activated. The condition must persist for Units: ms
the entire delay time or the delay timer is reset.
Note: This parameter was added for firmware revision 6.001.

ATTENTION: Setting this value incorrectly for the application could result in damage to the drive SCR(s) and or fuses.

473 [FldLoss Flt Cfg] Default: 2= “Fault” 16-bit 497

Determines the response of the drive to a field loss condition (F6 “Fld Current Int
Options: 0= “Ignore”
Loss”). If Par 497 [Field Reg Enable] is set to 0 “Disabled”, set this parameter to 1= “Alarm”
0 “Ignore”. 2= “Fault”
A Note: See Chapter 4 for a list of alarm and fault descriptions.

ATTENTION: Setting this parameter to 0 “Ignore” or 1 “Alarm”, could result in motor and/or equipment damage. If set
to “Ignore” or “Alarm”, it is strongly recommended that an external means of protecting against this condition be
provided.

475 [FldLoss Flt Dly] Default: 500 16-bit 468

Configures the length of time that the measured field current feedback can be less Int
A Min/Max: 0 / 5000
than one half of Par 468 [Min Fld Curr Pct] before a field loss condition (fault or
UTILITY

Units: ms
Alarms

alarm) is activated. The condition must persist for the entire delay time or the
delay timer is reset. Note that this parameter is not used when armature voltage
speed feedback is configured. Note: This parameter was added for firmware
revision 6.001.
478 [Spd Loss Flt Cfg] Default: 2= “Fault” 16-bit 458
Determines the response of the drive to a speed feedback loss condition. Int
Options: 1= “Alarm”
Note: See Chapter 4 for a list of fault and alarm descriptions. 2= “Fault”
A
ATTENTION: Par 478 [Spd Loss Flt Cfg] must be set to 1 “Fault” if Par 458 [SpdReg FB Bypass] is set to 0 “Disabled”.
Failure to observe this precaution could result in high motor speeds, equipment damage, and/or bodily injury if a
“Spd Fdbk Loss” alarm condition were encountered.

479 [MtrOvrld Flt Cfg] Default: 2= “Fault” 16-bit 376,

Determines the response of the drive to a motor overload condition (F7 “Motor Int 1290
Options: 0= “Ignore”
Overload”). 1= “Alarm”
Notes: See Chapter 4 for a list of fault and alarm descriptions. This parameter was 2= “Fault”
A added for firmware revision 3.001.

ATTENTION: Setting Par 479 [MtrOvrld Flt Cfg] to 0 “Ignore” or 1 “Alarm”, could result in motor and/or equipment
damage. Verify that the motor is properly sized for the application and that a separate device is installed that
monitors for and signals a motor overload condition.

481 [UnderVolt Thresh] Default: 230 16-bit

The AC input voltage level below which an undervoltage fault (F4 “AC Int
A Min/Max: 0 / 1000
Undervoltage”) will be detected. A typical value is 85% of the nominal AC line Units: Vac
voltage (Par 466 [AC Line Voltage]). This fault can only occur while the drive is
running.
Note: See Chapter 4 for a list of fault descriptions.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

584 [OverCurrent Thr] Default: 175 16-bit
Value at which an overcurrent condition (F13 “Overcurrent”) will be detected. Int
A Min/Max: 0 / 250
Note: See Chapter 4 for a list of fault descriptions. Units: %
585 [Overspeed Val] Default: 1925 16-bit 162
Speed value (rpm) at which an “Overspeed” fault (F25) will occur. Int
Min/Max: 0 / 7800
Notes: Typically set at 110% of Par 162 [Max Feedback Spd]. See Chapter 4 for a list Units: rpm
of fault and alarm descriptions. This parameter was added for firmware revision
A 3.001.

ATTENTION: Verify that you have correctly set this parameter appropriately for your application. Incorrectly setting
this parameter may cause a hazard of personal injury and/or equipment damage.

1380 [Drive Alarm 1] 16-bit 1322

Alarm conditions that currently exist in the drive. For each bit, 1 = condition true, and 0 = condition false. Int
Bit 0“DigInCflctA” - Digital input functions are in conflict.
Bit 1“DigInCflctB” - A digital Start input has been configured without a Stop input or other functions are in conflict.
Bit 2“DigInCflctC” - More than one physical input has been configured for the same input function.
Bit 3“BipolarCflct” - Parameter 1322 [Direction Mode] is set to “Bipolar” or “Reverse Dis” and one or more of the following digital input
functions is configured: “Fwd/Reverse,” “Run Forward,” “Run Reverse,” “Jog Forward” or “Jog Reverse.”
Bit 4“Ref Cflct” - Multiple speed or position references are configured.
UTILITY
Alarms

Bit 5“CntactrCflct” - Contactor input functions are in conflict.

Bit 6“FB Cfg Cflct” - A speed feedback configuration error has occurred or is being provided by multiple sources.
Bit 7“Overvoltage” - There is an overvoltage on the armature circuit.
Bit 8“Over Temp” - The motor has exceeded its temperature rating [as signaled by the thermistor (PTC) or thermal switch connected to the
drive terminals 78 and 79].
Bit 9“Aux Input” - An auxiliary input interlock is open or a voltage (15…30 V) or reference signal is missing for the digital input set to 14 “Aux
Fault” (only updates if Par 354 [Aux Inp Flt Cfg] is set to 1 “Alarm”).
Bit 10“Field Loss” - The field current is too low.
Bit 11“SpdFdbk Loss” - The drive is not receiving a speed feedback signal.
Bit 12“PwrUp Start” - Indicates that the drive is starting or has automatically resumed running at commanded speed after drive input power
was restored.
Bit 13“Mtr Overload” - Indicates when the Motor Overload alarm level has been reached.
Bit 14“FldCfg Cflct” - Indicates a field configuration conflict.
Bit 15“Spd Fdbk Err” - Indicates an encoder or resolver error.
Notes: See Chapter 4 -Troubleshooting on page 219 for more information on faults/alarms. The name of bit 11 was changed from “Encoder
Loss” and bits 13 and 14 were added for firmware revision 3.001. The name of bit 4 “AnalogCflct”, bit 6 “Encoder Cflct”, and bit 11 “Feedback
Loss” were changed and bit 15 was added for firmware revision 5.002.
SpdFdbk Loss
Mtr Overload

Options
Spd Fdbk Err

PwrUp Start

Overvoltage

CntactrCflct

BipolarCflct
FldCfg Cflct

FB Cfg Cflct

DigInCflctA
DigInCflctB
DigInCflctC
Over Temp
Aux Input
Field Loss

Ref Cflct

Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

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Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1394 [Drive Alarm 2] 16-bit
Alarm conditions that currently exist in the drive. For each bit, 1 = condition true, and 0 = condition false. Int
Bit 0“BrakeSlipped” - The torque prove function encountered a brake slip condition.
Bit 1“TrqProvCflct” - The torque prove function is not properly configured.
Bit 2“TP Encls Cfg” - The torque prove function encountered an encoderless configuration conflict.
Bit 3“OpenSCR Trip” - An open SCR trip level has been reached.
Notes: See Chapter 4 -Troubleshooting on page 219 for more information on faults/alarms. This parameter was added for firmware revision
Alarms

6.001.

OpenSCR Trip

BrakeSlipped
Options

TrqProvCflct
TP Encls Cfg
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Default x x x x x x x x x x x x 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
UTILITY

50 [UsrDsplyMult0] Default: 1 32-bit

Numerator in the calculation for user-defined, drive speed display units. Int
Min/Max: 1 / 1073741823
Note: This parameter is not used.
A
51 [UsrDsplyDiv0] Default: 1 32-bit
Denominator in the calculation for user-defined, drive speed display units. Int
Min/Max: 1 / 1073741823
User Defined

Note: This parameter is not used.

A
53 [UsrValMult1] Default: 1 16-bit
Numerator in the calculation for scaling the user-defined, drive speed display Int
A Min/Max: 1 / 32767
units.
Note: This parameter is not used.
54 [UsrValDiv1] Default: 1 16-bit
Denominator in the calculation for scaling the user-defined, drive speed display Int
A Min/Max: 1 / 32767
units.
Note: This parameter is not used.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

503 [UserDefined0] Default: 0 16-bit
504 [UserDefined1] Int
505 [UserDefined2] Min/Max: –32768/+32767
506 [UserDefined3]
507 [UserDefined4]
508 [UserDefined5]
509 [UserDefined6]
510 [UserDefined7]
511 [UserDefined8]
512 [UserDefined9]
513 [UserDefined10]
514 [UserDefined11]
515 [UserDefined12]
516 [UserDefined13]
517 [UserDefined14]
518 [UserDefined15]
General use signed 16 bit variables used for data exchange.
A Note: Pars 503…506 can be assigned to analog inputs. The values of Pars 503,
504, and 507…509 can be assigned to an analog output.
519 [UsrDefBitWrdA] Default: 0 16-bit 520 -
A bitmap of Pars 520 [UsrDefBitWrdA0] through 535 [UsrDefBitWrdA15]. With a Int 535
A Min/Max: 0 / 65535
parameter it is possible to read or write all of the bits inside a word.
Example:
[UsrDefBitWrdA0] 0
[UsrDefBitWrdA1] 1 = 21 =2
[UsrDefBitWrdA2] 0
[UsrDefBitWrdA3] 0
User Defined
UTILITY

[UsrDefBitWrdA4] 0
[UsrDefBitWrdA5] 1 = 25 = 32
[UsrDefBitWrdA6] 1 = 26 = 64
[UsrDefBitWrdA7] 0
[UsrDefBitWrdA8] 0
[UsrDefBitWrdA9] 0
[UsrDefBitWrdA10] 1 = 210 = 1024
[UsrDefBitWrdA11] 0
[UsrDefBitWrdA12] 1 = 212 = 4096
[UsrDefBitWrdA13] 0
[UsrDefBitWrdA14] 0
[UsrDefBitWrdA15] 0
[UsrDefBitWrdA] = 2 + 32 + 64 + 1024 + 4096 = 5218

Notes: The value of digital inputs 1…12 can be written to any of bits 0…7
([UsrDefBitWrdA0]…[UsrDefBitWrdA7]) of this parameter. For example, to assign
digital input 1 to bit 0 of this parameter, select option 37 “UsrDefined0” in
parameter 133 [Digital In1 Sel].

The value of bits 0…7 of this parameter can be written to digital outputs 1…8,
sequentially. In other words, when parameters 145 [Digital Out1 Sel]…152
[Digital Out8 Sel] are assigned option 11 “UserDefinedA”, bit 0 of this parameter is
written to digital output 1, bit 1 is written to digital output 2, bit 2 is written to
digital output 3, etc.

Bits 14 and 15 of this parameter are written to relay outputs 1 and 2, respectively,
when parameters 1392 [Relay Out 1 Sel] and 629 [Relay Out 2 Sel] are assigned
option 11 “UserDefinedA”.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

520 [UsrDefBitWrdA0] Default: 0 16-bit 519
521 [UsrDefBitWrdA1] Int
522 [UsrDefBitWrdA2] Min/Max: 0/1
523 [UsrDefBitWrdA3]
524 [UsrDefBitWrdA4]
525 [UsrDefBitWrdA5]
526 [UsrDefBitWrdA6]
527 [UsrDefBitWrdA7]
528 [UsrDefBitWrdA8]
529 [UsrDefBitWrdA9]
530 [UsrDefBitWrdA10]
531 [UsrDefBitWrdA11]
532 [UsrDefBitWrdA12]
533 [UsrDefBitWrdA13]
534 [UsrDefBitWrdA14]
535 [UsrDefBitWrdA15]
Bit variables. The individual “User Defined” bits can be read or written to. It is
A possible to process a word with Par 519 [UsrDefBitWrdA] (see example).
Note: You can read bits 0…7 of a digital input with Par 519 [UsrDefBitWrdA] and
write all of the bits associated with [UsrDefBitWrdA] to a digital output.
536 [UsrDefBitWrdB] Default: 0 16-bit 537 -
A bitmap of Pars 537 [UsrDefBitWrdB0] through 552 [UsrDefBitWrdB15]. With a Int 552
A Min/Max: 0 / 65535
parameter it is possible to read or write all of the bits inside a word.
Example:
[UsrDefBitWrdB0] 0
User Defined

1 = 21 =2
UTILITY

[UsrDefBitWrdB1]
[UsrDefBitWrdB2] 0
[UsrDefBitWrdB3] 0
[UsrDefBitWrdB4] 0
[UsrDefBitWrdB5] 1 = 25 = 32
[UsrDefBitWrdB6] 1 = 26 = 64
[UsrDefBitWrdB7] 0
[UsrDefBitWrdB8] 0
[UsrDefBitWrdB9] 0
[UsrDefBitWrdB10] 1 = 210 = 1024
[UsrDefBitWrdB11] 0
[UsrDefBitWrdB12] 1 = 212 = 4096
[UsrDefBitWrdB13] 0
[UsrDefBitWrdB14] 0
[UsrDefBitWrdB15] 0
[UsrDefBitWrdB] = 2 + 32 + 64 + 1024 + 4096 = 5218

Notes: The value of bits 0…7 of this parameter can be written to digital outputs
1…8, sequentially. In other words, when parameters 145 [Digital Out1
Sel]…152 [Digital Out8 Sel] are assigned option 12 “UserDefinedB”, bit 0 of this
parameter is written to digital output 1, bit 1 is written to digital output 2, bit 2 is
written to digital output 3, etc.

Bits 14 and 15 of this parameter are written to relay outputs 1 and 2, respectively,
when parameters 1392 [Relay Out 1 Sel] and 629 [Relay Out 2 Sel] are assigned
option 12 “UserDefinedB”

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

537 [UsrDefBitWrdB0] Default: 0 16-bit 536
538 [UsrDefBitWrdB1] Int
539 [UsrDefBitWrdB2] Min/Max: 0/1
540 [UsrDefBitWrdB3]
541 [UsrDefBitWrdB4]
542 [UsrDefBitWrdB5]
543 [UsrDefBitWrdB6]
544 [UsrDefBitWrdB7]
545 [UsrDefBitWrdB8]
User Defined

546 [UsrDefBitWrdB9]
UTILITY

547 [UsrDefBitWrdB10]
548 [UsrDefBitWrdB11]
549 [UsrDefBitWrdB12]
550 [UsrDefBitWrdB13]
551 [UsrDefBitWrdB14]
552 [UsrDefBitWrdB15]
Bit variables. The individual “User Defined” bits can be read or written to. It is
A possible to process a word with Par 536 [UsrDefBitWrdB]. See the example in Par
536 [UsrDefBitWrdB].
Note: You can read bits 0…7 of a digital input with Par 536 [UsrDefBitWrdB] and
write all of the bits associated with [UsrDefBitWrdB] to a digital output.

Communications File

Data Type

Related
Group

Parameter Name & Description

File

No.

See page 117 for symbol descriptions Values

589 [DPI Baud Rate] Default: Read Only 16-bit
Shows the data transfer rate for attached drive peripherals. Int
Min/Max: 1/1
“1” - 500 kbps
590 [DPI Port Sel] Default: 1 “DPI Port 1” 16-bit 1343
Selects which DPI port reference value (unscaled) will appear in Par 1343 Int
Options: 1= “DPI Port 1”
[DPI Port Value]. 2= “DPI Port 2”
Comm Control

3= “DPI Port 3”
4= “DPI Port 4”
5= “DPI Port 5”
1321 [DPI Fdbk Select] Default: 0= “Speed” 16-bit
Selects the feedback variable and DPI units displayed on the feedback line Int
Options: 0= “Speed”
of the HIM. 1= “Current”
COMMUNICATIONS

• 0 “Speed” = Speed feedback units are in rpm

• 1 “Current” = Current feedback units are in percent (%)
1343 [DPI Port Value] Default: Read Only 16-bit 590
Unscaled value of the DPI reference selected in Par 590 [DPI Port Sel]. Int
Min/Max: –/+32767
591 [Logic Mask]
Determines which ports can control the drive. If the bit for a port is set to “0,” the port will have no control functions except for stop. 0 = Control
Masked, 1 = Control Permitted, x = Reserved.
DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1

Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Digital In
Masks & Owners

Default x x x x x x x x x x 1 1 1 1 1 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

592 [Start Mask] See [Logic Mask]

Controls which adapters can issue start commands.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

593 [Jog Mask] See [Logic Mask]
Controls which adapters can issue jog commands.

594 [Direction Mask] See [Logic Mask]

Controls which adapters can issue forward/reverse direction commands.

595 [Reference Mask] See [Logic Mask]

Controls which adapters can select a manual reference.

596 [Accel Mask] See [Logic Mask] 24,

Controls which adapters can select the acceleration ramp rates (Pars 660 660
[Accel Time 1] and 24 [Accel Time 2]) of the drive.
597 [Fault Clr Mask] See [Logic Mask]
Controls which adapters can clear a fault.

598 [MOP Mask] See [Logic Mask]

Controls which adapters can issue MOP commands to the drive.

599 [Local Mask] See [Logic Mask]

Controls which adapters are allowed to take exclusive control of drive logic
commands (except stop). Exclusive “local” control can only be taken while
the drive is stopped.
600 [Stop Owner]
The adapters that are presently issuing a valid stop command. 0 = No Command, 1 = Issuing Command, x = Reserved.
COMMUNICATIONS

DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Digital In
Masks & Owners

Default x x x x x x x x x x 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

601 [Start Owner] See [Stop Owner]

The adapters that are presently issuing a valid start command.
602 [Jog Owner] See [Stop Owner]
The adapters that are presently issuing a valid jog command.
603 [Direction Owner] See [Stop Owner]
The adapter that currently has exclusive control of direction changes.
604 [Reference Owner] See [Stop Owner]
The adapter that has the exclusive control of the reference source selection.
605 [Accel Owner] See [Stop Owner] 24,
The adapter that has exclusive control of the acceleration ramp rate (Pars 660
660 [Accel Time 1] and 24 [Accel Time 2]) for the drive.
606 [Fault Clr Owner] See [Stop Owner]
Adapter that is presently clearing a fault.
607 [MOP Owner] See [Stop Owner]
Adapters that are currently issuing increases or decreases in MOP
referenced.
608 [Local Owner] See [Stop Owner]
Adapter that has requested exclusive control of all drive logic functions. If an
adapter is in local lockout, all other functions (except stop) on all other
adapters are locked out and non–functional. Local control can only be
obtained when the drive is not running.
609 [Decel Owner] See [Stop Owner] 32,
The adapter that has exclusive control of the deceleration ramp rate (Pars 662
662 [Decel Time 1] and 32 [Decel Time 2]) for the drive.

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Data Type

Related
Masks & Owners Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

631 [Decel Mask] See [Logic Mask] 32,
Controls which adapters can select the deceleration ramp rate (Pars 662 662
[Decel Time 1] and 32 [Decel Time 2]) of the drive.

610 [Data In A1] – Link A Word 1 Default: 0 (0 = “Disabled”) 16-bit

611 [Data In A2] – Link A Word 2 Int
Parameter number whose value will be written from a communications Min/Max: 0 / 1410
device data table. The number will not be updated until the drive is
stopped.
See your communications option manual for datalink information.
612 [Data In B1] – Link B Word 1 See [Data In A1] – Link A Word 1. 16-bit
613 [Data In B2] – Link B Word 2 Int

614 [Data In C1] – Link C Word 1 See [Data In A1] – Link A Word 1. 16-bit
615 [Data In C2] – Link C Word 2 Int

616 [Data In D1] – Link D Word 1 See [Data In A1] – Link A Word 1. 16-bit
617 [Data In D2] – Link D Word 2 Int
DataLinks

618 [Data Out A1] – Link A Word 1 Default: 0 (0 = “Disabled”) 16-bit

619 [Data Out A2] – Link A Word 2 Int
Parameter number whose value will be written to a communications device Min/Max: 0 / 1410
data table.
COMMUNICATIONS

620 [Data Out B1] – Link B Word 1 See [Data Out A1] – Link A Word 1. 16-bit
621 [Data Out B2] – Link B Word 2 Int
622 [Data Out C1] – Link C Word 1 See [Data Out A1] – Link A Word 1. 16-bit
623 [Data Out C2] – Link C Word 2 Int
624 [Data Out D1] – Link D Word 1 See [Data Out A1] – Link A Word 1. 16-bit
625 [Data Out D2] – Link D Word 2 Int
1319 [Data In Val Sel] Default: 610 16-bit 1320
Selects the Datalink parameter register to display in Par 1320 [Data In Sel Int
Min/Max: 610 / 617
Data].
1320 [Data In SelData] Default: Read Only 32-bit 1319
Displays the value selected in Par 1319 [Data In Val Sel]. Int
Min/Max: 0 / 231
591 [Logic Mask]
Determines which ports can control the drive. If the bit for a port is set to “0,” the port will have no control functions except for stop. 0 = Control
Masked, 1 = Control Permitted, x = Reserved.
DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1

Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Digital In

Default x x x x x x x x x x 1 1 1 1 1 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Security

1376 [Logic Mask Act] Read Only 591

Indicates the status of the logic mask for the DPI ports. When bit 15 is set, network security is
A controlling the logic mask instead of Par 591 [Logic Mask]. 0 = Control Masked, 1 = Control
Permitted, x = Reserved.
DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1

Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Digital In
Security

Default 0 x x x x x x x x x 1 1 1 1 1 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

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Data Type

Related
Group
Parameter Name & Description
File

No.See page 117 for symbol descriptions Values

1377 [Write Mask Act] Read Only 1378
The status of write access for the DPI ports. When bit 15 is set, network security is controlling
A the write mask instead of Par 1378 [Write Mask Cfg]. 0 = Read Only, 1 = Write Permitted, x =
Reserved.

DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1
Options

Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Reserved
Security

Default 0 x x x x x x x x x 1 1 1 1 1 x
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1378 [Write Mask Cfg] 1377

Enables/Disables parameter write access for the DPI ports. Masking of the Port that is writing to this parameter is prohibited. Changes to this
COMMUNICATIONS

parameter only become effective after power is cycled, the drive is reset, or bit 15 of [Write Mask Actv] transitions from “1” to “0”.
0 = Read Only, 1 = Write Permitted, x = Reserved.
A
Security

DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Reserved
Default x x x x x x x x x x 1 1 1 1 1 x
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

1379 [Port Mask Act] Read Only

Bits 0…5 indicate status for DPI port communication. Bit 15 indicates when security software is
A controlling the parameter. 0 = Not Active, 1 - Active, x - Reserved.
DPI Port 5
DPI Port 4
DPI Port 3
DPI Port 2
DPI Port 1
Options
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved

Digital In
Security

Default 0 x x x x x x x x x 1 1 1 1 1 1
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

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Input / Output File

Data Type

Related
Group

Parameter Name & Description

File

No.
See page 117 for symbol descriptions Values
70 [Anlg In1 Sel] Default: 1= “Speed Ref A” 16-bit
75 [Anlg In2 Sel] Default: 0= “Off” Int
80 [Anlg In3 Sel] Default: 0= “Off”
Selects the parameter to which a value will be written from the analog
input.
Note: See Analog Input Configuration on page 292 for more information.
Options:

0= “Off” (No signal) 9= “Neg Cur Lim” (Par 9) 18 = “PI CentralV3” (Par 778)
1= “Speed Ref A” (Par 44) 10 = “Jog Ref” (Par 266) 19 = “PID Feedback” (Par 763)
2= “Speed Ref B” (Par 48) 11 = “Adaptive Ref” (Par 183) 20 = “Fld Cur Max” (Par 467) (1)
3= “Trim Ramp” (Par 42) 12 = “UserDefined0” (Par 503) 21 = “OutVoltLevel” (Par 921)
4= “Trim Speed” (Par 43) 13 = “UserDefined1” (Par 504) 22 = “Speed Ratio” (Par 1017)
5= “Torque Ref” (Par 39) 14 = “UserDefined2” (Par 505) 23 = “Tension Red” (Par 1179)
6= “Trim Torque” (Par 40) 15 = “UserDefined3” (Par 506) 24 = “Tension Ref” (Par 1180)
7= “TB Man Ref” (Par 267) 16 = “Load Comp” (Par 698) 25 = “Diam Preset3” (Par 1167)
8= “Pos Cur Lim” (Par 8) 17 = ‘PID Setpt 0” (Par 760) 26 = “FC Fdbk” (2)
(1) Not used for permanent magnet motor applications.
(2) For use with PowerFlex DC Field Controller only.

71 [Anlg In1 Config] Default: 0= “+/–10V” 16-bit 1322

76 [Anlg In2 Config] Int
81 [Anlg In3 Config] Options: 0= “+/–10V”
INPUT / OUTPUT

1= “0-10V”
Analog Inputs

Selects the signal input (voltage or current) mode for the analog input.
2= “0 - 20mA”
Configure switches S9, S10, and S11 on the control board according to the 3= “4 to 20mA”
input signal used. The inputs of the drive are factory set for voltage signals.
See DIP Switch and Jumper Settings on page 77 for information on switch
configuration.
• “+/–10V” = A maximum voltage of ±10V is connected to the analog
input. If the signal is used as a reference value, a polarity reversal can be
used to reverse the rotation direction of the drive (four quadrant only)
when Par 1322 [Direction Mode] = 1 “Bipolar”. Two quadrant drives
accept only positive references as the speed reference. Negative
references are not accepted and the drive will run at zero speed.
• “0-10V” = A maximum voltage of 10V is connected to the analog input.
For reference values, only positive references are allowed.
• “0 - 20mA” = A maximum current signal of 0 – 20 mA is connected to the
analog input. The signal must be positive.
• “4 to 20mA” = A current signal of 4 – 20 mA is connected to the analog
input. The signal must be positive.
Note: See Analog Input Configuration on page 292 for more information.
72 [Anlg In1 Scale] Default: 1.00 Real
77 [Anlg In2 Scale]
82 [Anlg In3 Scale] Min/Max: –/+10.00
Scales the value in the corresponding [Anlg Inx Sel] parameter.
A Note: See Analog Input Configuration on page 292 for more information.
73 [Anlg1 Tune Scale] Default: 1.00 Real
78 [Anlg2 Tune Scale]
83 [Anlg3 Tune Scale] Min/Max: 0.10 / 10.00
Fine tuning of the analog input when the maximum signal does not
A correspond exactly to the rated value. Scales according to the following
equation:
[Anlg Inx Sel] – [Anlg Inx Offset] x [Anlg Inx Scale] x [Ainx Tune Scale]
Note: See Analog Input Configuration on page 292 for more information.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

74 [Anlg In1 Offset] Default: 0 16-bit
79 [Anlg In2 Offset] Int
84 [Anlg In3 Offset] Min/Max: –32768/+32767
Offset value for the analog inputs. If the input has an offset or if the variable
A assigned to the input already has a value although there is no input signal
present, this can be compensated for via the value in this parameter.
259 [Anlg In1 Tune] Default: 0= “Ready” 16-bit
260 [Anlg In2 Tune] Int
261 [Anlg In3 Tune] Options: 0= “Ready”
Automatic fine tuning of the analog inputs. If this command is given, 1= “Tune”
A parameter [Ainx Tune Scale] is automatically selected so that the input
signal present, normally full scale, corresponds to the maximum variable
value, such as the value of Par 45 [Max Ref Speed]. Two conditions are
necessary for automatic fine tuning:
• An input voltage greater than 1V or an input current greater than 2 mA.
• Positive polarity. The value found is automatically set for the opposite
direction for four quadrant drives.
Note: The automatically calculated value can, if necessary, be modified
manually via parameter [Ainx Tune Scale]. When using analog input tuning,
Pars [Analog Inx Scale] are normally set to 1.0.
295 [Anlg In1 Target] Default: 0= “Assigned” 16-bit
296 [Anlg In2 Target] Int
297 [Anlg In3 Target] Options: 0= “Assigned”
Enables sampling for the analog inputs. 1= “Not Assigned”
792 [Anlg In1 Filter] Default: 0 16-bit
Analog input 1 filter.
INPUT / OUTPUT

Min/Max: 0 / 1000 Int

Analog Inputs

A Units: ms
801 [Anlg In2 Filter] Default: 0 16-bit
Analog input 2 filter. Int
A Min/Max: 0 / 1000
Note: This parameter was added for firmware revision 4.001. Units: ms
802 [Anlg In3 Filter] Default: 0 16-bit
Analog input 3 filter. Int
A Min/Max: 0 / 1000
Note: This parameter was added for firmware revision 4.001. Units: ms
1042 [Anlg In1 Cmp] Default: 0 16-bit 1043,
Defines a reference point for the signal of analog input 1 around which a Int 1044,
Min/Max: – / +10000
comparison range can be set (via Par 1043 [Anlg In1 Cmp Err]) and 1045
monitored.
[Anlg In1 Cmp] = (comparison value) x 10000 / (max. reference value),
where the values of “comparison” and “max. reference” are determined by
the min/max of the related parameter selected via Par 70 [Anlg In1 Sel].
Note: See Analog-input Signal Comparison on page 293 for more
information.
1043 [Anlg In1 Cmp Err] Default: 0 16-bit 1042,
Defines a value above and below the value set in parameter 1042 [Anlg In1 Int 1044,
Min/Max: 0 / 10000
Cmp] at which Par 1045 [Anlg In1 Cmp Eq] will transition. 1045
[Anlg In1 Cmp Err] = (tolerance value) x 10000 / (max. reference value),
where the values of “tolerance” and “max. reference” are determined by the
min/max of the parameter selected via Par 70 [Anlg In1 Sel].
Note: See Analog-input Signal Comparison on page 293 for more
information.
1044 [Anlg In1 Cmp Dly] Default: 0 16-bit 1042,
Amount of time that must elapse, after the value in Par 1043 [Anlg In1 Cmp Int 1043,
Min/Max: 0 / 65000
Err] has been reached, before Par 1045 [Anlg In1 Cmp Eq] transitions. Units: ms 1045

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1045 [Anlg In1 Cmp Eq] Default: Read Only 16-bit 1042,
Provides an indication, after the amount of time specified in Par 1044 [Anlg Int 1043,
Min/Max: 0/1
In1 Cmp Dly] has elapsed, when the value set in parameter 1043 [Anlg In1 1044
Cmp Err] has been reached.
• “0” = The value of analog input 1 is above or below the value set in Par
1043 [Anlg In1 Cmp Err].
• “1” = The value of analog input 1 is within the range set in Par 1043
[Anlg In1 Cmp Err].
Notes: This parameter can be assigned to a digital output. See Analog-input
Analog Inputs

Signal Comparison on page 293 for more information.

1404 [Analog In1 Value] Default: Read Only Real 71
INPUT / OUTPUT

Value of the signal at analog input 1. Units based on the value set in Par 71
Min/Max: -/+20.00
[Anlg In1 Config]. Units: V or mA
1405 [Analog In2 Value] Default: Read Only Real 76
Value of the signal at analog input 2. Units based on the value set in Par 76
Min/Max: -/+20.00
[Anlg In2 Config]. Units: V or mA
1406 [Analog In3 Value] Default: Read Only Real 81
Value of the signal at analog input 3. Units based on the value set in Par 81
Min/Max: -/+20.00
[Anlg In3 Config]. Units: V or mA
Analog Outputs

62 [Anlg Out1 Scale] Default: 1.00 Real

63 [Anlg Out2 Scale]
64 [Anlg Out3 Scale] Min/Max: –/ +10.00
65 [Anlg Out4 Scale]
Scaling of the analog outputs.

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

66 [Anlg Out1 Sel] Default: 12 = “Motor Speed” 16-bit
67 [Anlg Out2 Sel] Default: 13 = “Motor Curr” Int
68 [Anlg Out3 Sel]* Default: 18 = “Fld Current”
69 [Anlg Out4 Sel]* Default: 14 = “Motor Volts”
Selects the source of the value that drives the analog output.
*This parameter is used to configure an analog output on the
I/O Expansion circuit board. See Appendix F - Optional Analog and Digital I/O
Expansion Circuit Board.
Notes: Option 9 “Torque Ref” was changed to “Sel Torq Ref” for firmware
revision 6.001. Option 24 “Field Ref” was changed and 36 “Fld Cur Ref” was
added for firmware revision 7.001.
Options:

No. Option (Par) Scaling of Analog Output Value No. Option (Par) Scaling of Analog Output Value
0= “Off” (Not used) n/a 19 = “UserDefined0” (Par 503) ±10V = ±2047 in Par 503 [UserDefined0]
1= “Spd Ref Out” (Par 385) ±10V = ±100% of Par 45 [Max Ref Speed] 20 = “UserDefined1” (Par 504) ±10V = ±2047 in Par 504 [UserDefined1]
2= “Trim Ramp” (Par 42) ±10V = ±100% of Par 45 [Max Ref Speed] 21 = “UserDefined4” (Par 507) ±10V = ±2047 in Par 507 [UserDefined4]
3= “Ramp In” (Par 110) ±10V = ±100% of Par 45 [Max Ref Speed] 22 = “UserDefined5” (Par 508) ±10V = ±2047 in Par 508 [UserDefined5]
4= “Ramp Out” (Par 113) ±10V = ±100% of Par 45 [Max Ref Speed] 23 = “UserDefined6” (Par 509) ±10V = ±2047 in Par 509 [UserDefined6]
INPUT / OUTPUT

“Flux Ref Pct” (Par 500) (1)

Analog Outputs

5= “Spd Draw Out” (Par 1018) ±10V = ±100% of Par 45 [Max Ref Speed] 24 = 0-10V = 0-100% of Par 280 [Nom Mtr Fld
Amps]
6= “Trim Speed” (Par 43) ±10V = ±100% of Par 45 [Max Ref Speed] 25 = “PID Output” (Par 774) ±10V = ±10000 in Par 774 [PID Output]
7= “Spd Reg In” (Par 118) ±10V = ±100% of Par 45 [Max Ref Speed] 26 = “Out Volt Lvl” (Par 921) ±10V = ±100% Par 175 [Rated Motor Volt]
8= “Spd Reg Out” (Par 236) ±10V = ± 100% of Par 179 [Nom Mtr Arm 27 = “Fld Cur Max” (Par 467) 0-10V = 0-100% of Par 280 [Nom Mtr Fld
Amps] Amps]
9= “Sel Torq Ref” (Par 14) ±10V = ± 100% of Par 179 [Nom Mtr Arm 28 = “Filtered Spd” (Par 924) ±10V = ±100% of Par 45 [Max Ref Speed]
Amps]
10 = “Trim Torque” (Par 40) ±10V = ± 100% of Par 179 [Nom Mtr Arm 29 = “Filtered Cur” (Par 928) ±10V = ± 200% of Par 179 [Nom Mtr Arm
Amps] Amps]
11 = “Torq Reg In” (Par 41) ±10V = ± 100% of Par 179 [Nom Mtr Arm 30 = “Output Power” (Par 1052) ±10V = ± 200% of Par 179 [Nom Mtr Arm
Amps] Amps] x Par 175 [Rated Motor Volt]
12 = “Motor Speed” (Par 121) ±10V = ±100% of Par 45 [Max Ref Speed] 31 = “Roll Diam” (Par 1154) 0-10V = 0-100% of Par 1153 [Max Diameter]
13 = “Motor Curr” (Par 199) ±10V = ± 200% of Par 179 [Nom Mtr Arm 32 = “Tension Ref” (Par 1180) 0-10V = 0-100% of Par 1153 [Max Diameter]
Amps]
14 = “Motor Volts” (Par 233) ±10V = ±100% of Par 175 [Rated Motor Volt] 33 = “Torque Curr” (Par 1193) ±10V = ± 200% of Par 179 [Nom Mtr Arm
Amps]
15 = “Analog In 1” (Par 70) ±10V = ±10V on Analog Input 1 34 = “Winder Ref” (Par 1217) ±10V = ±100% of Par 45 [Max Ref Speed]
16 = “Analog In 2” (Par 75) ±10V = ±10V on Analog Input 2 35 = “Active Comp” (Par 1213) ±10V = ± 200% of Par 179 [Nom Mtr Arm
Amps]
17 = “Analog In 3” (Par 80) ±10V = ±10V on Analog Input 3 36 = “Fld Cur Ref” (Par 469 when set ±10V = ±100%
to 4 “Wired FC FW” or 6 “Wired
FC BS”)
18 = “Fld Current” (Par 234) 0-10V = 0-100% of Par 280 [Nom Mtr Fld
Amps]
(1) Not used for permanent magnet motor applications.

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Data Type

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Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

133 [Digital In1 Sel] Default: 2= “Stop/CF” 16-bit
134 [Digital In2 Sel] Default: 3= “Start” Int
135 [Digital In3 Sel] Default: 11 = “Jog”
136 [Digital In4 Sel] Default: 1= “Enable”(1)
137 [Digital In5 Sel] Default: 17 = “Speed Sel 1”
138 [Digital In6 Sel] Default: 18 = “Speed Sel 2”
139 [Digital In7 Sel] Default: 19 = “Speed Sel 3”
140 [Digital In8 Sel] Default: 31 = “Contactor”
141 [Digital In9 Sel]* Default: 0= “Not Used”
142 [Digital In10 Sel]* Default: 0= “Not Used”
143 [Digital In11 Sel]* Default: 0= “Not Used”
144 [Digital In12 Sel]* Default: 0= “Not Used”
Selects the function driven by the digital input.
See Option Definitions for [Digital Inx Sel] on page 200 and 201.
*These parameters are used to configure the digital inputs on the I/O
Expansion circuit board. Do not use these parameters if the I/O Expansion
circuit board is not installed.
Notes: Option 35 was changed from “Fld Weaken En” and option 64 “Invert
Flt” was added for firmware revision 2.001. Option 34 “Field Reg En” was
changed for firmware revision 3.001. Options 65…72 were added for
firmware revision 6.001. Added options 73…75 for firmware revision 7.001.
Options:

0= “Not Used” (Off) 19 = “Speed Sel 3” 38 = “UsrDefinedA1” 57 = “Diam Preset0”

1= “Enable” (1)(2) 20 = “PI Enable” 39 = “UsrDefinedA2” 58 = “Diam Preset1”
2= “Stop/CF” (2) 21 = “PI Hold” 40 = “UsrDefinedA3” 59 = “Taper Enable”
3= “Start (2) 22 = “PI Reset” 41 = “UsrDefinedA4” 60 = “Spd DemandEn”
4= “Fwd/Reverse” (2) 23 = “PI Invert” 42 = “UsrDefinedA5” 61 = “Winder Side”
5= “Run” (2) 24 = “Local” 43 = “UsrDefinedA6” 62 = “PI-PD Enable”
INPUT / OUTPUT

6= “Run Forward” (2) 25 = “Acc2 & Dec2” 44 = “UsrDefinedA7” 63 = “Jog TW En”

Digital Inputs

7= “Run Reverse” (2) 26 = “Accel 2” 45 = “Droop Enable” 64 = “Invert Flt”

8= “Run Level” (2) 27 = “Decel 2” 46 = “PD Enable” 65 = “Flt MicroPsn”
9= “RunFwd Level” (2) 28 = “MOP Inc” 47 = “PID SetptSel” 66 = “Fwd EndLimit”
10 = “RunRev Level” (2) 29 = “MOP Dec” 48 = “PI Cent vs0” 67 = “Fwd DecLimit”
11 = “Jog” (2) 30 = “Fast Stop” 49 = “PI Cent vs1” 68 = “Rev EndLimit”
12 = “Jog Forward” (2) 31 = “Contactor” (5) 50 = “Diam Calc” 69 = “Rev DecLimit”
13 = “Jog Reverse” (2) 32 = “MOP Reset” 51 = “Diam Reset” 70 = “Fwd Ovr Trvl”
14 = “Aux Fault” 33 = “TorqueReduce” 52 = “DiamCalc Dis” 71 = “Rev Ovr Trvl”
15 = “Clear Faults” 34 = “Reserved” 53 = “Torq Wind En” 72 = “Lift Stop”
16 = “Auto/Manual” 35 = “Force MinFld” (3)(4) 54 = “Speed Match” 73 = “Wired FC En” (6)
17 = “Speed Sel 1” 36 = “Freeze Ramp” 55 = “Diam I/D En” 74 = “Wired FC inv” (6)
18 = “Speed Sel 2” 37 = “UsrDefinedA0” 56 = “Wind/Unwind” 75 = “Wired FC Act” (6)

(1) A digital input (1…8 only) must be configured for “Enable”.

(2) For digital inputs 9…12, this option displays as “Reserved”, indicating that it is not available for use - do not select “Reserved” options.
(3) Not used for permanent magnet motor applications.
(4)

ATTENTION: Enabling (forcing) the minimum field current while the drive is running could result in excessive
motor speed, equipment damage and/or bodily injury.

(5)

ATTENTION: Contactor status can only be used by the drive. Contactor status can not be used to initiate any
external action (for example, mechanical braking) or equipment damage and/or bodily injury can occur.

(6) For use with PowerFlex DC Field Controller only.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

Option Definitions for [Digital Inx Sel]
Note: When assigning digital inputs to certain options that are associated with parameters, those parameter values may be overwritten by the state of the digital input.
Option Description
Enable(1)(2) Removing the enable input causes the motor to coast-to-stop without generating a fault.
Stop/CF (2) Stops the drive if running or jogging or clears a fault if the drive is already stopped.
Start (2) Issues a Start command, removal does not Stop the drive (3-wire control).
Fwd/ Selects the operating direction of the drive. 0 = Forward, 1 = Reverse
Reverse(2)
Run (2)) Issues a Start command, removal causes the drive to Stop (2-wire control).
Run Issues a Run command in the Forward direction.
Forward(2)
Run Reverse(2) Issues a Run command in the Reverse direction.
Run Level (2) Level sensitive Run command (no off-to-on transition required).
RunFwd Run Level command in the Forward direction.
Level(2)
RunRev Run Level command in the Reverse direction.
Level(2)
Jog(2) Starts the drive and runs at the speed in Par 266 [Jog Speed], removal causes the drive to Stop.
Jog Forward(2) Issues a Jog command in the Forward direction.
Jog Reverse(2) Issues a Jog command in the Reverse direction.
Aux Fault Asserting causes an Auxiliary Input fault (F2).
Clear Faults Issues a Clear Faults command.
Auto/Manual Selects between Automatic and Manual speed reference values.
Speed Sel 1 - 3 Selects one of eight speed references. Bit enumerations: 000 = Par 44 [Speed Ref A], 001 = Par 48 [Speed Ref B], 010 = Par 155 [Preset Speed 2],
011 = Par 156 [Preset Speed 3], 100 = Par 157 [Preset Speed 4], 101 = Par 158 [Preset Speed 5], 110 = Par 159 [Preset Speed 6], 111 = Par 160
[Preset Speed 7]
INPUT / OUTPUT
Digital Inputs

PI Enable Enables/disables the PI block of the PID regulator (Par 769 [Enable PI]).
PI Hold Enables/disables a hold on the PI output.
PI Reset Asserting causes a reset of the PI output.
PI Invert Asserting causes an inversion of the PI output.
Local Enables exclusive drive control via the I/O Terminal Block only.
Acc2 & Dec2 Switches between the Accel/Decel 1 and Accel/Decel 2 ramp rates.
Accel 2 Switches between the Accel 1 and Accel 2 ramp rates.
Decel 2 Switches between the Decel 1 and Decel 2 ramp rates.
MOP Inc Asserting causes the MOP reference to increment at the rate set in Par 22 [MOP Accel Time].
MOP Dec Asserting causes the MOP reference to decrement at the rate set in Par 30 [MOP Decel Time].
Fast Stop Causes the drive to Stop at the rate set in Par 38 [Fast Stop Time].
Contactor Indicates the status of the main contactor/DB contactor. Must be assigned and asserted to run drive when Par 1391 [ContactorControl] =
“Contactor” or “Contactor+DB”.
MOP Reset Asserting resets the MOP reference to zero.
TorqueReduce Turns on /off Torque Reduction using the reduced current limit set in Par 13 [Torq Red CurLim].
Force MinFld When asserted, the field current is set to the value specified in Par 498 [Force Min Field]. Important: See Attention statement on page 199 for this
option. Not used for permanent magnet motor applications.
Freeze Ramp Holds the speed ramp at the present value (Par 373 [Freeze Ramp]).
UsrDefinedA0- Writes the value of the digital input to Pars 520 [UsrDefBitWrdA0] - 527 [UsrDefBitWrdA7].
7
Droop Enable Enables/disables the Droop function (699 [Enable Droop]).
PD Enable Enables/disables the PD block of the PID regulator (Par 770 [Enable PD]).
PI Cent vs0 - 1 In combination, the digital inputs set to “PI Central vs0” and “PI Central vs1”, through binary selection, determine which of the four possible output
values is used as the initial level of the integral component (corresponding to the initial diameter) of the PI block. See Par 780 [PI Central vs0] for
binary selection values.
Diam Calc When asserted initiates the diameter calculation (Par 794 [Diameter Calc]).
Digital input option definitions continued on the following page.
1 A digital input (1…8 only) must be configured for “Enable”.
2 For digital inputs 9…12, this option is not available (displays as “Reserved”).

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

Option Definitions for [Digital Inx Sel], Continued
Note: When assigning digital inputs to certain options that are associated with parameters, those parameter values may be overwritten by the state of the digital input.
Option Description
Diam Reset Sets the diameter starting value to the value in Par 1168 [Diam Preset Sel].
DiamCalc Dis Enables/disables the diameter calculation (Par 1161 [Diameter Calc Dis]).
Torq Wind En Enables/disables the Center wind function (Par 1209 [Torque Winder En]).
Speed Match When asserted, issues the coil 'launch phase' command for automatic switching (Par 1195 [Speed Match]).
Diam I/D En Enables/disables the ability of the diameter calculation to increase for an unwider or decrease for a winder (Par 1205 [Diam Inc Dec En]).
Wind/Unwind Sets the value of Par 1187 [Winder Type] to “0” Winder or “1” Unwinder.
Diam Preset0 - Selects the value of Par 1164 [Diam Preset 0], 1165 [Diam Preset 1], Par 1166 [Diam Preset 2], or Par 1167 [Diam Preset 3] See Par 1168 [Diam
1 Preset Sel].
Taper Enable Enables/disables the Taper function (Par 1176 [Taper Enable]).
Spd Enables/disables the speed reference calculation (winder operation), (Par 1215 [Speed Demand En]).
DemandEn
Winder Side Selection of the winding/unwinding side (0 = up, 1 = down).
PI-PD Enable Selection between PI and PD (winder operation), (Par 1201 [Winder Side]).
Jog TW En Enables/disables the Torque Winder jog function (Par 1256 [Jog TW Enable]).
Invert Flt Must be used when the digital input is wired to the status of an inverting fault device (fuse, circuit breaker, etc.). Removing the input causes an
“Inverting Fault” (F37).
Flt MicroPsn Dual function when Torque Prove mode is enabled. When the drive is operating within the float tolerance zone, the input will hold the drive in the
“float” function. The float function is defined as holding off the setting of the brake while the drive holds zero speed. When the input is active and
the drive is operating outside the float tolerance zone, the drive will operate at a percentage (set in Par 1112 [MicroPsnScalePct]) of the
commanded reference. Operation is also affected by the value of Par 1100 [Torq Prove Cfg], bit 2 “Micro Psn.”
Fwd EndLimit Assigns a digital input, that when asserted, triggers a “forward end limit” function that results in the drive executing a “Fast Stop” command. This
condition is latched so that, while active, starting in the same direction only provides a zero speed reference. Latching also lets the load travel past
the end limit (digital input opens) when stopping. Starting in the opposite direction will use the normal speed reference and the condition will
INPUT / OUTPUT

unlatch only after this digital input opens and the load moves past the forward end limit. This function is usually used with a limit switch near the
Digital Inputs

point at which the drive stops.

Fwd DecLimit Assigns a digital input, that when asserted, triggers a “forward decel limit” function that results in forcing the speed reference to Preset Speed 1
(Par 154). The forced reference remains in effect until the direction is changed. This function is usually used with a limit switch and initiates the
slowing down process prior to encountering the end limit.
Rev EndLimit Assigns a digital input, that when asserted, triggers a “reverse end limit” function that results in the drive executing a “Fast Stop” command. This
condition is latched so that so that, while active, starting in the same direction will only provides a zero speed reference. Latching also lets the load
travel past the end limit (digital input opens) when stopping. Starting in the opposite direction will use the normal speed reference and the
condition will unlatch only after this digital input opens and the load moves past the reverse end limit. This function is usually used with a limit
switch near the point at which the drive stops.
Rev DecLimit Assigns a digital input, that when asserted, triggers a “reverse decel limit” function that results in forcing the speed reference to Preset Speed 1
(Par 154). The forced reference remains in effect until the direction is changed. This function is usually used with a limit switch and initiates the
slowing down process prior to encountering the end limit.
Fwd Ovr Trvl Assigns a digital input, that when asserted, triggers a “forward over-travel” function which results in an immediate fault (and zero torque). After
resetting the fault, the drive will only restart in the opposite direction. The fault is prevented from reoccurring until the digital input becomes
unasserted. This function is usually used with a limit switch in a position beyond the end limit, as an extra safety limit to prevent torque from
damaging the machine in an over-travel situation.
Rev Ovr Trvl Assigns a digital input, that when asserted, triggers a “reverse over-travel” function which results in an immediate fault (and zero torque). After
resetting the fault, the drive will only restart in the opposite direction. The fault is prevented from reoccurring until the digital input becomes
unasserted. This function is usually used with a limit switch in a position beyond the end limit, as an extra safety limit to prevent torque from
damaging the machine in an over-travel situation.
Lift Stop Assigns a digital input, that when asserted triggers a “lift stop” function which results in a current limit stop (0 sec). This function is enabled by
setting Par 1100 [Torq Prove Cfg], bit 8 “Lift Stop Bk” (=1).
Wired FC En All three of these selections must be defined as a separate digital input when Par 469 [Field Mode Sel] is set to “Wired FC FW” or” Wired FC BS”. The
Wired FC Inv corresponding digital outputs on the PowerFlex DC Field Controller must be set to the same value and be physically connected to the PowerFlex DC
Wired FC Act drive.

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Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

564 [Dig In Status] Read Only
Status of the digital inputs.

Digital In12
Digital In11
Digital In10
Options

Digital In9
Digital In8
Digital In7
Digital In6
Digital In5
Digital In4
Digital In3
Digital In2
Digital In1
Reserved
Reserved
Reserved
Reserved
Default x x x x 0 0 0 0 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

565 [Dig In Term 1] Default: Read Only 16-bit

566 [Dig In Term 2] Int
567 [Dig In Term 3] Min/Max: 0/1
568 [Dig In Term 4]
569 [Dig In Term 5]
570 [Dig In Term 6]
571 [Dig In Term 7]
572 [Dig In Term 8]
573 [Dig In Term 9]
574 [Dig In Term 10]
575 [Dig In Term 11]
576 [Dig In Term 12]
Status of the digital inputs.
0 = Low
1 = High
1276 [Inversion In 1] Default: 0 “Disabled” 16-bit
1277 [Inversion In 2] Int
1278 [Inversion In 3] Options: 0= “Disabled”
1279 [Inversion In 4] 1= “Enabled”
INPUT / OUTPUT
Digital Inputs

1280 [Inversion In 5]
1281 [Inversion In 6]
1282 [Inversion In 7]
1283 [Inversion In 8]
1387 [Inversion In 9]
1388 [Inversion In 10]
1389 [Inversion In 11]
1390 [Inversion In 12]
inverts the digital input signal.

A
1391 [ContactorControl] Default: 1= “AC Cntcr” 16-bit
Selects the type of contactor to be controlled by the drive. Either style of Int
Options: 0= “None”
contactor (AC or DC) can be used, with or without dynamic braking (DB) 1= “AC Cntcr”
contactor. 2= “AC Cntcr+DB”
A • “AC Cntcr” indicates an AC contactor is used. See note 1 below. 3= “DC Cntcr”
• “AC Cntcr+DB” indicates that an AC contactor and dynamic brake resistor 4= “DC Cntcr+DB”
is used. See note 1 below.
• “DC Cntcr” indicates a DC contactor is used.
• “DC Cntcr+DB” indicates that a DC contactor and dynamic brake resistor
is used.
The type of control selected determines how many I/O points will be
required for contactor control and status.
• “AC Cntcr” or “DC Cntcr” = 1 (relay) digital output, 1 digital input is used.
• “AC Cntcr+DB” or “DC Cntcr+DB” = 2 (relay) digital outputs, 1 digital
input is used.
Notes:
• 1. When 1 “AC Cntcr” or 2 “AC Cntcr+DB” is selected, there is a 400 ms
delay to power up before SCR firing can begin. The delay is needed to
determine correct input voltage phasing.
• 2. Option 1 was changed from “Contactor”, option 2 was changed from
“Contactor+DB”, and options 3 and 4 were added for firmware revision
2.001.

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Data Type

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Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

145 [Digital Out1 Sel] Default: 5= “Ready” 16-bit
146 [Digital Out2 Sel] Default: 9= “Fault” Int
147 [Digital Out3 Sel] Default: 2= “Spd Thresh”
148 [Digital Out4 Sel] Default: 4= “CurrentLimit”
149 [Digital Out5 Sel]* Default: 26 = “Alarm”
150 [Digital Out6 Sel]* Default: 0= “Not Used”
151 [Digital Out7 Sel]* Default: 0= “Not Used”
152 [Digital Out8 Sel]* Default: 0= “Not Used”
Selects the source of the value that drives the digital output. See Option
Definitions for [Digital Outx Sel], [Relay Out 1 Sel] and [Relay Out 2 Sel] on
page 204.
*These parameters are used to configure the digital outputs on the I/O
INPUT / OUTPUT
Digital Outputs

Expansion circuit board.

Notes: Option 16 “Encoder Err” was changed for firmware revision v5.002.
Option 30 “Brake Slip” was added for firmware revision 6.001.
Options:

0= “Not Used” (Off) 8= “Spd Limited” 16 = “Spd Fdbk Err” 24 = “Reserved”

1= “Spd Zero Thr” 9= “Fault” 17 = “Diam Calc” 25 = “Reserved”
2= “Spd Thresh” 10 = “Power Loss” 18 = “Input1 Cmp” 26 = “Alarm”
3= “At Speed” 11 = “UserDefinedA” 19 = “Diam Reached” 27 = “Running”
4= “CurrentLimit” 12 = “UserDefinedB” 20 = “Speed Match” 28 = “Jogging”
5= “Ready” 13 = “Stop Control” 21 = “Accelerating” 29 = “Active”
6= “Ramp Pos” 14 = “Field Loss” 22 = “Decelerating” 30 = Brake Slip
7= “Ramp Neg” 15 = “Spd Fbk Loss” 23 = “Brake Cmd”

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Data Type

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Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

Option Definitions for [Digital Outx Sel], [Relay Out 1 Sel] and [Relay Out 2 Sel]

Option Description
Spd Zero Thr “0” indicates that the drive is operating below the value set in Par 107 [Speed Zero Level], “1” indicates that the drive is operating above
Par 107 [Speed Zero Level].
Spd Thresh “0” indicates that the drive is operating above the value set in Par 101 [Speed Thresh Pos], “1” indicates that the drive is operating below
Par 101 [Speed Thresh Pos].
At Speed “0” indicates that the actual speed is within the range specified in Par 104 [At Speed Error], “1” indicates that the actual speed is outside
the range specified in Par 104 [At Speed Error].
CurrentLimit “0” indicates that the drive is not limiting output current, “1” indicates that the drive is limiting the output current.
Ready “1” indicates that the drive is powered, Enabled and no Start Inhibits exist. The state of the assigned digital output matches the state of bit
2 “Ready” of Par 381 [Drive Status 1].
Ramp Pos “1” indicates that the actual speed of the drive is going positive. Follows the state of Par 346 [Torque Positive]. Not asserted until after the
amount of time in Par 20 [Ramp Delay] has elapsed.
Ramp Neg “1” indicates that the actual speed of the drive is going negative. Follows the state of Par 347 [Torque Negative]. Not asserted until after
the amount of time in Par 20 [Ramp Delay] has elapsed.
Spd Limited “1” indicates that the speed is being limited to the value of Par 3 [Max Speed Fwd], “0” indicates that the speed is not being limited.
Fault “0” indicates that a drive fault has occurred. See Par 57 [FaultCode].
Power Loss “0” indicates that the drive has detected a loss of the internal power supply.
UserDefinedA Indicates the status of Par 519 [UsrDefBitWrdA] (digital output 1 uses bit 0, digital output 2 uses bit 1, etc.). Par 1392 [Relay Out 1 Sel] uses
bit 14 (only). Par 629 [Relay Out 2 Sel] uses bit 15 (only).
UserDefinedB Indicates the status of Par 536 [UsrDefBitWrdB] (digital output 1 uses bit 0, digital output 2 uses bit 1, etc.). Par 1392 [Relay Out 1 Sel] uses
bit 14 (only). Par 629 [Relay Out 2 Sel] uses bit 15 (only).
Stop Control Energized (“1”) at run and de-energized (“0”) based on the value of Par 627 [Spd 0 Trip Delay].
INPUT / OUTPUT
Digital Outputs

Field Loss “0” indicates the loss of the field voltage/current while the drive is running.
Spd Fbk Loss “0” indicates the loss of speed feedback/encoder due to an excessive calculated error, as determined by the drive firmware.
Spd Fdbk Err “0” indicates an error in the selected speed feedback device (DC tachometer, encoder, or resolver). Matches the state of Par 651 [Spd Fdbk
State].
Diam Calc Energized (“1”) when Par 800 [Diameter Calc St] = 1 and de-energized (“0”) when [Diameter Calc St] = 0.
Input1 Cmp “1” indicates that the value of analog input 1 is inside the comparison window,“0” indicates that the value of analog input 1 is outside the
comparison window (Par 1045 [Anlg In1 Cmp Eq]).
Diam Reached Energized (“1”) when the value of Par 1158 [Diam Threshold] has been exceeded.
Speed Match Energized (“1”) when the value of Par 1203 [Spd Match Compl] = “1” (launching ramp completed).
Accelerating “1” indicates that the drive is actively accelerating. The state of the assigned digital output matches the state of bit 4 “Accelerating” of Par
381 [Drive Status 1] and the state of Par 1188 [Accel Status].
Decelerating When set to “1” the drive is actively decelerating. The state of the assigned digital output matches the state of bit 5 “Decelerating” of Par
381 [Drive Status 1] and the state of Par 1189 [Decel Status].
Brake Cmd Energized (“1”) at run (opens the brake) after the value in Par 1263 [Opening Delay] has been exceeded. De-energized (“0”) at stop (closes
the brake) after the drive speed goes below the value of Par 1262 [Closing Speed].
ContactorDB “1” issues the close command to the main contactor and dynamic brake contactor.
Contactor “1” issues the close command to the main contactor.
Alarm “0” indicates that a drive alarm has occurred. See Par 1380 [Drive Alarm 1].
Running “1” indicates that the drive is active in Run mode. The state of the assigned digital output matches the state of bit 2 “Running” of Par 382
[Drive Status 2].
Jogging “1” indicates that the drive is active in Jog mode. The state of the assigned digital output matches the state of bit 3 “Jogging” of Par 382
[Drive Status 2].
Active “1” indicates that the drive is active in Run or Jog mode. The state of the assigned digital output matches the state of bit 1 “Active” of Par
382 [Drive Status 2].
Brake Slip “1” indicates that torque proving brake slip is active.
TP Brake Cmd Torque proving brake command is output to the brake.

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Data Type

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Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

581 [Dig Out Status] Read Only
Status of the standard digital outputs and relay outputs on the drive and on the optional I/O
Expansion circuit board (if present).

Digital Out8
Digital Out7
Digital Out6
Digital Out5
Digital Out4
Digital Out3
Digital Out2
Digital Out1
Options

Relay Out2
Relay Out1
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Default 0 0 x x x x x x 0 0 0 0 0 0 0 0
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

629 [Relay Out 2 Sel] Default: 5= “Ready” 16-bit

Selects the source of the value that drives the N.O. relay between the Int
terminals 75 and 76.
See “Option Definitions” on page 204.
Notes: Option 16 “Encoder Err” was changed for firmware revision v5.002.
Options 30 and 31 were added for firmware revision 6.001.
Options:
0= “Not Used” (Off) 8= “Spd Limited” 16 = “Spd Fdbk Err” 24 = “ContactDB”
INPUT / OUTPUT

1= “Spd Zero Thr” 9= “Fault” 17 = “Diam Calc” 25 = “Contactor”

Digital Outputs

2= “Spd Thresh” 10 = “Power Loss” 18 = “Input1 Cmp” 26 = “Alarm”

3= “At Speed” 11 = “UserDefinedA” 19 = “Diam Reached” 27 = “Running”
4= “CurrentLimit” 12 = “UserDefinedB” 20 = “Speed Match” 28 = “Jogging”
5= “Ready” 13 = “Stop Control” 21 = “Accelerating” 29 = “Active”
6= “Ramp Pos” 14 = “Field Loss” 22 = “Decelerating” 30 = “Brake Slip”
7= “Ramp Neg” 15 = “Spd Fbk Loss” 23 = “Brake Cmd” 31 = “TP Brake Cmd”

1267 [Inversion Out 1] Default: 0= “Disabled” 16-bit

1268 [Inversion Out 2] Int
1269 [Inversion Out 3] Options: 0= “Disabled”
1270 [Inversion Out 4] 1= “Enabled”
1271 [Inversion Out 5]
1272 [Inversion Out 6]
1273 [Inversion Out 7]
1274 [Inversion Out 8]
Reverses the digital output signal.

A
1275 [Inversion Relay2] Default: 0= “Disabled” 16-bit
Inverts the signal for Relay Output 2. Int
Options: 0= “Disabled”
1= “Enabled”
A

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Chapter 3 Programming and Parameters

Data Type

Related
Group
Parameter Name & Description
File

No. See page 117 for symbol descriptions Values

1392 [Relay Out 1 Sel] Default: 25 = “Contactor” 16-bit
Selects the source of the value that drives the N.O. relay between the Int
terminals 35 and 36.
See “Option Definitions” on page 204.
Notes: Option 16 “Encoder Err” was changed for firmware revision v5.002.
Options 30 and 31 were added for firmware revision v6.001.
Options:
0= “Not Used” (Off) 8= “Spd Limited” 16 = “Spd Fdbk Err” 24 = “ContactDB”
Digital Outputs

1= “Spd Zero Thr” 9= “Fault” 17 = “Diam Calc” 25 = “Contactor”

2= “Spd Thresh” 10 = “Power Loss” 18 = “Input1 Cmp” 26 = “Alarm”
3= “At Speed” 11 = “UserDefinedA” 19 = “Diam Reached” 27 = “Running”
4= “CurrentLimit” 12 = “UserDefinedB” 20 = “Speed Match” 28 = “Jogging”
5= “Ready” 13 = “Stop Control” 21 = “Accelerating” 29 = “Active”
6= “Ramp Pos” 14 = “Field Loss” 22 = “Decelerating” 30 = “Brake Slip”
7= “Ramp Neg” 15 = “Spd Fbk Loss” 23 = “Brake Cmd” 31 = “TP Brake Cmd”

1393 [Inversion Relay1] Default: 0= “Disabled” 16-bit

Inverts the signal for Relay Output 1. Int
Options: 0= “Disabled”
1= “Enabled”
INPUT / OUTPUT

A
1323 [DPI P1 Select] Default: 0= “OFF” 16-bit
Selects the destination of the reference value from DPI Port 1 (HIM on drive Int
Options: 0= ”OFF”
cover, when installed). 1= “Speed Ref A” (Par 44)
2= “Speed Ref B” (Par 48)
3= “Trim Ramp” (Par 42)
4= “Trim Speed” (Par 43)
5= “Torque Ref” (Par 39)
6= “Trim Torque” (Par 40)
7= “Pos Cur Lim” (Par 8)
8= “Neg Cur Lim” (Par 9)
1324 [DPI P2 Select] See Par 1323 [DPI P1 Select]. 16-bit
DPI Inputs

Selects the destination of the reference value from DPI Port 2 (handheld, Int
remote, and external communication [20-XCOMM-DC-BASE] option, when
installed).
1325 [DPI P3 Select] See Par 1323 [DPI P1 Select]. 16-bit
Selects the destination of the reference value from DPI Port 3 (handheld, Int
remote, and external communication [20-XCOMM-DC-BASE] option, when
installed).
1326 [DPI P4 Select] See Par 1323 [DPI P1 Select]. 16-bit
Selects the destination of the reference value from DPI Port 4. Int

1327 [DPI P5 Select] See Par 1323 [DPI P1 Select]. 16-bit

Selects the destination of the reference value from DPI Port 5 Int
(communications adapter, when installed).

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 Programming and Parameters Chapter 3

Parameter Cross Name

Anlg In1 Cmp Dly

No.

1044
Group

Analog Inputs
Page

196
Name

Base Omega
No.

1163
Group

Diameter Calc
Page

167
Reference – by Anlg In1 Cmp Eq 1045 Analog Inputs 197 Brake Test Torq 1114 Torque Prove 175
Name Anlg In1 Cmp Err 1043 Analog Inputs 196 Brk Alarm Travel 1109 Torque Prove 174
Anlg In1 Config 71 Analog Inputs 195 Brk Release Time 1107 Torque Prove 174
Name No. Group Page

AC Line Freq 588 Drive Data 130 Anlg In1 Offset 74 Analog Inputs 196 Brk Set Time 1108 Torque Prove 174
AC Line Voltage 466 Drive Data 130 Anlg In1 Scale 72 Analog Inputs 195 Brk Slip Count 1110 Torque Prove 174
Acc Dec Filter 1212 Winder 171 Anlg In1 Sel 70 Analog Inputs 195 Clear Fault Que 263 Faults 184
Functions Anlg In1 Target 295 Analog Inputs 196 Close Loop Comp 1208 Winder 170
Accel Mask 596 Masks & Owners 192 Anlg In1 Tune 259 Analog Inputs 196 Functions
Accel Owner 605 Masks & Owners 192 Anlg In2 Config 76 Analog Inputs 195 Closed Loop En 1214 Winder 171
Functions
Accel Status 1188 Winder 169 Anlg In2 Filter 801 Analog Inputs 196
Functions Closing Speed 1262 Stop Modes 158
Anlg In2 Offset 79 Analog Inputs 196
Accel Time 1 660 Ramp Rates 157 Constant J Comp 1172 Winder 168
Anlg In2 Scale 77 Analog Inputs 195 Functions
Accel Time 2 24 Ramp Rates 156 Anlg In2 Sel 75 Analog Inputs 195 ContactorControl 1391 Digital Inputs 202
Act Spd Filter 923 Speed Feedback 143 Anlg In2 Target 296 Analog Inputs 196 Cur Lim Neg Out 11 Current Meters 128
Act Spd Reg BW 435 Speed Regulator 153 Anlg In2 Tune 260 Analog Inputs 196 Cur Lim Pos Out 10 Current Meters 128
Act Ten Ref Pct 1194 Winder 170 Anlg In3 Config 81 Analog Inputs 195
Functions Current Lim Neg 9 Torq Attributes 136
Anlg In3 Filter 802 Analog Inputs 196 Current Lim Pos 8 Torq Attributes 136
Actual Comp 1213 Winder 171
Anlg In3 Offset 84 Analog Inputs 196 Current Limit 7 Torq Attributes 136
Functions
Anlg In3 Scale 82 Analog Inputs 195 Current Rate Lim 12 Torq Attributes 136
Actual Speed 924 Speed Meters 127
Anlg In3 Sel 80 Analog Inputs 195 Current Reg In 41 Current Meters 128
Actuator Delay 1266 Stop Modes 158
Anlg In3 Target 297 Analog Inputs 196 CurrLimit Active 349 Diagnostics 178
Adaptive I Gain1 189 Adaptv 160
Regulator Anlg In3 Tune 261 Analog Inputs 196 CurrReg Autotune 452 Autotune 143
Adaptive I Gain2 191 Adaptv 160 Anlg Out1 Scale 62 Analog Outputs 197 Dancer Constant 798 Init Diam Calc 166
Regulator Anlg Out1 Sel 66 Analog Outputs 198 Data In A1 610 Datalinks 193
Adaptive I Gain3 193 Adaptv 160 Anlg Out2 Scale 63 Analog Outputs 197 Data In A2 611 Datalinks 193
Regulator Anlg Out2 Sel 67 Analog Outputs 198 Data In B1 612 Datalinks 193
Adaptive Joint 1 186 Adaptv 159 Anlg Out3 Scale 64 Analog Outputs 197
Regulator Data In B2 613 Datalinks 193
Anlg Out3 Sel 68 Analog Outputs 198 Data In C1 614 Datalinks 193
Adaptive Joint 2 187 Adaptv 160
Regulator Anlg Out4 Scale 65 Analog Outputs 197 Data In C2 615 Datalinks 193
Adaptive P Gain1 188 Adaptv 160 Anlg Out4 Sel 69 Analog Outputs 198 Data In D1 616 Datalinks 193
Regulator Anlg Tach Gain 562 Speed Feedback 142 Data In D2 617 Datalinks 193
Adaptive P Gain2 190 Adaptv 160 Anlg1 Tune Scale 73 Analog Inputs 195 Data In SelData 1320 Datalinks 193
Regulator Anlg2 Tune Scale 78 Analog Inputs 195 Data In Val Sel 1319 Datalinks 193
Adaptive P Gain3 192 Adaptv 160 Anlg3 Tune Scale 83 Analog Inputs 195
Regulator Data Out A1 618 Datalinks 193
Arm Current 200 Current Meters 128 Data Out A2 619 Datalinks 193
Adaptive Ref 183 Adaptv 159
Regulator Arm Current Pct 199 Current Meters 128 Data Out B1 620 Datalinks 193
Adaptive Reg Typ 182 Adaptv 159 Arm Inductance 454 Autotune 143 Data Out B2 621 Datalinks 193
Regulator Arm Resistance 453 Autotune 143 Data Out C1 622 Datalinks 193
Adaptive Spd 1 184 Adaptv 159 Arm Test Angle 167 Test Generator 146 Data Out C2 623 Datalinks 193
Regulator Arm Volt Ki 494 Field Config 134 Data Out D1 624 Datalinks 193
Adaptive Spd 2 185 Adaptv 159 Arm Volt Ki Base 496 Field Config 135
Regulator Data Out D2 625 Datalinks 193
Arm Volt Kp 493 Field Config 134 Decel Mask 631 Masks & Owners 193
Adaptive Spd En 181 Adaptv 159
Arm Volt Kp Base 495 Field Config 135 Decel Owner 609 Masks & Owners 192
Regulator
At Speed 394 Diagnostics 180 Decel Status 1189 Winder 169
Alpha Test 166 Test Generator 146
At Speed Delay 105 Speed Regulator 150 Functions
Analog In1 Value 1404 Analog Inputs 197
At Speed Error 104 Speed Regulator 150 Decel Time 1 662 Ramp Rates 157
Analog In2 Value 1405 Analog Inputs 197
At Zero Speed 395 Diagnostics 180 Decel Time 2 32 Ramp Rates 156
Analog In3 Value 1406 Analog Inputs 197
Autotune Cur Lim 1048 Auto Tune 145 Diam Calc Dis 1161 Diameter Calc 166
Anlg In 1 Filter 792 Analog Inputs 196
Aux Inp Flt Cfg 354 Alarms 185 Diam Inc Dec En 1205 Diameter Calc 168
Anlg In1 Cmp 1042 Analog Inputs 196

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Chapter 3 Programming and Parameters

Name No. Group Page Name No. Group Page Name No. Group Page

Diam Init Filter 1206 Diameter Calc 168 DncrPosSpd 795 Init Diam Calc 165 Fault 4 Code 1354 Faults 184
Diam Preset 0 1164 Diameter Calc 167 DPI Baud Rate 589 Comm Control 191 Fault 4 Time 1364 Faults 185
Diam Preset 1 1165 Diameter Calc 167 DPI Fdbk Select 1321 Comm Control 191 Fault 5 Code 1355 Faults 184
Diam Preset 2 1166 Diameter Calc 167 DPI P1 Select 1323 DPI Inputs 206 Fault 5 Time 1365 Faults 185
Diam Preset 3 1167 Diameter Calc 167 DPI P2 Select 1324 DPI Inputs 206 Fault 6 Code 1356 Faults 184
Diam Preset Sel 1168 Diameter Calc 167 DPI P3 Select 1325 DPI Inputs 206 Fault 6 Time 1366 Faults 185
Diam Stdy Delay 1207 Diameter Calc 168 DPI P4 Select 1326 DPI Inputs 206 Fault 7 Code 1357 Faults 184
Diam Threshold 1158 Diameter Calc 166 DPI P5 Select 1327 DPI Inputs 206 Fault 7 Time 1367 Faults 185
Diameter Calc 794 Init Diam Calc 165 DPI Port Sel 590 Comm Control 191 Fault 8 Code 1358 Faults 184
Diameter Calc St 800 Init Diam Calc 166 DPI Port Value 1343 Comm Control 191 Fault 8 Time 1368 Faults 185
Diameter Filter 1162 Diameter Calc 167 Drive Alarm 1 1380 Alarms 187 Fault 9 Code 1359 Faults 184
Diameter Reached 1159 Diameter Calc 166 Drive Alarm 2 1394 Alarms 188 Fault 9 Time 1369 Faults 185
Diameter Reset 1157 Diameter Calc 166 Drive Checksum 332 Drive Data 130 Fault Arm Amps 1371 Faults 185
Dig In Status 564 Digital Inputs 202 Drive Logic Rslt 1328 Diagnostics 182 Fault Clear 1347 Faults 184
Dig In Term 1 565 Digital Inputs 202 Drive Size 465 Drive Data 130 Fault Clr Mask 597 Masks & Owners 192
Dig In Term 10 574 Digital Inputs 202 Drive Status 1 381 Diagnostics 179 Fault Clr Mode 1348 Faults 184
Dig In Term 11 575 Digital Inputs 202 Drive Status 2 382 Diagnostics 180 Fault Clr Owner 606 Masks & Owners 192
Dig In Term 12 576 Digital Inputs 202 Drive Type 300 Drive Data 129 Fault Field Amps 1373 Diagnostics 185
Dig In Term 2 566 Digital Inputs 202 Drive Type Sel 201 Motor Data 131 Fault Speed 1372 Diagnostics 185
Dig In Term 3 567 Digital Inputs 202 Droop Filter 697 Load Limits 157 Fault Voltage 1374 Diagnostics 185
Dig In Term 4 568 Digital Inputs 202 Droop Limit 700 Load Limits 158 FaultCode 57 Drive Data 129
Dig In Term 5 569 Digital Inputs 202 Droop Out 1006 Speed Meters 127 FC Lim Ramp 411 Tor Attributes 137
Dig In Term 6 570 Digital Inputs 202 Droop Out Pct 1007 Speed Meters 127 FC Lim Ramp Time 412 Tor Attributes 137
Dig In Term 7 571 Digital Inputs 202 Droop Percent 696 Load Limits 157 Fdbk Device Type 414 Speed Feedback 138
Dig In Term 8 572 Digital Inputs 202 Drv Fld Brdg Cur 374 Motor Data 132 Fdbk Option ID 422 Speed Feedback 138
Dig In Term 9 573 Digital Inputs 202 Dynamic Friction 1175 Winder 168 Feed Fwd PID 758 PID Control 163
Dig Out Status 581 Digital Outputs 205 Functions Feedback Offset 563 Speed Feedback 142
Digital In1 Sel 133 Digital Inputs 199 Elapsed Lifetime 235 Drive Data 129 Field Current 351 Current Meters 129
Digital In10 Sel 142 Digital Inputs 199 Enable Droop 699 Load Limits 158 Field Curve Out 476 Current Meters 129
Digital In11 Sel 143 Digital Inputs 199 Enable PD 770 PD Control 163 Field Econ Delay 1407 Field Config 136
Digital In12 Sel 144 Digital Inputs 199 Enable PI 769 PI Control 161 Field Economy En 499 Field Config 135
Digital In2 Sel 134 Digital Inputs 199 Enable PI PD 1258 PID Control 165 Field Mode Sel 469 Field Config 134
Digital In3 Sel 135 Digital Inputs 199 Encoder Config 170 Speed Feedback 138 Field Reg Enable 497 Field Config 135
Digital In4 Sel 136 Digital Inputs 199 Encoder Counts 1022 Speed Feedback 143 Filt TorqCur Pct 928 Current Meters 129
Digital In5 Sel 137 Digital Inputs 199 Encoder Err Chk 652 Speed Feedback 142 Final Diameter 1178 Winder 169
Digital In6 Sel 138 Digital Inputs 199 Encoder Out Sel 1021 Speed Feedback 143 Functions
Digital In7 Sel 139 Digital Inputs 199 Encoder PPR 169 Speed Feedback 138 Float Tolerance 1111 Torque Prove 174
Digital In8 Sel 140 Digital Inputs 199 Encoder Speed 420 Speed Meters 127 Firing Angle 165 Drive Data 129
Digital In9 Sel 141 Digital Inputs 199 Ext FC Curr Hyst 410 Field Config 133 Fld Const 40 Pct 916 Field Config 135
Digital Out1 Sel 145 Digital Outputs 203 Fast Stop Status 1190 Winder 169 Fld Const 70 Pct 917 Field Config 135
Functions Fld Const 90 Pct 918 Field Config 135
Digital Out2 Sel 146 Digital Outputs 203
Fast Stop Time 38 Stop Modes 158 Fld Current Pct 234 Current Meters 129
Digital Out3 Sel 147 Digital Outputs 203
Fault 1 Code 1351 Faults 184 Fld Reg Ki 92 Field Config 133
Digital Out4 Sel 148 Digital Outputs 203
Fault 1 Time 1361 Faults 185 Fld Reg Ki Base 98 Field Config 133
Digital Out5 Sel 149 Digital Outputs 203
Fault 10 Code 1360 Faults 184 Fld Reg Kp 91 Field Config 133
Digital Out6 Sel 150 Digital Outputs 203
Fault 10 Time 1370 Faults 185 Fld Reg Kp Base 97 Field Config 133
Digital Out7 Sel 151 Digital Outputs 203
Fault 2 Code 1352 Faults 184 Fld Test Angle 168 Test Generator 146
Digital Out8 Sel 152 Digital Outputs 203
Fault 2 Time 1362 Faults 185 Fld Weaken Ratio 456 Field Config 133
Direction Mask 594 Masks & Owners 192
Fault 3 Code 1353 Faults 184 FldLoss Flt Cfg 473 Alarms 186
Direction Mode 1322 Reference Config 177
Fault 3 Time 1363 Faults 185 FldLoss Flt Dly 475 Alarms 186
Direction Owner 603 Masks & Owners 192

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 Programming and Parameters Chapter 3

Name No. Group Page Name No. Group Page Name No. Group Page

Flux Divide 462 Field Config 133 Language 302 Drive Memory 177 MtrOvrld Type 376 Motor Data 156
Flux Filter BW 463 Field Config 133 Last Stop Source 1402 Diagnostics 183 Nom Mtr Arm Amps 179 Motor Data 131
Flux Ref Pct 500 Current Meters 129 Line Accel Pct 1184 Winder 169 Nom Mtr Fld Amps 280 Motor Data 132
Flying Start En 388 Speed Regulator 152 Functions Offs Accel Time 1198 Winder 170
Force Min Field 498 Field Config 135 Line Decel Pct 1185 Winder 169 Functions
Functions Opening Delay 1263 Stop Modes 158
Freeze Ramp 373 Ramp Rates 156
Line FastStp Pct 1186 Winder 169 OpenSCR Flt Cfg 216 Test Generator 147
Friction 1015 Autotune 144 Functions
Gear Box Ratio 797 Init Diam Calc 165 OpenSCR Threshld 217 Test Generator 147
Line Spd Gain 1156 Diameter Calc 166
I Reg Error 587 Autotune 143 OpenSCR Trip Lvl 218 Test Generator 147
Line Spd Source 1204 Diameter Calc 168
Inertia 1014 Autotune 144 OpenSCR WarnLvl 215 Test Generator 147
Line Spd Thresh 1155 Diameter Calc 166
Inertia C Filter 1012 Autotune 143 Out Volt Level 921 Field Config 136
Line Speed Pct 1160 Diameter Calc 166
Inertia Comp Out 232 Current Meters 129 Output Power 1052 Drive Data 130
Load Comp 698 Load Limits 157
InertiaCompCnst 1191 Winder 170 Output Voltage 233 Drive Data 129
Local Mask 599 Masks & Owners 192
Functions OverCurrent Thr 584 Alarms 187
Local Owner 608 Masks & Owners 192
InertiaCompVar 1192 Winder 170 Overspeed Val 585 Alarms 187
Functions Lock Speed Integ 348 Speed Regulator 152
OverTemp Flt Cfg 365 Alarms 185
Initial Diameter 1177 Winder 169 Logic Mask 591 Masks & Owners 191
Security 193 OverVolt Flt Cfg 203 Alarms 185
Functions
Logic Mask Act 1376 Security 193 Param Access Lvl 211 Drive Memory 177
Int Acc Calc En 1183 Winder 169
Functions Man Ref Preload 210 HIM Ref Config 177 PD Deriv Filter 767 PD Control 162
Inversion In 1 1276 Digital Inputs 202 Materl Width Pct 1173 Winder 168 PD Deriv Gain 1 766 PD Control 162
Inversion In 10 1388 Digital Inputs 202 Functions PD Deriv Gain 2 789 PD Control 163
Inversion In 11 1389 Digital Inputs 202 Max Deviation 796 Init Diam Calc 165 PD Deriv Gain 3 791 PD Control 163
Inversion In 12 1390 Digital Inputs 202 Max Diameter 1153 Diameter Calc 166 PD Output PID 421 PD Control 162
Inversion In 2 1277 Digital Inputs 202 Max Feedback Spd 162 Motor Data 131 PD Prop Gain 1 768 PD Control 163
Inversion In 3 1278 Digital Inputs 202 Max Fld Flux Pct 467 Field Config 134 PD Prop Gain 2 788 PD Control 163
Inversion In 4 1279 Digital Inputs 202 Max Ref Speed 45 Motor Data 131 PD Prop Gain 3 790 PD Control 163
Inversion In 5 1280 Digital Inputs 202 Max Speed Fwd 3 Limits 148 PI Central v sel 779 PI Control 162
Inversion In 6 1281 Digital Inputs 202 Max Speed Rev 4 Limits 148 PI Central v1 776 PI Control 161
Inversion In 7 1282 Digital Inputs 202 Maximum Speed 2 Limits 148 PI Central v2 777 PI Control 161
Inversion In 8 1283 Digital Inputs 202 MicroPsnScalePct 1112 Torque Prove 174 PI Central v3 778 PI Control 161
Inversion In 9 1387 Digital Inputs 202 Min Fld Curr Pct 468 Field Config 134 PI Central vs0 780 PI Control 162
Inversion Out 1 1267 Digital Outputs 205 Min Firing Angle 21 Motor Data 131 PI Central vs1 781 PI Control 162
Inversion Out 2 1268 Digital Outputs 205 Min Speed Fwd 5 Limits 148 PI Init Intgl Gn 734 PI Control 161
Inversion Out 3 1269 Digital Outputs 205 Min Speed Rev 6 Limits 148 PI Init Prop Gn 793 PI Control 162
Inversion Out 4 1270 Digital Outputs 205 Minimum Diameter 799 Init Diam Calc / 166 PI integr freeze 783 PI Control 162
Diameter Calc PI Integral Gain 764 PI Control 161
Inversion Out 5 1271 Digital Outputs 205
Minimum Speed 1 Limits 148 PI Lower Limit 785 PI Control 162
Inversion Out 6 1272 Digital Outputs 205
MOP Accel Time 22 Ramp Rates 156 PI Output 771 PI Control 161
Inversion Out 7 1273 Digital Outputs 205
MOP Dec Active 397 Diagnostics 181 PI Prop Gain PID 765 PI Control 161
Inversion Out 8 1274 Digital Outputs 205
MOP Decel Time 30 Ramp Rates 156 PI Steady Thr 695 PI Control 161
Inversion Relay1 1393 Digital Outputs 206
MOP Inc Active 396 Diagnostics 180 PI Upper Limit 784 PI Control 162
Inversion Relay2 1275 Digital Outputs 205
MOP Mask 598 Masks & Owners 192 PID Accel Time 1046 PID Control 165
Jog Mask 593 Masks & Owners 192
MOP Owner 607 Masks & Owners 192 PID Clamp 757 PID Control 163
Jog Owner 602 Masks & Owners 192
MOP Ref Config 249 Reference Config 177 PID Decel Time 1047 PID Control 165
Jog Off Delay 1409 Discrete Speeds 149
MOP Select 1375 Reference Config 177 PID Error 759 PID Control 163
Jog Ramp Time 1410 Ramp Rates 157
Motor Trq Ref 17 Current Meters 128 PID Error Gain 1254 PID Control 165
Jog Speed 266 Discrete Speeds 148
MtrOvrld Factor 333 Motor Data 132 PID Feedback 763 PID Control 164
Jog TW Enable 1256 Winder 171
Functions MtrOvrld Flt Cfg 479 Alarms 186 PID Output 774 PID Control 164
Jog TW Speed 1255 Winder 171 MtrOvrld Speed 334 Motor Data 132 PID Output Scale 773 PID Control 164
Functions MtrOvrld Status 1290 Diagnostics 181 PID Output Sign 772 PID Control 164

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Chapter 3 Programming and Parameters

Name No. Group Page Name No. Group Page Name No. Group Page

PID Setpoint 0 760 PID Control 163 S Curve Accel 1 665 Ramp Rates 157 Scale5 Out Off 1243 Scale Blocks 176
PID Setpoint 1 761 PID Control 163 S Curve Accel 2 667 Ramp Rates 157 Scale5 Output 1236 Scale Blocks 175
PID Setpoint Sel 762 PID Control 163 S Curve Decel 1 666 Ramp Rates 157 Scale6 Div 1248 Scale Blocks 175
PID Source 786 PID Control 165 S Curve Decel 2 668 Ramp Rates 157 Scale6 In Abs 1253 Scale Blocks 176
PID Source Gain 787 PID Control 165 S Curve Time 19 Ramp Rates 155 Scale6 In Max 1249 Scale Blocks 175
PID Steady Delay 731 PI Control 161 SAR Volts Scale 464 Motor Data 133 Scale6 In Min 1250 Scale Blocks 175
PID Target 782 PID Control 164 Save HIM Ref 209 HIM Ref Config 177 Scale6 In Off 1251 Scale Blocks 176
Port Mask Act 1379 Security 194 Scale1 Div 487 Scale Blocks 175 Scale6 Input 1246 Scale Blocks 175
Powerup Delay 1345 Restart Modes 159 Scale1 In Abs 492 Scale Blocks 176 Scale6 Mul 1247 Scale Blocks 175
Preset Speed 1 154 Discrete Speeds 148 Scale1 In Max 488 Scale Blocks 175 Scale6 Out Off 1252 Scale Blocks 176
Preset Speed 2 155 Discrete Speeds 148 Scale1 In Min 489 Scale Blocks 175 Scale6 Output 1245 Scale Blocks 175
Preset Speed 3 156 Discrete Speeds 148 Scale1 In Off 490 Scale Blocks 176 SCR Diag Status 213 Test Generator 146
Preset Speed 4 157 Discrete Speeds 148 Scale1 Input 484 Scale Blocks 175 SCR Diag Test En 214 Test Generator 147
Preset Speed 5 158 Discrete Speeds 148 Scale1 Mul 486 Scale Blocks 175 Selected TorqRef 14 Current Meters 157
Preset Speed 6 159 Discrete Speeds 148 Scale1 Out Off 491 Scale Blocks 176 Set Fld Curve 919 Field Config 135
Preset Speed 7 160 Discrete Speeds 148 Scale1 Output 485 Scale Blocks 175 SLAT Dwell Time 16 Control Config 155
Ramp Delay 20 Ramp Rates 156 Scale2 Div 556 Scale Blocks 175 SLAT Err Stpt 15 Control Config 155
Ramp In 110 Speed Meters 126 Scale2 In Abs 561 Scale Blocks 176 Software Version 331 Configuration 130
Ramp In Pct 111 Speed Meters 126 Scale2 In Max 557 Scale Blocks 175 Spd Band Intgrtr 1106 Torque Prove 174
Ramp In Zero En 1265 Stop Modes 158 Scale2 In Min 558 Scale Blocks 175 Spd 0 Trip Delay 627 Stop Modes 158
Ramp Out 113 Speed Meters 126 Scale2 In Off 559 Scale Blocks 176 Spd Draw Out Pct 1019 Speed Meters 128
Ramp Out Pct 114 Speed Meters 126 Scale2 Input 553 Scale Blocks 175 Spd FB Filt BW 915 Speed Feedback 143
Ramp Select 0 403 Diagnostics 181 Scale2 Mul 555 Scale Blocks 175 Spd FB Filt Gain 914 Speed Feedback 143
Ramp Select 1 404 Diagnostics 181 Scale2 Out Off 560 Scale Blocks 176 Spd FB Loss Lvl 455 Speed Feedback 141
Ramp Type Select 18 Ramp Rates 155 Scale2 Output 554 Scale Blocks 175 Spd Fdbk Control 457 Speed Feedback 142
Rated Motor Volt 175 Motor Data 131 Scale3 Div 1221 Scale Blocks 175 Spd Fdbk State 651 Diagnostics 181
Real FF PID 418 PID Control 163 Scale3 In Abs 1226 Scale Blocks 176 Spd Reg Err 1010 Speed Meters 128
Ref Line Speed 1286 Winder 172 Scale3 In Max 1222 Scale Blocks 175 Spd Reg Err Pct 1011 Speed Meters 128
Functions Scale3 In Min 1223 Scale Blocks 175 Spd Reg Fdbk 1008 Speed Meters 127
Ref Spd Source 1284 Winder 172 Scale3 In Off 1224 Scale Blocks 176 Spd Reg Fdbk Pct 1009 Speed Meters 127
Functions
Scale3 Input 1218 Scale Blocks 175 Spd Reg P Filter 444 Speed Regulator 153
Ref Speed Gain 1285 Winder 172
Functions Scale3 Mul 1220 Scale Blocks 175 Spd Fdbk Invert 461 Speed Feedback 142
Ref Zero Level 106 Speed Regulator 150 Scale3 Out Off 1225 Scale Blocks 176 Spd Feedback 122 Speed Meters 127
Reference Mask 595 Masks & Owners 192 Scale3 Output 1219 Scale Blocks 175 Spd Feedback Pct 121 Speed Meters 127
Reference Owner 604 Masks & Owners 192 Scale4 Div 1230 Scale Blocks 175 Spd Limit Active 372 Diagnostics 178
Relay Out 1 Sel 1392 Digital Outputs 206 Scale4 In Abs 1235 Scale Blocks 176 Spd Loss Flt Cfg 478 Alarms 186
Relay Out 2 Sel 629 Digital Outputs 205 Scale4 In Max 1231 Scale Blocks 175 Spd Match Acc 1196 Winder 170
Scale4 In Min 1232 Scale Blocks 175 Functions
Reset Defaults 258 Drive Memory 177
Scale4 In Off 1233 Scale Blocks 176 Spd Match Compl 1203 Winder 170
Reset Fld Curve 920 Field Config 136 Functions
Reslvr Cable Bal 431 Speed Feedback 141 Scale4 Input 1227 Scale Blocks 175
Spd Match Dec 1197 Winder 170
Reslvr Error Cnt 432 Diagnostics 181 Scale4 Mul 1229 Scale Blocks 175 Functions
Reslvr Position 427 Speed Feedback 141 Scale4 Out Off 1234 Scale Blocks 176 Spd Match Gain 1200 Winder 170
Reslvr Spd Ratio 424 Speed Feedback 139 Scale4 Output 1228 Scale Blocks 175 Functions
Reslvr Type Sel 423 Speed Feedback 139 Scale5 Div 1239 Scale Blocks 175 Spd Match Torque 1216 Winder 171
Scale5 In Abs 1244 Scale Blocks 176 Functions
Resolver Config 425 Speed Feedback 140
Scale5 In Max 1240 Scale Blocks 175 Spd Ref Out Pct 384 Speed Meters 127
Resolver Pos Sel 429 Speed Feedback 141
Scale5 In Min 1241 Scale Blocks 175 Spd Ref Sel Sts 1330 Diagnostics 183
Resolver Spd Sel 430 Speed Feedback 141
Scale5 In Off 1242 Scale Blocks 176 Spd Ref Zero En 124 Speed Regulator 151
Resolver Speed 428 Speed Meters 127
Scale5 Input 1237 Scale Blocks 175 Spd Reg Autotune 1027 Autotune 144
Resolver Status 426 Speed Feedback 141
Scale5 Mul 1238 Scale Blocks 175 Spd Reg BW 434 Speed Regulator 152
Roll Diameter 1154 Diameter Calc 166

210 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Programming and Parameters Chapter 3

Name No. Group Page Name No. Group Page Name No. Group Page

Spd Reg Damping 436 Speed Regulator 153 Speed Threshold 393 Diagnostics 180 Torque Ref 39 Torq Attributes 136
Spd Reg Ki 88 Speed Regulator 149 Speed Tune Dir 1029 Autotune 144 Torque Winder En 1209 Winder 170
Spd Reg Ki Base 94 Autotune 143 Speed Tune Ki 1033 Autotune 144 Functions
Spd Reg Ki Outpt 100 Speed Regulator 150 Speed Tune Kp 1032 Autotune 144 Total Inertia 433 Speed Regulator 152
Spd Reg Kp 87 Speed Regulator 149 Speed Up Base 446 Speed Regulator 153 Trim Ramp 42 Speed Reference 149
Spd Reg Kp Base 93 Autotune 143 Speed Up Filter 447 Speed Regulator 153 Trim Ramp Pct 378 Speed Reference 149
Spd Reg Kp Outpt 99 Speed Regulator 149 Speed Zero Delay 108 Speed Regulator 151 Trim Speed 43 Speed Reference 149
Spd Reg Neg Lim 96 Speed Regulator 149 Speed Zero Level 107 Speed Regulator 151 Trim Speed Pct 379 Speed Reference 149
Spd Reg Out Pct 236 Speed Regulator 127 Spd Zero P Gain 126 Speed Regulator 152 Trim Torque 40 Torq Attributes 137
Spd Reg Pos Lim 95 Speed Regulator 149 SSC Threshold 409 Alarms 186 TrqTpr Enable 750 Torq Attributes 137
Spd Select 0 400 Diagnostics 181 Start At Powerup 1344 Restart Modes 159 TrqTpr Lim0 751 Torq Attributes 137
Spd Select 1 401 Diagnostics 181 Start Inhibits 1403 Diagnostics 184 TrqTpr Lim1 752 Torq Attributes 137
Spd Select 2 402 Diagnostics 181 Start Mask 592 Masks & Owners 191 TrqTpr Lim2 753 Torq Attributes 137
Spd Trq Mode Sel 241 Control Config 152 Start Owner 601 Masks & Owners 192 TrqTpr Lim3 754 Torq Attributes 137
Spd Tune Inertia 1030 Autotune 144 Static F Zero 1287 Winder 172 TrqTpr Lim4 755 Torq Attributes 137
Spd Up Gain Pct 445 Speed Regulator 153 Functions TrqTpr Spd 756 Torq Attributes 138
Spd Zero I En 123 Speed Regulator 151 Static Friction 1174 Winder 168 TstGen Amplitude 60 Test Generator 145
Functions TstGen Frequency 59 Test Generator 145
Spd Zero P En 125 Speed Regulator 151
Status1 at Fault 1349 Faults 184 TstGen Offset 61 Test Generator 145
SpdFuncSelect 1016 Speed Regulator 154
Status2 at Fault 1350 Faults 184 TstGen Output 58 Test Generator 145
SpdReg AntiBckup 643 Speed Regulator 154
Stop Owner 600 Masks & Owners 192 UnderVlt Flt Dly 470 Alarms 186
SpdReg BW Bypass 448 Speed Regulator 153
Tachometer Speed 1408 Speed Meters 128 UnderVolt Thresh 481 Alarms 186
SpdOut FiltBW 239 Speed Regulator 152
Taper Enable 1176 Winder 169 UserDefined0 503 User Defined 189
SpdOut FiltGain 238 Speed Regulator 152 Functions
SpdReg FB Bypass 458 Speed Feedback 142 UserDefined1 504 User Defined 189
TaskLoad 1 ms 1384 Diagnostics 183
SpdReg Ki Bypass 460 Speed Regulator 154 UserDefined10 513 User Defined 189
TaskLoad 2 ms 1385 Diagnostics 183
SpdReg Ki Pct 1035 Autotune 144 UserDefined11 514 User Defined 189
TaskLoad 8 ms 1386 Diagnostics 183
SpdReg Kp Bypass 459 Speed Regulator 154 UserDefined12 515 User Defined 189
TB Manual Ref 267 Discrete Speeds 149
SpdReg Kp Pct 1034 Autotune 144 UserDefined13 516 User Defined 189
Tension Reduct 1179 Winder 169
SpdReg NegLmOut 90 Current Meters 128 Functions UserDefined14 517 User Defined 189
SpdReg PosLmOut 89 Current Meters 128 Tension Ref 1180 Winder 169 UserDefined15 518 User Defined 189
SpdTune Friction 1031 Autotune 144 Functions UserDefined2 505 User Defined 189
Speed Demand En 1215 Winder 171 Tension Scale 1181 Winder 169 UserDefined3 506 User Defined 189
Functions Functions UserDefined4 507 User Defined 189
Speed Dev Band 1105 Torque Prove 174 TestPoint Data 1382 Diagnostics 183 UserDefined5 508 User Defined 189
Speed Draw Out 1018 Speed Meters 128 TestPoint Sel 1381 Diagnostics 183 UserDefined6 509 User Defined 189
Speed Match 1195 Winder 170 Threshold Delay 103 Speed Regulator 150 UserDefined7 510 User Defined 189
Functions Time AccDec Min 1182 Winder 169 UserDefined8 511 User Defined 189
Speed Ramp En 245 Ramp Rates 156 Functions
UserDefined9 512 User Defined 189
Speed Ratio 1017 Speed 149 Torq Cur Filter 926 Torq Attributes 138
UsrDefBitWrdA 519 User Defined 189
References Torq Current Pct 1193 Winder 170
UsrDefBitWrdA0 520 User Defined 190
Speed Ref A 44 Speed Meters 126 Functions
UsrDefBitWrdA1 521 User Defined 190
Speed Ref A Pct 47 Speed Meters 126 Torq Limit Slew 1104 Torque Prove 174
UsrDefBitWrdA10 530 User Defined 190
Speed Ref B 48 Speed Meters 126 Torq Limit Type 715 Load Limits 158
UsrDefBitWrdA11 531 User Defined 190
Speed Ref B Pct 49 Speed Meters 126 Torq Prove Cfg 1100 Torque Prove 173
UsrDefBitWrdA12 532 User Defined 190
Speed Ref Out 385 Speed Meters 127 Torq Prove Setup 1101 Torque Prove 173
UsrDefBitWrdA13 533 User Defined 190
Speed Ref Source 1329 Diagnostics 182 Torq Prove Sts 1103 Torque Prove 174
UsrDefBitWrdA14 534 User Defined 190
Speed Reg En 242 Speed Regulator 152 Torq Red CurLim 13 Load Limits 157
UsrDefBitWrdA15 535 User Defined 190
Speed Reg In 118 Speed Meters 127 Torque Const 1013 Autotune 144
UsrDefBitWrdA2 522 User Defined 190
Speed Reg In Pct 117 Speed Meters 126 Torque Negative 347 Diagnostics 178
UsrDefBitWrdA3 523 User Defined 190
Speed Thresh Neg 102 Speed Regulator 150 Torque Positive 346 Diagnostics 178
UsrDefBitWrdA4 524 User Defined 190
Speed Thresh Pos 101 Speed Regulator 150 Torque Reduction 342 Torq Attributes 137

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Chapter 3 Programming and Parameters

Name No. Group Page

UsrDefBitWrdA5 525 User Defined 190

UsrDefBitWrdA6 526 User Defined 190
UsrDefBitWrdA7 527 User Defined 190
UsrDefBitWrdA8 528 User Defined 190
UsrDefBitWrdA9 529 User Defined 190
UsrDefBitWrdB 536 User Defined 190
UsrDefBitWrdB0 537 User Defined 191
UsrDefBitWrdB1 538 User Defined 191
UsrDefBitWrdB10 547 User Defined 191
UsrDefBitWrdB11 548 User Defined 191
UsrDefBitWrdB12 549 User Defined 191
UsrDefBitWrdB13 550 User Defined 191
UsrDefBitWrdB14 551 User Defined 191
UsrDefBitWrdB15 552 User Defined 191
UsrDefBitWrdB2 539 User Defined 191
UsrDefBitWrdB3 540 User Defined 191
UsrDefBitWrdB4 541 User Defined 191
UsrDefBitWrdB5 542 User Defined 191
UsrDefBitWrdB6 543 User Defined 191
UsrDefBitWrdB7 544 User Defined 191
UsrDefBitWrdB8 545 User Defined 191
UsrDefBitWrdB9 546 User Defined 191
UsrDsplyDiv0 51 User Defined 188
UsrDsplyMult0 50 User Defined 188
UsrValDiv1 54 User Defined 188
UsrValMult1 53 User Defined 188
Variable J Comp 1171 Winder 168
Functions
W Gain 1202 Winder 170
Functions
W Offset 1199 Winder 170
Functions
W Reference 1217 Winder 171
Functions
W Target 1210 Winder 171
Functions
Winder Side 1201 Winder 170
Functions
Winder Type 1187 Diameter Calc 167
Write Mask Act 1377 Security 194
Write Mask Cfg 1378 Security 194
Zero Ramp Input 345 Ramp Rates 156
Zero Ramp Output 344 Ramp Rates 156
Zero Torque 353 Torq Attributes 137
ZeroSpdFloatTime 1113 Torque Prove 175

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 Programming and Parameters Chapter 3

Parameter Cross No.

63
Parameter Name

Anlg Out2 Scale

Group

Analog Outputs
Page

197
No.

121
Parameter Name

Spd Feedback Pct

Group

Speed Meters
Page

127
Reference – by 64 Anlg Out3 Scale Analog Outputs 197 122 Spd Feedback Speed Meters 127
Number 65 Anlg Out4 Scale Analog Outputs 197 123 Spd Zero I En Speed Regulator 151
66 Anlg Out1 Sel Analog Outputs 198 124 Spd Ref Zero En Speed Regulator 151
No. Parameter Name Group Page

1 Minimum Speed Limits 148 67 Anlg Out2 Sel Analog Outputs 198 125 Spd Zero P En Speed Regulator 151
2 Maximum Speed Limits 148 68 Anlg Out3 Sel Analog Outputs 198 126 Spd Zero P Gain Speed Regulator 152
3 Max Speed Fwd Limits 148 69 Anlg Out4 Sel Analog Outputs 198 133 Digital In1 Sel Digital Inputs 199
4 Max Speed Rev Limits 148 70 Anlg In1 Sel Analog Inputs 195 134 Digital In2 Sel Digital Inputs 199
5 Min Speed Fwd Limits 148 71 Anlg In1 Config Analog Inputs 195 135 Digital In3 Sel Digital Inputs 199
6 Min Speed Rev Limits 148 72 Anlg In1 Scale Analog Inputs 195 136 Digital In4 Sel Digital Inputs 199
7 Current Limit Torq Attributes 136 73 Anlg1 Tune Scale Analog Inputs 195 137 Digital In5 Sel Digital Inputs 199
8 Current Lim Pos Torq Attributes 136 74 Anlg In1 Offset Analog Inputs 196 138 Digital In6 Sel Digital Inputs 199
9 Current Lim Neg Torq Attributes 136 75 Anlg In2 Sel Analog Inputs 195 139 Digital In7 Sel Digital Inputs 199
10 Cur Lim Pos Out Current Meters 128 76 Anlg In2 Config Analog Inputs 195 140 Digital In8 Sel Digital Inputs 199
11 Cur Lim Neg Out Current Meters 128 77 Anlg In2 Scale Analog Inputs 195 141 Digital In9 Sel Digital Inputs 199
12 Current Rate Lim Torq Attributes 136 78 Anlg2 Tune Scale Analog Inputs 195 142 Digital In10 Sel Digital Inputs 199
13 Torq Red CurLim Load Limits 157 79 Anlg In2 Offset Analog Inputs 196 143 Digital In11 Sel Digital Inputs 199
14 Selected TorqRef Current Meters 128 80 Anlg In3 Sel Analog Inputs 195 144 Digital In12 Sel Digital Inputs 199
15 SLAT Err Stpt Control Config 155 81 Anlg In3 Config Analog Inputs 195 145 Digital Out1 Sel Digital Outputs 203
16 SLAT Dwell Time Control Config 155 82 Anlg In3 Scale Analog Inputs 195 146 Digital Out2 Sel Digital Outputs 203
17 Motor Trq Ref Current Meters 128 83 Anlg3 Tune Scale Analog Inputs 195 147 Digital Out3 Sel Digital Outputs 203
18 Ramp Type Select Ramp Rates 155 84 Anlg In3 Offset Analog Inputs 196 148 Digital Out4 Sel Digital Outputs 203
19 S Curve Time Ramp Rates 155 87 Spd Reg Kp Speed Regulator 149 149 Digital Out5 Sel Digital Outputs 203
20 Ramp Delay Ramp Rates 156 88 Spd Reg Ki Speed Regulator 149 150 Digital Out6 Sel Digital Outputs 203
22 MOP Accel Time Ramp Rates 156 89 SpdReg PosLmOut Current Meters 128 151 Digital Out7 Sel Digital Outputs 203
21 Min Firing Angle Motor Data 131 90 SpdReg NegLmOut Current Meters 128 152 Digital Out8 Sel Digital Outputs 203
24 Accel Time 2 Ramp Rates 156 91 Fld Reg Kp Field Config 133 154 Preset Speed 1 Discrete Speeds 148
30 MOP Decel Time Ramp Rates 156 92 Fld Reg Ki Field Config 133 155 Preset Speed 2 Discrete Speeds 148
32 Decel Time 2 Ramp Rates 156 93 Spd Reg Kp Base Autotune 143 156 Preset Speed 3 Discrete Speeds 148
38 Fast Stop Time Stop Modes 158 94 Spd Reg Ki Base Autotune 143 157 Preset Speed 4 Discrete Speeds 148
39 Torque Ref Torq Attributes 136 95 Spd Reg Pos Lim Speed Regulator 149 158 Preset Speed 5 Discrete Speeds 148
40 Trim Torque Torq Attributes 137 96 Spd Reg Neg Lim Speed Regulator 149 159 Preset Speed 6 Discrete Speeds 148
41 Current Reg In Current Meters 128 97 Fld Reg Kp Base Field Config 133 160 Preset Speed 7 Discrete Speeds 148
42 Trim Ramp Speed Reference 149 98 Fld Reg Ki Base Field Config 133 162 Max Feedback Spd Motor Data 131
43 Trim Speed Speed Reference 149 99 Spd Reg Kp Outpt Speed Regulator 149 166 Alpha Test Test Generator 146
44 Speed Ref A Speed Meters 126 100 Spd Reg Ki Outpt Speed Regulator 150 165 Firing Angle Drive Data 129
45 Max Ref Speed Motor Data 131 101 Speed Thresh Pos Speed Regulator 150 167 Arm Text Angle Test Generator 146
47 Speed Ref A Pct Speed Meters 126 102 Speed Thresh Neg Speed Regulator 150 168 Fld Test Angle Test Generator 146
48 Speed Ref B Speed Meters 126 103 Threshold Delay Speed Regulator 150 169 Encoder PPR Speed Feedback 138
49 Speed Ref B Pct Speed Meters 126 104 At Speed Error Speed Regulator 150 170 Encoder Config Speed Feedback 138
50 UsrDsplyMult0 User Defined 188 105 At Speed Delay Speed Regulator 150 175 Rated Motor Volt Motor Data 131
51 UsrDsplyDiv0 User Defined 188 106 Ref Zero Level Speed Regulator 150 179 Nom Mtr Arm Amps Motor Data 131
53 UsrValMult1 User Defined 188 107 Speed Zero Level Speed Regulator 151 181 Adaptive Spd En Adaptv 159
108 Speed Zero Delay Speed Regulator 151 Regulator
54 UsrValDiv1 User Defined 188
110 Ramp In Speed Meters 126 182 Adaptive Reg Typ Adaptv 159
57 FaultCode Drive Data 129 Regulator
58 TstGen Output Test Generator 145 111 Ramp In Pct Speed Meters 126
183 Adaptive Ref Adaptv 159
59 TstGen Frequency Test Generator 145 113 Ramp Out Speed Meters 126 Regulator
60 TstGen Amplitude Test Generator 145 114 Ramp Out Pct Speed Meters 126 184 Adaptive Spd 1 Adaptv 159
61 TstGen Offset Test Generator 145 117 Speed Reg In Pct Speed Meters 126 Regulator
62 Anlg Out1 Scale Analog Outputs 197 118 Speed Reg In Speed Meters 127

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Chapter 3 Programming and Parameters

No. Parameter Name Group Page No. Parameter Name Group Page No. Parameter Name Group Page

185 Adaptive Spd 2 Adaptv 159 297 Anlg In3 Target Analog Inputs 196 425 Resolver Config Speed Feedback 140
Regulator 300 Drive Type Drive Data 129 426 Resolver Status Speed Feedback 141
186 Adaptive Joint 1 Adaptv 159 302 Language Drive Memory 177 427 Reslvr Position Speed Feedback 141
Regulator
331 Software Version Configuration 130 428 Resolver Speed Speed Meters 127
187 Adaptive Joint 2 Adaptv 160
Regulator 332 Drive Checksum Drive Data 130 429 Resolver Pos Sel Speed Feedback 141
188 Adaptive P Gain1 Adaptv 160 333 MtrOvrld Factor Motor Data 132 430 Resolver Spd Sel Speed Feedback 141
Regulator 334 MtrOvrld Speed Motor Data 132 431 Reslvr Cable Bal Speed Feedback 141
189 Adaptive I Gain1 Adaptv 160 342 Torque Reduction Torq Attributes 137 432 Reslvr Error Cnt Diagnostics 181
Regulator 344 Zero Ramp Output Ramp Rates 156 433 Total Inertia Speed Regulator 152
190 Adaptive P Gain2 Adaptv 160 345 Zero Ramp Input Ramp Rates 156 434 Spd Reg BW Speed Regulator 152
Regulator
346 Torque Positive Diagnostics 178 435 Act Spd Reg BW Speed Regulator 153
191 Adaptive I Gain2 Adaptv 160
347 Torque Negative Diagnostics 178 436 Spd Reg Damping Speed Regulator 153
Regulator
348 Lock Speed Integ Speed Regulator 152 444 Spd Reg P Filter Speed Regulator 153
192 Adaptive P Gain3 Adaptv 160
Regulator 349 CurrLimit Active Diagnostics 178 445 Spd Up Gain Pct Speed Regulator 153
193 Adaptive I Gain3 Adaptv 160 351 Field Current Current Meters 129 446 Speed Up Base Speed Regulator 153
Regulator 353 Zero Torque Torq Attributes 137 447 Speed Up Filter Speed Regulator 153
199 Arm Current Pct Current Meters 128 354 Aux Inp Flt Cfg Alarms 185 448 SpdReg BW Bypass Speed Regulator 153
200 Arm Current Current Meters 128 365 OverTemp Flt Cfg Alarms 185 452 CurrReg Autotune Autotune 143
201 Drive Type Sel Motor Data 131 372 Spd Limit Active Diagnostics 178 453 Arm Resistance Autotune 143
203 OverVolt Flt Cfg Alarms 185 373 Freeze Ramp Ramp Rates 156 454 Arm Inductance Autotune 143
209 Save HIM Ref HIM Ref Config 177 374 Drv Fld Brdg Cur Motor Data 132 455 Spd FB Loss Lvl Speed Feedback 141
210 Man Ref Preload HIM Ref Config 177 376 MtrOvrld Type Motor Data 132 456 Fld Weaken Ratio Field Config 133
211 Param Access Lvl Drive Memory 177 378 Trim Ramp Pct Speed Reference 149 457 Spd Fdbk Control Speed Feedback 142
213 SCR Diag Test En Test Generator 146 379 Trim Speed Pct Speed Reference 149 458 SpdReg FB Bypass Speed Feedback 142
214 SCR Diag Status Test Generator 147 381 Drive Status 1 Diagnostics 179 459 SpdReg Kp Bypass Speed Regulator 153
215 OpenSCR WarnLvl Test Generator 147 382 Drive Status 2 Diagnostics 180 460 SpdReg Ki Bypass Speed Regulator 154
216 OpenSCR Flt Cfg Test Generator 147 384 Spd Ref Out Pct Speed Meters 127 461 Spd Fdbk Invert Speed Feedback 142
217 OpenSCR Threshld Test Generator 147 385 Speed Ref Out Speed Meters 127 462 Flux Divide Field Config 133
218 OpenSCR Trip Lvl Test Generator 147 388 Flying Start En Speed Regulator 152 463 Flux Filter BW Field Config 133
232 Inertia Comp Out Current Meters 129 393 Speed Threshold Diagnostics 180 464 SAR Volts Scale Motor Data 133
233 Output Voltage Drive Data 129 394 At Speed Diagnostics 180 465 Drive Size Drive Data 130
234 Fld Current Pct Current Meters 129 395 At Zero Speed Diagnostics 180 466 AC Line Voltage Drive Data 130
235 Elapsed Lifetime Drive Data 129 396 MOP Inc Active Diagnostics 180 467 Max Fld Flux Pct Field Config 134
236 Spd Reg Out Pct Speed Regulator 127 397 MOP Dec Active Diagnostics 181 468 Min Fld Curr Pct Field Config 134
238 SpdOut FiltGain Speed Regulator 152 400 Spd Select 0 Diagnostics 181 469 Field Mode Sel Field Config 134
239 SpdOut FiltBW Speed Regulator 152 401 Spd Select 1 Diagnostics 181 470 UnderVlt Flt Dly Alarms 186
241 Spd Trq Mode Sel Control Config 155 402 Spd Select 2 Diagnostics 181 473 FldLoss Flt Cfg Alarms 186
242 Speed Reg En Speed Regulator 152 403 Ramp Select 0 Diagnostics 181 475 FldLoss Flt Dly Alarms 186
245 Speed Ramp En Ramp Rates 156 404 Ramp Select 1 Diagnostics 181 476 Field Curve Out Current Meters 129
249 MOP Ref Config Reference Config 177 414 Fdbk Device Type Speed Feedback 138 478 Spd Loss Flt Cfg Alarms 186
258 Reset Defaults Drive Memory 177 409 SSC Threshold Alarms 186 479 MtrOvrld Flt Cfg Alarms 186
259 Anlg In1 Tune Analog Inputs 196 410 Ext FC Curr Hyst Field Config 133 481 UnderVolt Thresh Alarms 186
260 Anlg In2 Tune Analog Inputs 196 411 FC Lim Ramp Torq Attributes 137 484 Scale1 Input Scale Blocks 175
261 Anlg In3 Tune Analog Inputs 196 412 FC Lim Ramp Time Torq Attributes 137 485 Scale1 Output Scale Blocks 175
263 Clear Fault Que Faults 184 418 Real FF PID PID Control 163 486 Scale1 Mul Scale Blocks 175
266 Jog Speed Discrete Speeds 148 420 Encoder Speed Speed Meters 127 487 Scale1 Div Scale Blocks 175
267 TB Manual Ref Discrete Speeds 149 421 PD Output PID PD Control 162 488 Scale1 In Max Scale Blocks 175
280 Nom Mtr Fld Amps Motor Data 132 422 Fdbk Option ID Speed Feedback 138 489 Scale1 In Min Scale Blocks 175
295 Anlg In1 Target Analog Inputs 196 423 Reslvr Type Sel Speed Feedback 139 490 Scale1 In Off Scale Blocks 176
296 Anlg In2 Target Analog Inputs 196 424 Reslvr Spd Ratio Speed Feedback 139 491 Scale1 Out Off Scale Blocks 176

214 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Programming and Parameters Chapter 3

No. Parameter Name Group Page No. Parameter Name Group Page No. Parameter Name Group Page

492 Scale1 In Abs Scale Blocks 176 544 UsrDefBitWrdB7 User Defined 191 600 Stop Owner Masks & Owners 192
493 Arm Volt Kp Field Config 134 545 UsrDefBitWrdB8 User Defined 191 601 Start Owner Masks & Owners 192
494 Arm Volt Ki Field Config 134 546 UsrDefBitWrdB9 User Defined 191 602 Jog Owner Masks & Owners 192
495 Arm Volt Kp Base Field Config 135 547 UsrDefBitWrdB10 User Defined 191 603 Direction Owner Masks & Owners 192
496 Arm Volt Ki Base Field Config 135 548 UsrDefBitWrdB11 User Defined 191 604 Reference Owner Masks & Owners 192
497 Field Reg Enable Field Config 135 549 UsrDefBitWrdB12 User Defined 191 605 Accel Owner Masks & Owners 192
498 Force Min Field Field Config 135 550 UsrDefBitWrdB13 User Defined 191 606 Fault Clr Owner Masks & Owners 192
499 Field Economy En Field Config 135 551 UsrDefBitWrdB14 User Defined 191 607 MOP Owner Masks & Owners 192
500 Flux Ref Pct Current Meters 129 552 UsrDefBitWrdB15 User Defined 191 608 Local Owner Masks & Owners 192
503 UserDefined0 User Defined 189 553 Scale2 Input Scale Blocks 175 609 Decel Owner Masks & Owners 192
504 UserDefined1 User Defined 189 554 Scale2 Output Scale Blocks 175 610 Data In A1 Datalinks 193
505 UserDefined2 User Defined 189 555 Scale2 Mul Scale Blocks 175 611 Data In A2 Datalinks 193
506 UserDefined3 User Defined 189 556 Scale2 Div Scale Blocks 175 612 Data In B1 Datalinks 193
507 UserDefined4 User Defined 189 557 Scale2 In Max Scale Blocks 175 613 Data In B2 Datalinks 193
508 UserDefined5 User Defined 189 558 Scale2 In Min Scale Blocks 175 614 Data In C1 Datalinks 193
509 UserDefined6 User Defined 189 559 Scale2 In Off Scale Blocks 176 615 Data In C2 Datalinks 193
510 UserDefined7 User Defined 189 560 Scale2 Out Off Scale Blocks 176 616 Data In D1 Datalinks 193
511 UserDefined8 User Defined 189 561 Scale2 In Abs Scale Blocks 176 617 Data In D2 Datalinks 193
512 UserDefined9 User Defined 189 562 Anlg Tach Gain Speed Feedback 142 618 Data Out A1 Datalinks 193
513 UserDefined10 User Defined 189 563 Feedback Offset Speed Feedback 142 619 Data Out A2 Datalinks 193
514 UserDefined11 User Defined 189 564 Dig In Status Digital Inputs 202 620 Data Out B1 Datalinks 193
515 UserDefined12 User Defined 189 565 Dig In Term 1 Digital Inputs 202 621 Data Out B2 Datalinks 193
516 UserDefined13 User Defined 189 566 Dig In Term 2 Digital Inputs 202 622 Data Out C1 Datalinks 193
517 UserDefined14 User Defined 189 567 Dig In Term 3 Digital Inputs 202 623 Data Out C2 Datalinks 193
518 UserDefined15 User Defined 189 568 Dig In Term 4 Digital Inputs 202 624 Data Out D1 Datalinks 193
519 UsrDefBitWrdA User Defined 189 569 Dig In Term 5 Digital Inputs 202 625 Data Out D2 Datalinks 193
520 UsrDefBitWrdA0 User Defined 190 570 Dig In Term 6 Digital Inputs 202 627 Spd 0 Trip Delay Stop Modes 158
521 UsrDefBitWrdA1 User Defined 190 571 Dig In Term 7 Digital Inputs 202 629 Relay Out 2 Sel Digital Outputs 205
522 UsrDefBitWrdA2 User Defined 190 572 Dig In Term 8 Digital Inputs 202 631 Decel Mask Masks & Owners 193
523 UsrDefBitWrdA3 User Defined 190 573 Dig In Term 9 Digital Inputs 202 643 SpdReg AntiBckup Speed Regulator 154
524 UsrDefBitWrdA4 User Defined 190 574 Dig In Term 10 Digital Inputs 202 651 Spd Fdbk State Diagnostics 181
525 UsrDefBitWrdA5 User Defined 190 575 Dig In Term 11 Digital Inputs 202 652 Encoder Err Chk Speed Feedback 142
526 UsrDefBitWrdA6 User Defined 190 576 Dig In Term 12 Digital Inputs 202 660 Accel Time 1 Ramp Rates 157
527 UsrDefBitWrdA7 User Defined 190 581 Dig Out Status Digital Outputs 205 662 Decel Time 1 Ramp Rates 157
528 UsrDefBitWrdA8 User Defined 190 584 OverCurrent Thr Alarms 187 665 S Curve Accel 1 Ramp Rates 157
529 UsrDefBitWrdA9 User Defined 190 585 Overspeed Val Alarms 187 666 S Curve Decel 1 Ramp Rates 157
530 UsrDefBitWrdA10 User Defined 190 587 I Reg Error Autotune 143 667 S Curve Accel 2 Ramp Rates 157
531 UsrDefBitWrdA11 User Defined 190 588 AC Line Freq Drive Data 130 668 S Curve Decel 2 Ramp Rates 157
532 UsrDefBitWrdA12 User Defined 190 589 DPI Baud Rate Comm Control 191 695 PI Steady Thr PI Control 161
533 UsrDefBitWrdA13 User Defined 190 590 DPI Port Sel Comm Control 191 696 Droop Percent Load Limits 157
534 UsrDefBitWrdA14 User Defined 190 591 Logic Mask Masks & Owners 191 697 Droop Filter Load Limits 157
535 UsrDefBitWrdA15 User Defined 190 Security 193 698 Load Comp Load Limits 157
536 UsrDefBitWrdB User Defined 190 592 Start Mask Masks & Owners 191 699 Enable Droop Load Limits 158
537 UsrDefBitWrdB0 User Defined 191 593 Jog Mask Masks & Owners 192 700 Droop Limit Load Limits 158
538 UsrDefBitWrdB1 User Defined 191 594 Direction Mask Masks & Owners 192 715 Torq Limit Type Load Limits 158
539 UsrDefBitWrdB2 User Defined 191 595 Reference Mask Masks & Owners 192 731 PID Steady Delay PI Control 161
540 UsrDefBitWrdB3 User Defined 191 596 Accel Mask Masks & Owners 192 734 PI Init Intgl Gn PI Control 161
541 UsrDefBitWrdB4 User Defined 191 597 Fault Clr Mask Masks & Owners 192 750 TrqTpr Enable Torq Attributes 137
542 UsrDefBitWrdB5 User Defined 191 598 MOP Mask Masks & Owners 192 751 TrqTpr Lim0 Torq Attributes 137
543 UsrDefBitWrdB6 User Defined 191 599 Local Mask Masks & Owners 192 752 TrqTpr Lim1 Torq Attributes 137

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Chapter 3 Programming and Parameters

No. Parameter Name Group Page No. Parameter Name Group Page No. Parameter Name Group Page

753 TrqTpr Lim2 Torq Attributes 137 914 Spd FB Filt Gain Speed Feedback 143 1106 Spd Band Intgrtr Torque Prove 174
754 TrqTpr Lim3 Torq Attributes 137 915 Spd FB Filt BW Speed Feedback 143 1107 Brk Release Time Torque Prove 174
755 TrqTpr Lim4 Torq Attributes 137 916 Fld Const 40 Pct Field Config 135 1108 Brk Set Time Torque Prove 174
756 TrqTpr Spd Torq Attributes 138 917 Fld Const 70 Pct Field Config 135 1109 Brk Alarm Travel Torque Prove 174
757 PID Clamp PID Control 163 918 Fld Const 90 Pct Field Config 135 1110 Brk Slip Count Torque Prove 174
758 Feed Fwd PID PID Control 163 919 Set Fld Curve Field Config 135 1111 Float Tolerance Torque Prove 174
759 PID Error PID Control 163 920 Reset Fld Curve Field Config 136 1112 MicroPsnScalePct Torque Prove 174
760 PID Setpoint 0 PID Control 163 921 Out Volt Level Field Config 136 1113 ZeroSpdFloatTime Torque Prove 175
761 PID Setpoint 1 PID Control 163 923 Act Spd Filter Speed Feedback 143 1114 Brake Test Torq Torque Prove 175
762 PID Setpoint Sel PID Control 163 924 Actual Speed Speed Meters 127 1153 Max Diameter Diameter Calc 166
763 PID Feedback PID Control 164 926 Torq Cur Filter Torq Attributes 138 1154 Roll Diameter Diameter Calc 166
764 PI Integral Gain PI Control 161 928 Filt TorqCur Pct Current Meters 129 1155 Line Spd Thresh Diameter Calc 166
765 PI Prop Gain PID PI Control 161 1006 Droop Out Speed Meters 127 1156 Line Spd Gain Diameter Calc 166
766 PD Deriv Gain 1 PD Control 162 1007 Droop Out Pct Speed Meters 127 1157 Diameter Reset Diameter Calc 166
767 PD Deriv Filter PD Control 162 1008 Spd Reg Fdbk Speed Meters 127 1158 Diam Threshold Diameter Calc 166
768 PD Prop Gain 1 PD Control 163 1009 Spd Reg Fdbk Pct Speed Meters 127 1159 Diameter Reached Diameter Calc 166
769 Enable PI PI Control 161 1010 Spd Reg Err Speed Meters 128 1160 Line Speed Pct Diameter Calc 166
770 Enable PD PD Control 163 1011 Spd Reg Err Pct Speed Meters 128 1161 Diam Calc Dis Diameter Calc 166
771 PI Output PI Control 161 1012 Inertia C Filter Autotune 143 1162 Diameter Filter Diameter Calc 167
772 PID Output Sign PID Control 164 1013 Torque Const Autotune 144 1163 Base Omega Diameter Calc 167
773 PID Output Scale PID Control 164 1014 Inertia Autotune 144 1164 Diam Preset 0 Diameter Calc 167
774 PID Output PID Control 164 1015 Friction Autotune 144 1165 Diam Preset 1 Diameter Calc 167
776 PI Central v1 PI Control 161 1016 SpdFuncSelect Speed Regulator 154 1166 Diam Preset 2 Diameter Calc 167
777 PI Central v2 PI Control 161 1017 Speed Ratio Speed 149 1167 Diam Preset 3 Diameter Calc 167
778 PI Central v3 PI Control 161 References 1168 Diam Preset Sel Diameter Calc 167
779 PI Central v sel PI Control 162 1018 Speed Draw Out Speed Meters 128 1171 Variable J Comp Winder 168
780 PI Central vs0 PI Control 162 1019 Spd Draw Out Pct Speed Meters 128 Functions
781 PI Central vs1 PI Control 162 1021 Encoder Out Sel Speed Feedback 143 1172 Constant J Comp Winder 168
1022 Encoder Counts Speed Feedback 143 Functions
782 PID Target PID Control 164
1027 Spd Reg Autotune Autotune 144 1173 Materl Width Pct Winder 168
783 PI integr freeze PI Control 162 Functions
784 PI Upper Limit PI Control 162 1029 Speed Tune Dir Autotune 144
1174 Static Friction Winder 168
785 PI Lower Limit PI Control 162 1030 Spd Tune Inertia Autotune 144 Functions
786 PID Source PID Control 165 1031 SpdTune Friction Autotune 144 1175 Dynamic Friction Winder 168
787 PID Source Gain PID Control 165 1032 Speed Tune Kp Autotune 144 Functions
788 PD Prop Gain 2 PD Control 163 1033 Speed Tune Ki Autotune 144 1176 Taper Enable Winder 169
1034 SpdReg Kp Pct Autotune 144 Functions
789 PD Deriv Gain 2 PD Control 163
1035 SpdReg Ki Pct Autotune 144 1177 Initial Diameter Winder 169
790 PD Prop Gain 3 PD Control 163
Functions
791 PD Deriv Gain 3 PD Control 163 1042 Anlg In1 Cmp Analog Inputs 196
1178 Final Diameter Winder 169
792 Anlg In 1 Filter Analog Inputs 196 1043 Anlg In1 Cmp Err Analog Inputs 196
Functions
793 PI Init Prop Gn PI Control 162 1044 Anlg In1 Cmp Dly Analog Inputs 196
1179 Tension Reduct Winder 169
794 Diameter Calc Init Diam Calc 165 1045 Anlg In1 Cmp Eq Analog Inputs 197 Functions
795 DncrPosSpd Init Diam Calc 165 1046 PID Accel Time PID Control 165 1180 Tension Ref Winder 169
796 Max Deviation Init Diam Calc 165 1047 PID Decel Time PID Control 165 Functions
797 Gear Box Ratio Init Diam Calc 165 1048 Autotune Cur Lim Auto Tune 145 1181 Tension Scale Winder 169
1052 Output Power Drive Data 130 Functions
798 Dancer Constant Init Diam Calc 166
1100 Torq Prove Cfg Torque Prove 173 1182 Time AccDec Min Winder 169
799 Minimum Diameter Init Diam Calc 166 Functions
Diameter Calc 1101 Torq Prove Setup Torque Prove 173
1183 Int Acc Calc En Winder 169
800 Diameter Calc St Init Diam Calc 166 1103 Torq Prove Sts Torque Prove 174 Functions
801 Anlg In2 Filter Analog Inputs 196 1104 Torq Limit Slew Torque Prove 174 1184 Line Accel Pct Winder 169
802 Anlg In3 Filter Analog Inputs 196 1105 Speed Dev Band Torque Prove 174 Functions

216 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Programming and Parameters Chapter 3

No. Parameter Name Group Page No. Parameter Name Group Page No. Parameter Name Group Page

1185 Line Decel Pct Winder 169 1217 W Reference Winder 171 1270 Inversion Out 4 Digital Outputs 205
Functions Functions 1271 Inversion Out 5 Digital Outputs 205
1186 Line FastStp Pct Winder 169 1218 Scale3 Input Scale Blocks 175 1272 Inversion Out 6 Digital Outputs 205
Functions 1219 Scale3 Output Scale Blocks 175 1273 Inversion Out 7 Digital Outputs 205
1187 Winder Type Diameter Calc 167 1220 Scale3 Mul Scale Blocks 175 1274 Inversion Out 8 Digital Outputs 205
1188 Accel Status Winder 169 1221 Scale3 Div Scale Blocks 175
Functions 1275 Inversion Relay2 Digital Outputs 205
1222 Scale3 In Max Scale Blocks 175 1276 Inversion In 1 Digital Inputs 202
1189 Decel Status Winder 169
Functions 1223 Scale3 In Min Scale Blocks 175 1277 Inversion In 2 Digital Inputs 202
1190 Fast Stop Status Diagnostics 169 1224 Scale3 In Off Scale Blocks 176 1278 Inversion In 3 Digital Inputs 202
1191 InertiaCompCnst Winder 170 1225 Scale3 Out Off Scale Blocks 176 1279 Inversion In 4 Digital Inputs 202
Functions 1226 Scale3 In Abs Scale Blocks 176 1280 Inversion In 5 Digital Inputs 202
1192 InertiaCompVar Winder 170 1227 Scale4 Input Scale Blocks 175 1281 Inversion In 6 Digital Inputs 202
Functions 1228 Scale4 Output Scale Blocks 175 1282 Inversion In 7 Digital Inputs 202
1193 Torq Current Pct Winder 170 1229 Scale4 Mul Scale Blocks 175 1283 Inversion In 8 Digital Inputs 202
Functions
1230 Scale4 Div Scale Blocks 175 1284 Ref Spd Source Winder 172
1194 Act Ten Ref Pct Winder 170
1231 Scale4 In Max Scale Blocks 175 Functions
Functions
1232 Scale4 In Min Scale Blocks 175 1285 Ref Speed Gain Winder 172
1195 Speed Match Winder 170
1233 Scale4 In Off Scale Blocks 176 Functions
Functions
1234 Scale4 Out Off Scale Blocks 176 1286 Ref Line Speed Winder 172
1196 Spd Match Acc Winder 170
Functions
Functions 1235 Scale4 In Abs Scale Blocks 176
1287 Static F Zero Winder 172
1197 Spd Match Dec Winder 170 1236 Scale5 Output Scale Blocks 175 Functions
Functions 1237 Scale5 Input Scale Blocks 175 1290 MtrOvrld Status Diagnostics 181
1198 Offs Accel Time Winder 170 1238 Scale5 Mul Scale Blocks 175
Functions 1319 Data In Val Sel Datalinks 193
1239 Scale5 Div Scale Blocks 175 1320 Data In SelData Datalinks 193
1199 W Offset Winder 170
Functions 1240 Scale5 In Max Scale Blocks 175 1321 DPI Fdbk Select Comm Control 191
1200 Spd Match Gain Winder 170 1241 Scale5 In Min Scale Blocks 175 1322 Direction Mode Reference Config 177
Functions 1242 Scale5 In Off Scale Blocks 176 1323 DPI P1 Select DPI Inputs 206
1201 Winder Side Winder 170 1243 Scale5 Out Off Scale Blocks 176 1324 DPI P2 Select DPI Inputs 206
Functions 1244 Scale5 In Abs Scale Blocks 176 1325 DPI P3 Select DPI Inputs 206
1202 W Gain Winder 170 1245 Scale6 Output Scale Blocks 175
Functions 1326 DPI P4 Select DPI Inputs 206
1246 Scale6 Input Scale Blocks 175 1327 DPI P5 Select DPI Inputs 206
1203 Spd Match Compl Winder 170
Functions 1247 Scale6 Mul Scale Blocks 175 1328 Drive Logic Rslt Diagnostics 182
1204 Line Spd Source Diameter Calc 168 1248 Scale6 Div Scale Blocks 175 1329 Speed Ref Source Diagnostics 182
1205 Diam Inc Dec En Diameter Calc 168 1249 Scale6 In Max Scale Blocks 175 1330 Spd Ref Sel Sts Diagnostics 183
1206 Diam Init Filter Diameter Calc 168 1250 Scale6 In Min Scale Blocks 175 1343 DPI Port Value Comm Control 191
1207 Diam Stdy Delay Diameter Calc 168 1251 Scale6 In Off Scale Blocks 176 1344 Start At Powerup Restart Modes 159
1208 Close Loop Comp Winder 170 1252 Scale6 Out Off Scale Blocks 176 1345 Powerup Delay Restart Modes 159
Functions 1253 Scale6 In Abs Scale Blocks 176 1347 Fault Clear Faults 184
1209 Torque Winder En Winder 170 1254 PID Error Gain PID Control 165 1348 Fault Clr Mode Faults 184
Functions 1255 Jog TW Speed Winder 171 1349 Status1 at Fault Faults 184
1210 W Target Winder 171 Functions
Functions 1350 Status2 at Fault Faults 184
1256 Jog TW Enable Winder 171
1212 Acc Dec Filter Winder 171 Functions 1351 Fault 1 Code Faults 184
Functions 1258 Enable PI PD PID Control 165 1352 Fault 2 Code Faults 184
1213 Actual Comp Winder 171 1262 Closing Speed Stop Modes 158 1353 Fault 3 Code Faults 184
Functions 1354 Fault 4 Code Faults 184
1263 Opening Delay Stop Modes 158
1214 Closed Loop En Winder 171 1355 Fault 5 Code Faults 184
1265 Ramp In Zero En Stop Modes 158
Functions
1266 Actuator Delay Stop Modes 158 1356 Fault 6 Code Faults 184
1215 Speed Demand En Winder 171
1267 Inversion Out 1 Digital Outputs 205 1357 Fault 7 Code Faults 184
Functions
1268 Inversion Out 2 Digital Outputs 205 1358 Fault 8 Code Faults 184
1216 Spd Match Torque Winder 171
Functions 1269 Inversion Out 3 Digital Outputs 205 1359 Fault 9 Code Faults 184

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Chapter 3 Programming and Parameters

No. Parameter Name Group Page

1360 Fault 10 Code Faults 184

1361 Fault 1 Time Faults 185
1362 Fault 2 Time Faults 185
1363 Fault 3 Time Faults 185
1364 Fault 4 Time Faults 185
1365 Fault 5 Time Faults 185
1366 Fault 6 Time Faults 185
1367 Fault 7 Time Faults 185
1368 Fault 8 Time Faults 185
1369 Fault 9 Time Faults 185
1370 Fault 10 Time Faults 185
1371 Fault Arm Amps Faults 185
1372 Fault Speed Diagnostics 185
1373 Fault Field Amps Diagnostics 185
1374 Fault Voltage Diagnostics 185
1375 MOP Select Reference Config 177
1376 Logic Mask Act Security 193
1377 Write Mask Act Security 194
1378 Write Mask Cfg Security 194
1379 Port Mask Act Security 194
1380 Drive Alarm 1 Alarms 187
1381 TestPoint Sel Diagnostics 183
1382 TestPoint Data Diagnostics 183
1384 TaskLoad 1 ms Diagnostics 183
1385 TaskLoad 2 ms Diagnostics 183
1386 TaskLoad 8 ms Diagnostics 183
1387 Inversion In 9 Digital Inputs 202
1388 Inversion In 10 Digital Inputs 202
1389 Inversion In 11 Digital Inputs 202
1390 Inversion In 12 Digital Inputs 202
1391 ContactorControl Digital Inputs 202
1392 Relay Out 1 Sel Digital Outputs 206
1393 Inversion Relay1 Digital Outputs 206
1394 Drive Alarm 2 Alarms 188
1402 Last Stop Source Diagnostics 183
1403 Start Inhibits Diagnostics 184
1404 Analog In1 Value Analog Inputs 197
1405 Analog In2 Value Analog Inputs 197
1406 Analog In3 Value Analog Inputs 197
1407 Field Econ Delay Field Config 136
1408 Tachometer Speed Speed Meters 128
1409 Jog Off Delay Discrete Speeds 149
1410 Jog Ramp Time Ramp Rates 157

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 Chapter 4

Troubleshooting

Topic Page
Faults and Alarms 219
Drive Status 220
Manually Clearing Faults 221
Fault Descriptions 222
How to Clear an Alarm 228
Alarm Descriptions 228
Common Drive Symptoms and Corrective Actions 231
Testpoint Codes and Functions 233

This chapter provides information to guide you in troubleshooting the

PowerFlex® DC drive. Included is a listing and description of drive faults (with
possible solutions, when applicable) and alarms.

Faults and Alarms A fault is a condition that always stops the drive and prevents it from starting
until the fault condition is corrected. There are two fault types.
Type Description
1 User Configurable This type of fault allows you to configure a parameter to determine how the drive
responds to the error condition.
• When the parameter is configured for a fault, the following events occur.
a. The drive stops
b. The error condition is displayed on the HIM or signaled via a programmed
digital output
c. The drive is not allowed to start until the fault condition is corrected
• When the parameter is configured for an alarm, the following events occur.
a. The error condition is displayed on the HIM or signaled via a programmed
digital output
b. The drive continues to run and/or be allowed to start.
• When the parameter is configured for ignore or disable, the drive does not
recognize the error condition. In this case, the error condition does not display
on the HIM or is not signaled via a programmed digital output.
2 Non-Configurable This type of fault is always enabled and causes the drive to stop running to protect
the drive and/or motor from damage. In some cases, drive or motor repair can be
required. The cause of the fault must be corrected before the fault can be cleared
(via a fault reset by using the HIM or programmed digital input). The fault will be
reset on power-up after repair.

An alarm indicates a drive error condition that does not stop the drive, but can
prevent it from starting. There are two types of alarms.
Type Description
1 User Configurable This type of alarm indicates a drive error condition but does not stop the drive
from starting or running. However, if this type of alarm is left uncorrected, a fault
condition can eventually occur.
2 Non-Configurable This type of alarm is always enabled and prevents the drive from starting until the
alarm condition is corrected.

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Chapter 4 Troubleshooting

Drive Status The condition or state of your drive is constantly monitored. Any changes are
indicated through the status indicators and/or the HIM (if present).

Figure 65 - Drive Status Indicators

PORT

MOD

NET A

NET B

2 1

STS

# Name Color State Description

1 STS Green Flashing Drive ready, but not running and no faults are present.
(Status)
Steady Drive running, no faults are present.
Yellow Flashing, Drive A condition exists that is preventing the drive from starting. Check
Stopped parameter 1403 [Start Inhibits] and 1380 [Drive Alarm 1].
Flashing, Drive An intermittent type 1 alarm condition is occurring. Check
Running parameter 1380 [Drive Alarm 1]. See Fault Descriptions on page
222 and/or Alarm Descriptions on page 228.
Steady, A continuous type 1 alarm condition exists. Check parameter 1380
Drive Running [Drive Alarm 1]. See Fault Descriptions on page 222 and/or Alarm
Descriptions on page 228.
Red Flashing A fault has occurred. Check [Fault x Code] or view the Fault Queue
on the HIM. See Fault Descriptions on page 222.
Steady A non-resettable, non-configurable fault has occurred. Check
[Fault x Code] or view the Fault Queue on the HIM. See Fault
Descriptions on page 222.
2 PORT See the Communication Status of DPI port internal communication (if present).
Adapter User Manual.
MOD Status of communication module (when installed).
NET A Status of network (if connected).
NET B Status of secondary network (if connected).

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 Troubleshooting Chapter 4

HIM Indicators

The LCD HIM also provides visual notification of a fault or alarm condition.
Condition Display
The drive is indicating a fault.
The LCD HIM immediately reports the fault condition by displaying the F-> Faulted Auto
following:
• “Faulted” appears in the status line —
0.0 Hz
Fault — F 5
• Fault number Main
Arm Menu:
OverVoltage
• Fault name Diagnostics
Time Since Fault
• Time that has passed since the fault occurred 0000:23:52
Parameter

Press “Esc” to regain HIM control.

The drive is indicating an alarm.
The LCD HIM immediately reports the alarm condition by displaying the F-> DigInCflctA Auto
following:
• Alarm name 0.0 rpm
• Alarm bell graphic Main Menu:
Diagnostics
Parameter
Device Select

Manually Clearing Faults Step Key

1. Press “Esc” to acknowledge the fault. The fault information is removed so that you can use
the HIM. Esc

2. Address the condition that caused the fault.

The cause must be corrected before the fault can be cleared.

3. After corrective action has been taken, clear the fault by one of these methods.
• Press “Stop”
• Cycle drive power
• Set parameter 1347 [Fault Clear] to 1 “Clear Faults”
• “Clear Faults” on the HIM Diagnostic menu

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Fault Descriptions Table 42 - Fault Types, Descriptions, and Actions

Fault Name Number Type(1) Description/Possible Cause Action

AC Undervoltage 4 2 There is an undervoltage on the power circuit (can only occur
while the drive is active, i.e., running or jogging). Possible
causes include:
• Par 481 [UnderVolt Thresh] is set incorrectly (possibly set Set Par 481 [UnderVolt Thresh] correctly and then reset the drive via
to 400V when the drive is rated for 230V input power). Par 1347 [Fault Clear].
• The incoming voltage to the power terminals (U/V/W) of
the drive is too low due to:
• The AC input voltage is too low or one phase is missing. • Verify AC input power level.
• There are poor cable connections (for example
terminals on contactor, choke, filter, is not properly • Check all connections.
connected).
• The line fuses have tripped. 1. Remove power from the drive.
• The AC input voltage dips or there is a high disturbance 2. Eliminate AC input voltage dips and/or disturbances.
in the supply voltage. 3. Replace any blown fuses.
• A fuse or fuses on the overvoltage clipping board has Check the fuses on the overvoltage clipping board and replace as
blown (frame D drives only). necessary.
Note: This fault also occurs if the control board is separately powered and started without AC input voltage.
Arm Overvoltage 5 1 There is an overvoltage on the armature circuit (125% of Par
175). Possible causes include:
• Par 175 [Rated Motor Volt] is set too low. Set Par 175 [Rated Motor Volt] correctly.
• The drive is not configured to use field weakening, but the Check the value of Par 469 [Field Mode Sel] and set accordingly.
motor can only reach the set speed when the drive is in
field weakening mode.
Note: Configure with Par 203 [OverVolt Flt Cfg].
Auxiliary Input 2 1 An auxiliary input interlock is open or a voltage (15...30V) or Check remote wiring.
reference signal is missing for the digital input set to 14 “Aux
Fault”.
Note: Configure with Par 354 [Aux Inp Flt Cfg].
Drive Overload 64 2 The rated drive current (Par 465 [Drive Size]) was exceeded by Reduce the drive current limits.
150% for 1 minute.
Dsp Error 132 2 A non-resettable software error exists on the control board. Cycle power to the drive. If the problem persists, replace the control
board.
EEPROM Error 100 2 One of the following has occurred:
• Parameter values could not be saved. 1. If the control board is new, verify that DIP switch S15 is set
• The control board was replaced and DIP switch S15 is set correctly. See DIP Switch S15 Settings on page 79.
incorrectly for the drive size. 2. Reset the fault.
• You have upgraded from one major firmware revision to 3. If this fault occurs again, cycle power to the drive.
another (for example, v2.xxx to v3.xxx). 4. If the problem persists, replace the control board.
Note: When this fault occurs, all parameters are reset to the
default value.
Encoder Error 92 2 An error was detected with the Encoder signal while it was 1. Verify the encoder wiring.
configured for use by the drive. 2. Verify the encoder configuration in Par 652 [Encoder Err Chk] and
the setting of DIP switches S20 and S21 (See DIP Switch and
Jumper Settings on page 77).
3. Verify the encoder power supply.
Fld Current Loss 6 1 The field current is too low (less than 50% of Par 468).
Possible causes include:
• The field current regulator is not enabled. Enable the field current regulator via Par 497 [Field Reg Enable].
• The conductors in the field circuit have been interrupted. Check the motor field wiring. Measure the resistance of the motor
and verify that it matches motor nameplate data.
• The field fuses are currently open. Check the field fuses and replace as necessary.
Note: Configure with Par 473 [FldLoss Flt Cfg].
Fwd End Limit 95 2 An end limit for the forward direction has been reached. This fault is always enabled when assigned to a digital input (see
When the end limit is reached, the assigned contacts open Pars 133…144). If digital limits (hardware signals) are in use, verify
and a drive current-limit stop occurs. that the digital inputs are connected to normally closed contacts.
Fwd Over Travel 97 2 A forward direction over travel signal has occurred, causing This fault is always enabled when assigned to a digital input (see
the drive to coast to a stop. Pars 133…144).
Hardware Fault 130 2 A non-resettable hardware error has occurred. Cycle power to the drive. If the problem persists, replace the control
board.

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 Troubleshooting Chapter 4

Fault Name Number Type(1) Description/Possible Cause Action

Heatsink OvrTemp 8 2 The heatsink temperature is too high
Possible causes include:
• The surrounding air temperature is too high. Lower the surrounding air temperature.
• The drive cooling fans have failed (drives > 110 A). Check the fan fuses and fans.
• If the fan fuses have failed, replace the fuses. (The fans are
protected by the fuses in the power supply circuit and are
contained on the switching power supply circuit board in frame
A and B drives only. See Control Power Circuit Protection Fuses on
page 259.)
• If the fans have failed, replace the fans.
• The heatsink is dirty. Clean the heatsink.
Interrupt Error 131 2 A non-resettable software error has occurred in the main Report this error to Rockwell Automation Technical Support.
application.
Inverting Fault 37 2 A digital input (Pars 133…144) configured as 64 “Invert Flt” Check the status of the inverting fault device that is connected to
has been removed. the digital input.
Main Contactor 10 2 One of the following has occurred: • Check all contactor wiring and drive jumpers. Repair or replace
• The Main and/or Dynamic Brake (DB) contactor failed to the contactor or contactors if the problem persist.
open or close in the proper amount of time (960 ms). • Check the digital input and/or relay output 1 (terminals 35 and
• A digital input and/or relay output 1 is incorrectly wired 36) wiring and configuration using Pars 1391 [ContactorControl],
and/or configured. 1392 [Relay Out 1 Sel] and [Digital Inx Sel]. See Contactors on
• Wiring to a digital input configured for contactor has page 31 for more information.
opened.
Motor Overload 7 1 The selected motor overload current level (set in Par 179 Reduce the motor load, current limits, and/or ramp times.
[Nom Mtr Arm Amps]) has been exceeded. The limits are
based on the value of Par 376 [MtrOvrld Type]. 0
“StandardDuty” is 150% for 60 sec. or 200% for 3 sec. 1
“HeavyDuty” is 200% for 1 minute (250% for 30 sec).
Note: Configurable with Par 479 [MtrOvrld Flt Cfg].
Motor Over Temp 16 1 The motor has exceeded its temperature rating (as signaled
by the thermistor that is connected to the drive terminals 78
and 79). Possible causes include:
• The motor does not have a thermistor and there is no See Thermistors and Thermal Switches on page 64 for configuration
resistor between terminals 78 and 79 on the drive. information.
• The cable between the thermistor connection on the Check and repair any damage to or loss of connection of the
motor and terminals 78 and 79 on the drive has been thermistor cables between the motor and drive.
broken.
• Possible causes for motor overheating can also include one
of the conditions that are listed here:
• The load cycle is too extreme. Reduce the load.
• The surrounding air temperature at the site of the Reduce the surrounding air temperature.
motor is too high.
• The external fan motor has failed. Replace the motor fan.
• The motor does not have an external fan and the load is Reduce the load cycle or fit the motor with an external fan.
too large at low speeds.
• The cooling effect of the internal fan on the motor shaft Reduce the load cycle or fit the motor with an external fan.
is too low for the load cycle.
Note: Configure with Par 365 [OverTemp Flt Cfg].
No Fault 0 – When present in the fault queue in the drive only, this fault Informational only.
indicates that there are currently no faults in the drive.
2 When displayed on the HIM, this fault can indicate one of the For frame B or C drives only, verify that terminal SA-SB is properly
following issues: configured for the control circuit input power input voltage used.
• The SA-SB terminal on a frame B or C drive is incorrectly See Control Circuit Input Power on page 67.
configured.
• There is a possible problem with the control power.
Open SCR 89 1 An open SCR fault condition has been detected. This fault can • Verify that the correct values are set in Pars 217 [Open SCR
only occur when Par 213 [SCR Diag Test En], bit 0 “OpenSCR Threshld] and 218 [OpenSCR Trip Lvl].
Tst” is set (=1) and Par 216 [OpenSCR Flt Cfg] is set to “Fault” • Replace the failed SCR devices.
(2). The SCR (or SCR pair) that caused the fault are shown in
Par 214 [SCR Diag Status].

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Chapter 4 Troubleshooting

Fault Name Number Type(1) Description/Possible Cause Action

Overcurrent 13 1 An overcurrent has occurred in the motor circuit. Possible
causes include:
• There is a short-circuit or ground fault at the output of the Verify that the armature circuit wiring is correct.
drive.
• The current regulator was not properly fine-tuned. See Tune the Current Regulator on page 102.
• The value of Par 584 [OverCurrent Thr] is too low. Increase the value of Par 584 [OverCurrent Thr] accordingly.
Overspeed 25 2 The encoder or tachometer feedback indicated a speed that is Remove the excessive load or overhauling conditions or increase the
more than the value of Par 585 [Overspeed Val]. value of Par 585 [Overspeed Val].
Note: Configurable with Par 585 [Overspeed Val].
Params Defaulted 48 2 User parameters have been reset to their default values. Informational only.
Port 1…5 Adapter 71…75 2 The communication card has a fault. Check the DPI device event queue and fault information for the
device.
Port 1…5 DPI Loss 81…85 2 The DPI port stopped communicating. 1. Check the HIM connection.
2. If adapter was not intentionally disconnected, check the wiring
to the port. Replace the wiring, port expander, adapters, control
board, or complete drive as required.
3. If an adapter was intentionally disconnected and the bit for that
adapter in Par 591 [Logic Mask] is set to “1”, this fault occurs. To
disable this fault, set the appropriate bit in [Logic Mask] for the
adapter to “0.”
Power Failure 3 2 Possible causes include:

IMPORTANT Remove power from the drive before removing the I/O terminal blocks and/or
fuses.

There is a fault in the 24V control board supply - the voltage is • Pull the plug-in I/O terminal blocks out of the control circuit
below the permitted value. In most cases, the cause of this board and reset the drive via 1347 [Fault Clear]. If there are no
fault is a problem with the external I/O wiring. other faults, check the I/O wiring for a short-circuit including the
cable shielding.
• Check fuses F1 and F2 on the switching power supply circuit
board (frame A size drives only have one fuse - F1). Replace as
necessary.*
• Check varistor fuses F1, F2, and F3 on the pulse transformer or
Transient Noise Filter circuit boards for Frame C size drives.
Replace as necessary.*
• If this fault occurs again, an internal fault can be present. Contact
your Rockwell Automation sales office.
*Note: See Control Power Circuit Protection Fuses on page 259 for
fuse size information.
The incoming voltage to the control power terminals (U2, V2)
is too low due to:
• The AC input voltage is too low • Verify AC input power level.
• There are poor cable connections. • Check all connections.
• The fuse or fuses on the switching power supply circuit • Check and replace the fuse or fuses if necessary.
board have blown.
Resolver Error 93 2 An error was detected with the resolver signal while it was 1. Verify the resolver wiring.
configured for use by the drive. 2. Verify the resolver configuration in Pars 423 [Reslvr Type Sel],
424 [Reslvr Spd Ratio], and 425 [Resolver Config].
3. Verify the resolver power supply.
Rev End Limit 96 2 An end limit for the reverse direction has been reached. When This fault is always enabled when assigned to a digital input (see
the end limit is reached, the contacts open and a drive Pars 133…144). If digital limits (hardware signals) are in use, verify
current-limit stop occurs. that the digital inputs are connected to normally closed contacts.
Rev Over Travel 98 2 A reverse direction over travel signal has occurred, causing the This fault is always enabled when assigned to a digital input (see
drive to coast to a stop. Pars 133…144).
Shorted SCR 90 2 A shorted SCR fault condition has been detected. This fault Replace failed SCR device or devices.
can only occur when Par 213 [SCR Diag Test En], bit 1
“OpenSCR Tst” is set (= 1). The SCR (or SCR pair) that caused
the fault are shown in Par 214 [SCR Diag Status].

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 Troubleshooting Chapter 4

Fault Name Number Type(1) Description/Possible Cause Action

Spd Fdbk Loss 91 1 The speed feedback device is indicating a value that is less
than 5% of Par 162 [Max Feedback Spd]. However, the
measured armature voltage is greater than the value of Par
455 [Spd FB Loss Lvl].
Possible causes include:
• The conductors of the feedback signal have been Current from one or more of the feedback device wires is not
interrupted. reaching the drive. Check the feedback device wiring.
• One or several encoder/resolver channels are missing Check the encoder/resolver connections and power supply.
(conductor interruption, no power supply).
• The motor voltage is incorrect. 1. Verify that Par 175 [Rated Motor Volt] is set correctly
2. Tune the motor.
• The ramp rate is too fast for the connected load. 1. Reduce the load.
2. Reduce the ramp rate.
• Field Weakening is set incorrectly. Verify that the value of Par 456 [Fld Weaken Ratio] is set properly.
The encoder or resolver configuration is incorrect. 1. For encoder feedback, verify the setting of DIP switch S20 (see
page 78) and Par 652 [Encoder Err Chk].
2. Verify that the connected encoder provides the input and output
voltage as determined by DIP switch S21 (see page 78).
3. For resolver feedback, verify that Par 426 [Resolver Status] is not
indicating any errors.
Note: This fault condition can be configured to produce an alarm with Par 478 [Spd Loss Flt Cfg].
SSC Error 20 1 Indicated that a valid fiber packet has not been received • Verify that all fiber-optic connections are correct and properly
within the time period defined in Par 409 [SSC Threshold]. secured.
• Check all fiber-optic cables for damage. If any of the cables are
cracked or damaged, replace the cables.
• If this fault persists, replace the Fiber-optic Interface circuit
board.
STune Aborted 62 2 The speed regulator auto tuning procedure was stopped Informational only.
manually.
STune CurLimit 59 2 One of the following has occurred:
• The value of Par 1048 [Autotune Cur Lim] for auto tuning Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
the speed regulator is set too high. auto tune procedure.
• Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] Set Pars 107 and 108 to their default values when performing the
is set too high. Speed Loop Autotuning function.
STune FrictionLo 60 2 The friction value that is attained during the auto tuning Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
procedure is zero or lower than the control precision limit. auto tune procedure.
STune LoadHi 58 2 One of the following has occurred:
• The loading torque value is too high at zero speed to Decrease the load torque, where applicable, and repeat the auto
complete the speed regulator auto tuning procedure. tune procedure.
• Par 107 [Speed Zero Level] and/or 108 [Speed Zero Delay] Set Pars 107 and 108 to their default values when performing the
is set too high. Speed Loop Autotuning function.
STune Overspeed 56 2 The measured motor speed is too high during the speed Decrease the value of Par 1048 [Autotune Cur Lim] and repeat the
regulator auto tuning procedure. auto tune procedure.
STune Stalled 57 2 The drive stalled during the speed regulator auto tuning Increase the value of Par 1048 [Autotune Cur Lim] and repeat the
procedure. auto tune procedure.
STune Timeout 61 2 The speed regulator auto tuning procedure did not complete Verify the value of Par 1048 [Autotune Cur Lim]. If the value of Par
within the available time or the current regulator auto tuning 1048 is set too low, the test cannot finish. The autotune procedure
procedure did not complete within 15 minutes. can only finish when the motor has enough time to reach a
maximum speed of 33% of the lowest of one of these parameters:
• Par 45 [Max Ref Speed]
• Par 3 [Max Speed Fwd]
• Par 4 [Max Speed Rev]
Set the value of these parameters appropriately and repeat the auto
tuning procedure.
Sustained Curr 70 2 One of the following has occurred: • Check the line voltage and frequency.
• The motor CEMF is too high or the line voltage is too low • Check the motor brushes and connections.
• A current bridge change command has not completed • Check the main and DB contactor connections if present.
within 1 second • Verify that there are no overhauling loads present.

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Fault Name Number Type(1) Description/Possible Cause Action

TorqPrv Spd Band 94 2 The difference between the commanded speed and the
encoder/resolver speed has exceeded the level set in Par 1105
[Speed Dev Band] for a time period greater than that value
specified in Par 1106 [Spd Band Intgrtr]. This fault is only
enabled when Par 1100 [Torq Prove Cfg], bit 0 “TP Enable” is
set and causes the drive to coast to a stop. Possible causes
include:
• Speed loop tuning is not correct. Increase Par 434 [Spd Reg BW] or Par 433 [Total Inertia]. If these
values are set too high, the speed regulator becomes unstable.
• The drive is operating under a current limit. Raise the current limit set in Par 7 [Current Limit]. If this value is set
too high, a motor overload can occur.
• Drive acceleration/deceleration rates are too fast. Reduce the acceleration/deceleration rates.
• The brake is not releasing. Check brake wiring and operation.
• The motor field is not reaching the rated value. Check that the motor field is wired and configured correctly.
• The drive is undersized. Reduce the load.
Travel Lim Cflct 99 2 Travel limits are in conflict. Both the forward and reverse • If digital limits (hardware signals) are in use, verify that the
travel limits indicate that they are simultaneously active, following forward and reverse digital input pairs are not both off
causing a drive current-limit stop. simultaneously: fwd/rev decel travel limit digital inputs and
fwd/rev end stop travel limit digital inputs (see Pars 133…144).
The travel limit digital inputs are meant to be connected to
normally closed switch contacts, so the digital input status reads
an off (0 = False) bit status when the machine is on limit and the
switch contact opens. A possible cause for this condition is loss of
common power to both the forward and reverse travel limit
switches.
• If software travel limits are in use, check the state of the fwd/rev
travel limit bits in Par 1101 [Torq Prov Setup]. These bits are on
(1) when the machine is on limit. Bit 2 “Decel Fwd” and bit 4
“Decel Rev” must not be on simultaneously. Similarly, Bit 3 “End
Stop Fwd” and bit 5 “End Stop Rev” must not be on
simultaneously.
(1) See page 219 for a description of fault types.

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 Troubleshooting Chapter 4

Table 43 - Fault Cross Reference by Number

No.(1) Fault No. (1) Fault
2 Auxiliary Input 81…85 Port 1 DPI Loss
3 Power Failure Port 2 DPI Loss
4 AC Undervoltage Port 3 DPI Loss
5 Arm Overvoltage Port 4 DPI Loss
6 Fld Current Loss Port 5 DPI Loss
7 Motor Overload 89 Open SCR
8 Heatsink OvrTemp 90 Shorted SCR
10 Main Contactor 91 Speed Fdbk Loss
13 Overcurrent 92 Encoder Error
16 Motor Over Temp 93 Resolver Error
20 SSC Error 94 TorqPrv Spd Band
25 Overspeed 95 Fwd End Limit
37 Inverting Fault 96 Rev End Limit
48 Params Defaulted 97 Fwd Over Travel
56 STune Overspeed 98 Rev Over Travel
57 STune Stalled 99 Travel Lim Cflct
58 STune LoadHi 100 EEPROM Error
59 STune CurLimit 130 Hardware Fault
60 STune FrictionLo 131 Interrupt Error
61 STune Timeout 132 Dsp Error
62 STune Aborted
64 Drive Overload
70 Sustained Curr
71…75 Port 1 Adaptor
Port 2 Adaptor
Port 3 Adaptor
Port 4 Adaptor
Port 5 Adaptor
(1)Faults that are not listed are reserved for future use.

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Chapter 4 Troubleshooting

How to Clear an Alarm Alarms are automatically cleared when the condition that caused the alarm is
no longer present.

Alarm Descriptions The status of the alarms can be viewed in 1380 [Drive Alarm 1].

Table 44 - Alarm Descriptions and Actions

Alarm Type Description
Arm Overvoltage 1 There is a possible overvoltage on the armature circuit or Par 175 [Rated Motor Volt] is set
too low for the application. See the “Arm Overvoltage” fault description on page 222 for
more information.
Auxiliary Input 1 An auxiliary input interlock is open or a voltage (15...30V) or reference signal is missing
for the digital input set to 14 “Aux Fault”. See the “Auxiliary Input” fault description on
page 222 for more information.
BipolarCflct 2 Par 1322 [Direction Mode] is set to “Bipolar” or “Reverse Dis” and one or more of these
digital input functions is configured: “Fwd/Reverse,” “Run Forward,” “Run Reverse,” “Jog
Forward,” “Jog Reverse,” “Rev Dec Limit,” or “Rev End Limit.”
BrakeSlipped 1 The encoder movement has exceeded the level in Par 1110 [Brk Slip Count] after the
brake was set and the brake slip maneuver is controlling the drive (drive is active).
Cycle power to the drive to reset.
2 The encoder movement has exceeded the level in Par 1110 [Brk Slip Count] after the
brake was set and the brake slip maneuver is finished (drive is stopped).
Cycle power to the drive to reset.
CntactrCflct 2 Contactor input functions are in conflict:
• When Par 1391 [ContactorControl] is set to “None”, both relay outputs (Pars 1392
[Relay Out 1 Sel] and 629 [Relay Out 2 Sel] and all digital inputs ([Digital Inx Sel])
cannot be set to “Contactor” or “ContactorDB”.
• With [ContactorControl] set to “AC Cntcr” or “DC Cntcr”, one relay output and one
digital input must be set to “Contactor”. No relay or digital output can be defined as
“ContactorDB”.
• With [ContactorControl] set to “AC Cntcr+DB” or “DC Cntcr+DB”, both relay outputs
and one digital input must be set to “Contactor”, “ContactorDB” and “Contactor”,
respectively.
Any relay output can be configured as contactor or DB control and any digital input as
contactor status. Therefore, to avoid possible conflicts, take care to program the
parameter selections so that they match the relay output and/or digital input terminal
block wiring correctly.
DigInCflctA 2 Digital input functions are in conflict. Combinations that are marked with a “ ” causes
an alarm.

Acc2/Dec2 Accel 2 Decel 2 Jog 1/2 Jog Fwd Jog Rev Fwd/Rev
Acc2/Dec2
Accel 2
Decel 2
Jog 1/2
Jog Fwd
Jog Rev
Fwd/Rev

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 Troubleshooting Chapter 4

Alarm Type Description

DigInCflctB 2 One of these digital input conflicts exists:
• A digital Start input has been configured without a Stop input
• None of the digital inputs are configured for “Enable”
• Other digital input functions are in conflict. Combinations that conflict are marked
with a “ ” and causes an alarm.

Stop- Jog Fwd/

Start CF Run Run Fwd Run Rev 1/2 Jog Fwd Jog Rev Rev
Start
Stop-CF
Run
Run Fwd
Run Rev
Jog 1/2
Jog Fwd
Jog Rev
Fwd/Rev

DigInCflctC 2 Multiple physical input has been configured to the same input function. Multiple
configurations are not allowed for the following input functions.
Forward/Reverse Run Reverse Run Forward
Jog Forward Jog Reverse Speed Select 1
Speed Select 2 Speed Select 3 Acc2 / Dec2
Accel 2 Decel 2 Run
FB Cfg Cflct 2 One of the following has occurred:
• Par 414 [Fdbk Device Type] does not equal 3 “Armature” and Par 478 [Spd Loss Flt Cfg]
is set to “Alarm” while Par 458 [SpdReg FB Bypass] is set to “Disabled”.
• Par 414 [Fdbk Device Type] is set to 4 “Resolver” and Pars 429 [Resolver Pos Sel], 430
[Resolver Spd Sel], 786 [PID Source], 1204 [Line Spd Source], or 1284 [Ref Spd Source]
are selecting a resolver signal.
• Par 414 [Fdbk Device Type] is set to 1 “Encoder” and Pars 786, 1021, 1204, or 1284 are
selecting an encoder signal.
FldCfg Cflct 2 The selected operating mode of the field controller is in conflict with another setting in
the drive or a permanent magnet motor is incorrectly configured. This alarm displays
under the following conditions:
• Par 469 [Field Mode Sel] = “Field Weaken” or “External” and Par 414 [Fdbk Device
Type] = “Armature”
• Par 469 [Field Mode Sel] = “Field Weaken” or “External” and Par 478 [Spd Loss Flt Cfg]
= “Alarm”
• Par 469 [Field Mode Sel] = “Field Weaken” or “Base Speed” and Par 497 [Field Reg En]
= “Disabled”
• Par 469 [Field Mode Sel] = “Base Speed” and Par 498 [Force Min Field] = “Enabled”
• Par 469 [Field Mode Sel] = “Base Speed” and Par 133…144 [Digital Inx Sel] = “Force
Min Fld”
Fld Current Loss 1 The field current is too low. See the “Fld Current Loss” fault description on page 222 for
more information.
Motor Overload 1 The selected motor overload current level has been exceeded. See the “Motor Overload”
fault description on page 223 for more information.
Motor Over Temp 1 The motor has exceeded its temperature rating (as signaled by the thermistor that is
connected to the drive terminals 78 and 79). See the “Motor Over Temp” fault description
on page 223 for more information.
Ref Cflct 2 1. Multiple drive reference inputs, listed here, are set to the same value:
– Pars 70, 75 and 80 [Anlg Inx Sel]
– Pars 1323…1327 [DPI Px Select]
– Par 1021 [Encoder Out Sel]
– Par 430 [Resolver Spd Sel]
See Figure 87 on page 326 or Speed Reference Selection on page 365 for a graphical
representation of the possible reference selections for the drive.
2. Both Pars 429 [Resolver Pos Sel] and 430 [Resolver Spd Sel] are non-zero.
3. Multiple of the following parameters contains the same value: 786 [PID Source], 1204
[Line Spd Source], and 1284 [Ref Spd Source].
Open SCR 1 An open SCR condition has been detected (Par 213 [SCR Diag Test En], bit 0 “Open SCR”
set (=1) and Par 216 [OpenSCR Flt Cfg] set to “Alarm”). See the Open SCR fault description
on page 89 for more information.

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Chapter 4 Troubleshooting

Alarm Type Description

Spd Fdbk Err 1 With Par 478 [Spd Loss Flt Cfg] set to 1 “Alarm” an error condition that is associated with
the selected speed feedback device (analog tachometer, encoder, or resolver) was
detected.
Spd Fdbk Loss 1 Par 478 [Spd Loss Flt Cfg] set to 1 “Alarm.” The speed feedback device is indicating a value
that is less than 5% of Par 162 [Max Feedback Spd]. However, the measured armature
voltage is greater than the value of Par 455 [Spd FB Loss Lvl]. See the “Spd Fdbk Loss”
fault description on page 225 for more information.
Start At PowerUp 1 Par 1344 [Start At Powerup] is enabled. The drive can start at any time after drive power-
up and the time that is specified in Par 1345 [Powerup Delay] has elapsed.
Torq Prov Cflct 2 Par 1100 [Torq Prove Cfg] is enabled (bit 0 = 1) and any of the following conditions/
conflicts have been occurred:
• You are operating a non-regenerative drive - negative current is required for the
TorqProve feature
• Par 1322 [Direction Mode] set to 1”Rev Disable”
• Par 414 [Fdbk Device Type] is set to 3 “Armature Voltage”
• Par 414 [Fdbk Device Type] is set to 2 “DC Tach” and Par 1100 [Torq Prove Cfg] bit 1
“Encoderless” = 0
• Par 458 [SpdReg FB Bypass] = 1 “Enabled”
• Par 457 [Spd Fdbk Control] = 0 “Disabled”
• A digital input is configured as “Lift Stop” and Par 1100 [Torq Prove Cfg] bit 0 “TP
Enable” = 0
• Par 166 [Alpha Test] is set to 1 “On”
• Par 58 [TstGen Output] is not set to 0 “NotConnected”
• Par 467 [Max Fld Curr Pct] is not set to 100%
• Par 498 [Force Min Field] is set to 0 “Enabled”
• Par 245 [Speed Ramp En] is set to 0 “Disabled”
• Par 241 [Spd Trq Mode Sel] is not set to 1 “Speed Regulator”
• There is no relay output that is defined as 31 “TP Brake Cmd”
The following conditions are annunciated on the HIM status line as “TP Encls Cfg” and set
Par 1394 [Drive Alarm 2], bit 2 “TP Encls Cfg” = 1:
– Par 414 [Fdbk Device Type] is set to 1 “Encoder” or 4 “Resolver” and Par 1100
[Torq Prove Cfg] bit 1 “Encoderless” = 0
– Par 1100 [Torq Prove Cfg], bit 5 “BrkSlipEncls” = 0 or bit 6 “BrkSlipStart” = 1 and
bit 1 “Encoderless” = 0
TP Encls Config 2 The drive has been configured to enable Encoderless TorqProve, but an application
conflict exists. You must read and understand the “Attention” on page 307 relating to the
use of TorqProve with no encoder before you can continue.

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 Troubleshooting Chapter 4

Common Drive Symptoms The following tables contain descriptions of common drive symptoms and the
possible solutions to correct the problem.
and Corrective Actions
If the drive is experiencing this problem See page
Drive does not start 231
Drive starts but motor does not turn and no armature current 232
The motor does not reach commanded speed 232
The motor is turning in the wrong direction 232
The motor reaches maximum speed immediately 233

Drive does not start

Drive Symptom Action
An external “Start” command was issued, but the drive does not • Verify that no faults or alarms are displayed. If a fault or alarm is displayed, follow the corrective action
start. provided (see Fault Descriptions on page 222 or Alarm Descriptions on page 228).
• The external wiring to the programmed Start terminal block connection is missing.
• Verify that +24V DC is present at terminal block connection.
• Verify that 24V Supply Common is connected between terminals 18 and 16.
• Verify that the configuration for Pars 133…144 [Digital Inx Sel] matches the switch wiring.
The drive is not in a "Ready" state, is not “Enabled” or a “Stop” is Check the Enable and Stop inputs. Verify that the wiring is correct (see on page 85).
asserted.
External AC input or DC output contactor, if used, has not closed. If using an AC Input contactor:
• Verify that the drive is "Ready", then verify that the required coil voltage is present at terminals 35 and 36
(Relay Output 1). If the coil voltage is present at terminals 35 or 36, then verify that proper voltage is at the AC
Input contactor coil.
• Inspect the contactor for mechanical problems.
• Verify that Par 1391 [ContactorControl] is set properly.
• Verify that the contactor and/or auxiliary contact is properly wired to a digital input on the drive and that the
appropriate digital input selection parameter (133…144 [Digital Inx Sel]) is set to 31 “Contactor”.
• Verify that parameter 1392 [Relay Out 1 Sel] is set to 25 “Contactor”.

If using an external DC Output contactor:

• Verify that the drive is "Ready", then verify that the required coil voltage is present at terminals 35 and 36
(Relay Output 1). If the coil voltage is present at terminals 35 or 36, then verify that the proper voltage is at the
DC Output contactor coil.
• Inspect the contactor for mechanical problems.
• Verify that parameter 1391 [ContactorControl] is set properly.
• Verify that the contactor and/or auxiliary contact is properly wired to a digital input on the drive and that the
appropriate digital input selection parameter (133…144 [Digital Inx Sel]) is set to 31 “Contactor”.
• Verify that parameter 1392 [Relay Out 1 Sel] is set to 25 “Contactor”.
The external DB resistor contactor, if used, has not closed. • Verify that the drive is "Ready", then verify that the required coil voltage is present at terminals 75 and 76
(Relay Output 2). If the coil voltage is present at terminals 75 or 76, then verify that proper voltage is at the DB
contactor coil.
• Inspect contactor for mechanical problems.
• Verify that parameter 1391 [ContactorControl] is set properly.
• Verify that the auxiliary contacts for the AC Input or DC Output contactor and DB contactor are properly wired in
series to a digital input on the drive.
• Verify that the appropriate digital input selection parameter (133…144 [Digital Inx Sel]) is set to 31
“Contactor”.
• Verify that parameter 629 [Relay Out 2 Sel] is set to 24 “ContactorDB”.
The drive starts from the HIM but does not start from the Check masks for Terminal Block control (see parameters 591 [Logic Mask] and 592 [Start Mask]).
terminal block.

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Chapter 4 Troubleshooting

Drive starts but motor does not turn and no armature current
Drive Symptom Action
The drive starts but there is no armature current and the motor • Verify the wiring to the analog input or inputs that are selected for speed reference (see on page 85).
does not respond to a speed signal. • Verify the settings of switch S9 and Par 71 [Anlg In1 Config]; or S10 and Par 76 [Anlg In2 Config]; or S11 and Par
81 [Anlg In3 Config] (see DIP Switch and Jumper Settings on page 77).
• Verify the speed selection digital input or inputs and the respective input terminal voltage, if used.
• Verify the analog input voltage that is displayed in parameters 1404 [Analog In1 Value], 1405 [Analog In2
Value] or 1406 [Analog In3 Value].
The drive starts and armature current is present but the motor • The Load may be too great for the motor and drive.
does not turn. • Remove the load from the motor and test for motor rotation. If the motor rotates, use an in-line current
meter or DC clamp on meter to measure the armature current. The measured armature current must match
the armature current feedback value that is displayed in parameters 200 [Arm Current] and 199 [Arm
Current Pct]. Increase the value of parameter 7 [Current Limit], 8 [Current Lim Pos], or 9 [Current Lim Neg].
• Verify that the measured motor field current, using an in-line current meter or DC clamp on meter, equals
the feedback value that is displayed in parameter 351 [Field Current].
• Verify that the motor nameplate value equals the value that is displayed in parameter 280 [Nom Mtr Fld
Amps].
• Measure the DC voltage that is supplied to the motor field. Verify that the value of parameter 374 [Drv Fld
Brdg Cur] equals the setting of DIP Switch S14.
• If the motor does not rotate with the load removed, check the motor.
• Verify that parameter 353 [Zero Torque] is not enabled.

The motor does not reach commanded speed

Drive Symptom Action
The drive starts and the motor turns but does reach the The load may be too great for the motor and drive.
commanded speed. • Remove the load from the motor and test for the correct commanded speed. If the motor reaches the
commanded speed, use an in-line current meter or DC clamp on meter to measure the armature current. The
measured armature current must match the armature current feedback value that is displayed in parameters
200 [Arm Current] and 199 [Arm Current Pct]. Increase the value of parameter 7 [Current Limit], 8 [Current Lim
Pos] or 9 [Current Lim Neg].
• Verify that the measured motor field current, using an in-line current meter or DC clamp on meter, equals the
feedback value that is displayed in parameter 351 [Field Current].

If the motor does not achieve commanded speed, continue with following tests:
• Check the speed parameter limits: parameters 2 [Maximum Speed], 3 [Max Speed Fwd], 4 [Max Speed Rev]
and 122 [Spd Feedback].
• Check the analog voltage input and speed reference values: parameters 1404 [Analog In1 Value], 1405 [Analog
In2 Value], 44 [Speed Ref A], 48 [Speed Ref B]
• Check the setting of switch S9 and parameter 71 [Anlg In1 Config], S10 and 76 [Anlg In2 Config] or S11 and 81
[Anlg In3 Config].
• Tune the analog inputs using parameters 259…261 [Anlg Inx Tune] with the potentiometer set at max.
• The encoder pulse per revolution (PPR) parameter (169 [Encoder PPR]) value is too high.
• The DC Tach Scaling is incorrect or the jumpers are not properly set. Check parameter 562 [Anlg Tach Gain] and
check the setting of the DC Analog Tachometer DIP Switch S4 (see Figure 56 on page 79).

The motor is turning in the wrong direction

Drive Symptom Action
The motor is rotating in the wrong direction. When a speed feedback device is not installed, the motor is incorrectly wired.
• Change the armature or field connections to the drive.
When a speed feedback device is not installed, the polarity of the analog speed reference signal is incorrect for the
required direction.
The two encoder connections must be reversed (A with A-Not or B with B-Not) when these two conditions are
true.
• The motor is turning in the wrong direction
• The speed feedback is correct
When an analog tachometer is installed and the following two conditions are true, the tachometer leads must be
reversed.
• The motor is turning in the wrong direction
• The speed feedback is correct

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 Troubleshooting Chapter 4

The motor reaches maximum speed immediately

Drive Symptom Action
The motor accelerates to maximum speed and cannot be Check the analog input voltage and speed reference values:
controlled. • Parameters 1404 [Analog In1 Value], 1405 [Analog In2 Value], 44 [Speed Ref A] and 48 [Speed Ref B]
• Check the setting of switch S9 and parameter 71 [Anlg In1 Config], S10 and 76 [Anlg In2 Config] or S11 and 81
[Anlg In3 Config].

The feedback device, encoder, resolver, or DC analog tachometer is not connected/configured, incorrectly
connected or has failed.
• Change parameter 414 [Fdbk Device Type] to 3 “Armature” to test the encoder or DC analog tachometer
feedback.

The motor speed cannot be controlled and the drive does not stop
Drive Symptom Action
The drive armature voltage feedback terminals are connected to The polarity of the armature voltage feedback connections may be incorrect:
the motor, but exhibits these conditions simultaneously: 1. By using a voltmeter, measure the drive armature output voltage at terminals C and D, with the positive lead
• Starts but the motor speed cannot be controlled connected to terminal C.
• Does not stop when a stop command is issued 2. Check the polarity of the armature voltage feedback parameter 233. The value of parameter 233 must be the
same as the polarity of the armature output voltage at terminals C and D.
3. If the polarity of parameter 233 does not match the value that the voltmeter measured, swap the leads at
terminals A1 and A2 on the armature voltage feedback terminal block.

Testpoint Codes and Select a testpoint with Par 1381 [TestPoint Sel]. Values can be viewed with Par
1382 [TestPoint Data].
Functions No. (1) Description Values
Minimum Maximum Default
566 Rx count
567 Tx count
568 BusLoss count
569 Port 1 Timeout
570 Port 2 Timeout
571 Port 3 Timeout
572 Port 4 Timeout
573 Port 5 Timeout 0 65535 0
574 Port 6 Timeout
575 Internal gain of P188 (x100)
576 Internal gain of P189 (x100)
577 Internal gain of P190 (x100)
578 Internal gain of P191 (x100)
579 Internal gain of P192 (x100)
580 Internal gain of P193 (x100)
581 Max DSP execution time 0 833 (41.65 μs) 464 (23.2 μs)
(20 MHz counts)
582 Number of incorrect packets received from the Fiber- 0 65535 0
optic Interface circuit board fiber-optic connections
583 Value returned by the Fiber-optic Interface circuit
board when power is applied. A value other than
23041 indicates that the board is configured but is
not present or has not been properly installed
584 Minimum firing angle reached during drive lifetime
585 Min firing angle reached since last power cycle
(1) Enter in Par 1382 [TestPoint Sel].

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Chapter 4 Troubleshooting

Notes:

234 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix A

Supplemental Drive Information

Topic Page
Certifications and Specifications 236
IP20 NEMA / UL Type Open Watts Loss 236
Communication Configurations 240
Drive Power Circuit Protection 243
Control Power Circuit Protection Fuses 259
AC Input Line Reactors and AC Input Contactors 264
Isolation Transformers 267
Dynamic Brake Resistor Kits and DC Output Contactors 269
DC Contactor Crimp Lug Kit Specifications 271
Alternate EMC Filters 273
Terminal Adapter Kits for Frame D Drives 279

This appendix provides drive specification, communication configuration,

circuit protection and supplemental system components information.

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Appendix A Supplemental Drive Information

Certifications and Please see the PowerFlex® Digital DC Drive Technical Data, publication
20P-TD001, for certification and specification information.
Specifications

IP20 NEMA / UL Type Open The watts loss data that is shown in Table 45 is based on the rated current of
the drive.
Watts Loss
Table 45 - Frame A Drives Watts Loss and Fan Capacity
Drive Current Rating Code(1) Total Total Value for Fan (none or 1)
Watts
At 230VAC At 460VAC Loss AC Input Rated Current Max. Air Flow
Voltage (A) Noise Level
7P0 4P1
9P0 6P0
012 010 131
(no fan)
020 014
– 019
029 027 186
038 035
80 m3/h
055 045 254
37 dB(A)
– 052
073 073 408
(Internal power supply)
093 086
476 160 m3/h
110 –
45 dB(A)
– 100
553
– 129
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8…10, for the Hp, armature amp, and field amp
ratings that correspond to each drive current rating code listed in this table.

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 Supplemental Drive Information Appendix A

Table 46 - Frame B Drives Watts Loss and Fan Capacity

Drive Total Value for All Fans (2)
Current Rating AC Input Total Watts AC Input Rated Max Air Flow
Code(1) Voltage Loss Voltage Current Noise Level
146
781
180 340 m3/h
218 939 48 dB(A)
230
265 1038
360 720 m3/h
1693
434 53 dB(A)

167 781
207 939 340 m3/h
250 1038 48 dB(A)
460 (Internal power supply)
330 1248
720 m3/h
412 1693
53 dB(A)
067 400
101 553 340 m3/h
135 700 48 dB(A)
575
270 1038
720 m3/h
405 1693
53 dB(A)
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8…10, for the Hp, armature amp, and field amp
ratings that correspond to each drive current rating code listed in this table.

Table 47 - Frame C Drives Watts Loss and Fan Capacity

Drive Total Value for All Fans (3) (2)
Current Rating AC Input Total Watts AC Input Rated Max Air Flow
Code(1) Voltage Loss Voltage Current Noise Level
(A)
521 2143
230
700 2700
495 2143
460
667 2590 1050 m3/h
230 0.75
540 2300 62.5 dB(A)
575
675 2620
452 1700
690
565 2300
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8…10, for the Hp, armature amp, and field amp
ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames C drives require an external 230 V AC, 50/60 Hz power supply, which is connected to terminals U3 and V3.

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Appendix A Supplemental Drive Information

Table 48 - Frame D Drives Watts Loss and Series A Fan Capacity

Drive Total Values for Fan (2)

Current AC Input Total Watts AC Input Rated Max Air Flow
Rating Code(1) Voltage Loss Voltage Current (A) Noise Level
875 2694
230
1K0 3284
830 3200
996R 3568
1K1 480 4189
1K3 5229
1K4 5117
810 3122
1K0 3819
1K2 575 4679 2.4A@50Hz 2400 m3/h
230 and
1K3 4879 3.3A@60Hz 80 dB(A)

1K6 5720
678 3174
791 3582
904 4028
1K0 4064
690
1K1 4509
1K2 5368
1K4 5543
1K5 5886
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8…10, for the Hp, armature amp, and field amp
ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames D drives require an external 230 V AC, 50/60 Hz power supply, which is connected to terminals U3 and V3.

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 Supplemental Drive Information Appendix A

Table 49 - Frame D Drives Watts Loss and Series B Fan Capacity

Drive Total Values for Fan (2)

Current Rating AC Input Total AC Input Rated Current Max. Air Flow
Code(1) Voltage Watts Loss Voltage (A) Noise Level
875 2694
230
1K0 3284
830 3200
996 3568
1K1 480 4189
1K3 5229
1K4 5117
810 3122 2,400 m3/h @ 400VAC 50
1K0 3819 Hz
Three-phase 2,800 m3/h @460VAC 60
1K2 575 4679 400V AC 50 Hz 1.15 A @ 50 Hz Hz
and 1.4 A @ 60
1K3 4879 Or Hz 83 dB(A) @ 400VAC 50 Hz
460V AC 60 Hz 2,000 m3/h
1K6 5720 86 dB(A) @ 460VAC 60 Hz
678 3174 2,000 m3/h
791 3582
904 4028
1K0 4064
690
1K1 4509
1K2 5368
1K4 5543
1K5 5886
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8…10, for the Hp, armature amp, and field amp
ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames D drives require an external three-phase 400/460V AC, 50/60 Hz power supply, which is connected to terminals
U3, V3, and W3.

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Appendix A Supplemental Drive Information

Table 50 - Frame D Drives Watts Loss and Series C Fan Capacity

Drive Total Values for Fan (2)

Current Rating AC Input Total AC Input Rated Current Max. Air Flow
Code(1) Voltage Watts Loss Voltage (A) Noise Level
875 2694
230
1K0 3284
830 3200
996 3568
1K1 480 4189
1K3 5229
1K4 5117
810 3122
1K0 3819 2,900 m3/h @ 400VAC 50
Three-phase Hz
1K2 575 4679 400V AC 50 Hz 1.25 A @ 50 Hz 3,400 m3/h @460VAC 60
and 1.55 A @ 60 Hz
1K3 4879 Or Hz
460V AC 60 Hz 84 dB(A) @ 400VAC 50 Hz
1K6 5720 90 dB(A) @ 460VAC 60 Hz
678 3174
791 3582
904 4028
1K0 4064
690
1K1 4509
1K2 5368
1K4 5543
1K5 5886
(1) See the Standard Drive Catalog Number Explanation on page 13, positions 8…10, for the Hp, armature amp, and field amp
ratings that correspond to each drive current rating code listed in this table.
(2) Fans on frames D drives require an external three-phase 400/460V AC, 50/60 Hz power supply, which is connected to terminals
U3, V3, and W3.

Communication Typical Programmable-Controller Configurations

Configurations
IMPORTANT If block transfers are programmed to write information continuously to the
drive, care must be taken to format the block transfer properly. If attribute
10 is selected for the block transfer, values are written only to RAM and are
not saved in the drive. This method is the preferred attribute for continuous
transfers. If attribute 9 is selected, each program scan completes a write to
the drives non-volatile memory (EEprom). Because the EEprom has a fixed
number of allowed writes, continuous block transfers can quickly damage
the EEprom. Do Not assign attribute 9 to continuous block transfers. See the
appropriate User Manual for your communication adapter for additional
details.

240 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Logic Command/Status Words

See parameter 1328 [Drive Logic Rslt] for more information.

Figure 66 - Logic Command Word
Logic Bits Command Description
1 1 1 1 1 1 9 8 7 6 5 4 3 2 1 0
5 4 3 2 1 0
x Stop (1) 0 = Not Stop
1 = Stop
x Start (1)(2) 0 = Not Start
1 = Start
x Jog 0 = Not Jog
1 = Jog
x Clear Faults 0 = Not Clear Faults
1 = Clear Faults
x x Direction 00 = No Command
01 = Forward Command
10 = Reverse Command
11 = Hold Present Direction
x Local 0 = No Local Control
Control 1 = Local Control
x MOP 0 = Not Increment
Increment 1 = Increment
x x Accel Rate 00 = No Command
01 = Use Accel Time 1
10 = Use Accel Time 2
11 = Use Present Time
x x Decel Rate 00 = No Command
01 = Use Decel Time 1
10 = Use Decel Time 2
11 = Use Present Time
x x x Reference 000 = No Command
Select (3) 001 = Ref. 1 (Spd Ref A)
010 = Ref. 2 (Spd Ref B)
011 = Ref. 3 (Preset Spd 3)
100 = Ref. 4 (Preset Spd 4)
101 = Ref. 5 (Preset Spd 5)
110 = Ref. 6 (Preset Spd 6)
111 = Ref. 7 (Preset Spd 7)
x MOP 0 = Not Decrement
Decrement 1 = Decrement

(1) A “0 = Not Stop” condition (logic 0) must first be present before a “1 = Start” condition starts the drive. The Start command acts
as a momentary Start command. A “1” starts the drive, but returning to “0” does not stop the drive.
(2) This Start does not function when a digital input (parameters 133…144) is programmed for 2-Wire Control (option 5 “Run”, 6
“Run Forward” or 7 “Run Reverse”).
(3) This Reference Select does not function when a digital input (parameters 133…144) is programmed for “Speed Sel 1, 2 or 3”
(option 17, 18 or 19). Note that Reference Selection is “Exclusive Ownership”. See [Reference Owner] on page 192.

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Appendix A Supplemental Drive Information

Figure 67 - Logic Status Word

Logic Bits Status Description
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
x Ready 0 = Not Ready
1 = Ready
x Active 0 = Not Active
1 = Active
x Command 0 = Reverse
Direction 1 = Forward
x Actual 0 = Reverse
Direction 1 = Forward
x Accel 0 = Not Accelerating
1 = Accelerating
x Decel 0 = Not Decelerating
1 = Decelerating
x Alarm 0 = No Alarm
1 = Alarm
x Fault 0 = No Fault
1 = Fault
x At Speed 0 = Not At Reference
1 = At Reference
x x x Local 000 = Port 0 (TB)
Control (1) 001 = Port 1
010 = Port 2
011 = Port 3
100 = Port 4
101 = Port 5
110 = Reserved
111 = No Local
x x x x Reference 0000 = Spd Ref A Auto
Source 0001 = Spd Ref B Auto
0010 = Preset Spd 2 Auto
0011 = Preset Spd 3 Auto
0100 = Preset Spd 4 Auto
0101 = Preset Spd 5 Auto
0110 = Preset Spd 6 Auto
0111 = Preset Spd 7 Auto
1000 = Term Blk Manual
1001 = DPI 1 Manual
1010 = DPI 2 Manual
1011 = DPI 3 Manual
1100 = DPI 4 Manual
1101 = DPI 5 Manual
1110 = Reserved
1111 = Jog Ref
(1) See Masks & Owners on page 191 for further information.

242 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Drive Power Circuit The tables on the following pages provide the fuses that are required for
Protection protecting the armature and field circuits of the drive. Externally mounted
fuses (as indicated in Figure 68) must be sourced separately when installing the
drive. Internally mounted fuses (as indicated in Figure 68 and Figure 71 on
page 251) are provided with the drive.

See page 251 for frames C and D fuse information.

Frame A and B Fuse Information

Figure 68 - Frame A and B Fuse Table Designations

FS1 = Externally
mounted fuses for FS1
the armature
converter on the AC
input side.

U V W U1 V1 FS3 = Internally
mounted fuses for
FS3 the field circuit on
the AC input side.
C D C1 D1

FS2 = Externally FS2

mounted fuses for
the armature circuit
on the DC side.

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Appendix A Supplemental Drive Information

Frame A and B AC Input Line Fuses

AC input line fuses are externally mounted for frame A and B drives and must
be sourced separately. See Fuse Code FS1 in Figure 68 on page 243.

Table 51 - 230V AC Input Drives

Drive DC AC Bussmann Mersen
Current Amps Line
Rating Amps Ferrule FWP North American Ferrule A70QS North American

Frame
Code Type FWP Type Type A70P / A70QS
Type
A 7P0 7 5.7 FWP-10A14F FWP-10B A70QS10-14F A70P10-4
9P0 9 7.4 FWP-15A14F FWP-15B A70QS16-14F A70P15-4
012 12 9.8 FWP-20A14F FWP-20B A70QS20-14F A70P20-4
020 20 16 FWP-25A14F FWP-25B A70QS25-14F A70P25-4
029 29 24 FWP-40A22F FWP-40B A70QS40-22F A70QS40-4
038 38 31 FWP-63A22F FWP-60B A70QS63-22F A70QS60-4
055 55 45 FWP-80A22F FWP-80B A70QS80-22F A70QS80-4
073 73 60 – FWP-100A – A70QS100-4K
093 93 76 – FWP-150A – A70QS150-4K
110 110 90 – FWP-175A – A70QS175-4K
B 146 146 119 – FWP-250A – A70QS250-4
180 180 147 – FWP-300A – A70QS300-4
218 218 178 – FWP-350A – A70QS350-4
265 265 217 – FWP-400A – A70QS400-4
360 360 294 – FWP-600A – A70QS600-4K
434 434 355 – FWP-600A – A70QS600-4

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 Supplemental Drive Information Appendix A

Table 52 - 460V AC Input Drives

Drive DC AC Bussmann Mersen
Current Amps Line
Rating Amps Ferrule FWP North American Ferrule A70QS North American

Frame
Code Type FWP Type Type A70P / A70QS
Type
A 4P1 4.1 3.3 FWP-10A14F FWP-10B A70QS10-14F A70P10-4
6P0 6 4.9 FWP-10A14F FWP-10B A70QS10-14F A70P10-4
010 10 8.2 FWP-20A14F FWP-20B A70QS20-14F A70P25-4
014 14 11.4 FWP-25A14F FWP-25B A70QS25-14F A70P25-4
019 19 15.5 FWP-25A14F FWP-25B A70QS25-14F A70P25-4
027 27 22.1 FWP-40A22F FWP-40B A70QS40-22F A70QS40-4
035 35 28.6 FWP-63A22F FWP-60B A70QS63-22F A70QS60-4
045 45 36.8 FWP-80A22F FWP-80B A70QS80-22F A70QS80-4
052 52 42.5 FWP-80A22F FWP-80B A70QS80-22F A70QS80-4
073 73 59.6 – FWP-100A – A70QS100-4K
086 86 70.3 – FWP-150A – A70QS150-4K
100 100 81.7 – FWP-175A – A70QS175-4K
129 129 105.4 – FWP-175A – A70QS175-4K
B 167 167 136.4 – FWP-300A – A70QS300-4
207 207 169.1 – FWP-350A – A70QS350-4
250 250 204.3 – FWP-400A – A70QS400-4
330 330 269.6 – FWP-600A – A70QS600-4K
412 412 336.6 – FWP-600A – A70QS600-4

Table 53 - 575V AC Input Drives

Frame Drive DC Amps AC Line Bussmann Mersen
Current Amps
Rating North American FWP North American A70QS
Code Type Type

B 067 67.5 55.1 FWP-100A A70QS100-4

101 101.3 82.7 FWP-175A A70QS175-4K
135 135 110.3 FWP-225A A70QS225-4
270 270 220.6 FWP-450A A70QS450-4
405 405 330.9 FWP-600A A70QS600-4K

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Appendix A Supplemental Drive Information

Frame A and B Armature DC Output Fuses

Armature DC output fuses are externally mounted for frame A and B drives
and must be sourced separately. These fuses are required on four quadrant
drives only, but highly recommended on two quadrant drives. See Fuse Code
FS2 in Figure 68 on page 243.

Table 54 - 230V AC Input Drives

Drive DC AC Bussmann Mersen
Curren Amps Line
t Amps Ferrule FWP Type North American Ferrule A70QS North American

Frame
Rating FWP Type Type A70P / A70QS
Code Type

A 7P0 7 5.7 FWP-15A14F FWP-15B A70QS16-14F A70P15-4

9P0 9 7.4 FWP-20A14F FWP-20B A70QS20-14F A70P20-4
012 12 9.8 FWP-25A14F FWP-25B A70QS25-14F A70P25-4
020 20 16 FWP-40A14F FWP-40B A70QS40-14F A70QS40-4
029 29 24 FWP-63A22F FWP-60B A70QS63-22F A70QS60-4
038 38 31 FWP-80A22F FWP-80B A70QS80-22F A70QS80-4
055 55 45 – FWP-125A – A70QS125-4K
073 73 60 – FWP-150A – A70QS150-4K
093 93 76 – FWP-200A – A70QS200-4K
110 110 90 – FWP-225A – A70QS250-4
B 146 146 119 – FWP-300A – A70QS300-4
180 180 147 – FWP-350A A70QS350-4
218 218 178 – FWP-450A – A70QS450-4
265 265 217 – FWP-600A – A70QS600-4K
360 360 294 – FWP-700A – A70QS700-4
434 434 355 – FWP-900A – A70P900-4

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 Supplemental Drive Information Appendix A

Table 55 - 460V AC Input Drives

Drive DC AC Bussmann Mersen
Curren Amps Line
t Amps Ferrule FWP North American Ferrule A70QS North American

Frame
Rating Type FWP Type Type A70P / A70QS
Code Type

A 4P1 4.1 3.3 FWP-10A14F FWP-10B A70QS10-14F A70P10-4

6P0 6 4.9 FWP-15A14F FWP-15B A70QS16-14F A70P15-4
010 10 8.2 FWP-20A14F FWP-20B A70QS20-14F A70P20-4
014 14 11.4 FWP-30A14F FWP-30B A70QS32-14F A70P30-4
019 19 15.5 FWP-40A14F FWP-40B A70QS40-14F A70QS40-4
027 27 22.1 FWP-63A22F FWP-60B A70QS63-22F A70QS60-4
035 35 28.6 FWP-80A22F FWP-70B A70QS80-22F A70QS70-4
045 45 36.8 FWP-100A22F FWP-90B – A70QS90-4
052 52 42.5 FWP-100A22F FWP-100B – A70QS100-4
073 73 59.6 – FWP-150A – A70QS150-4K
086 86 70.3 – FWP-175A – A70QS175-4K
100 100 81.7 – FWP-200A – A70QS200-4K
129 129 105.4 – FWP-250A – A70QS250-4
B 167 167 136.4 – FWP-350A – A70QS350-4
207 207 169.1 – FWP-400A – A70QS400-4
250 250 204.3 – FWP-500A – A70QS500-4K
330 330 269.6 – FWP-700A – A70QS700-4
412 412 336.6 – FWP-800A – A70QS800-4

Table 56 - 575V AC Input Drives

Frame Drive DC Amps AC Line Bussmann Mersen
Current Amps
Rating North American FWP North American A70P / A70QS
Code Type Type

B 067 67.5 55.1 FWP-125A A70QS125-4K

101 101.3 82.7 FWP-200A A70QS200-4K
135 135 110.3 FWP-250A A70QS250-4
270 270 220.6 FWP-600A A70QS600-4K
405 405 330.9 FWP-800A A70QS800-4

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Appendix A Supplemental Drive Information

Frame A and B Field Circuit Fuses

Field circuit fuses are internally mounted and provided with the drive. See Fuse
Code FS3 in Figure 68 on page 243. Also, see Figure 69 on page 250 and
Figure 69 on page 250 for fuse locations.

Table 57 - 230V AC Input Drives

Drive Field Type Quantity Bussmann Mersen SIBA
Curren Amps
t

Frame
Rating
Code
A 7P0
9P0
012
020 10
029
6 x 32 mm 2 FWH-016A6F E085449 70 125 40.16
038
055
073
093 14
110
B 146
180
218
20 10 x 38 mm 2 FWC-25A10F A60Q25-2 60 033 05.25
265
360
434

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 Supplemental Drive Information Appendix A

Table 58 - 460V AC Input Drives

Drive Field Type Quantity Bussmann Mersen SIBA
Curren Amps
t

Frame
Rating
Code
A 4P1
6P0
010
014
019 10
027
035 6 x 32 mm 2 FWH-016A6F E085449 70 125 40.16
045
052
073
086
14
100
129
B 167
207
250 20 10 x 38 mm 2 FWC-25A10F A60Q25-2 60 033 05.25
330
412

Table 59 - 575V AC Input Drives

Drive Field Quantity Type Bussmann Mersen SIBA
Current Amps
Frame

Rating
Code
B 067
101
135 20 2 10 x 38 mm FWC-25A10F A60Q25-2 60 033 05.25
270
405

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Appendix A Supplemental Drive Information

Figure 69 - Frame A Field Circuit Fuses Location

Bottom View of Drive with Fan Bottom View of Drive without Fan

Field circuit fuses

Figure 70 - Frame B Field Circuit Fuses Location

Top View of Drive

Field circuit fuses

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 Supplemental Drive Information Appendix A

Frame C and D Fuse Information

All fuses for armature and field circuit protection are internally mounted and
provided with frame C and D drives.

Figure 71 - Frame C and D Fuse Table Designations

FS4 = Internally U V W U1 V1 FS3 = Internally

mounted fuses for mounted fuses for
FS4 FS3 the field circuit on
the armature
converter on the AC the AC input side.
input side.
C D C1 D1

Frame C and D Field Circuit Fuses

Field circuit fuses for frames C and D drives are internally mounted (labeled
FU1 and FV1) and provided with the drive. See Fuse Code FS3 in Figure 71.
Also, see Figure 72 on page 253 and Figure 73 on page 253 for locations.

Table 60 - 230V AC Input Drives

Drive Field Type Qty Bussmann Mersen SIBA
Current Amps
Frame

Rating
Code
C 521 20 10 x 38 mm FWC-25A10F A60Q25-2 6003305.25
D 875 2
40 22 x 58 mm FWP-50A22F A70QS50-22F 5014006.50
1K0

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Appendix A Supplemental Drive Information

Table 61 - 460V AC Input Drives

Drive Field Type Qty Bussmann Mersen SIBA
Current Amps

Frame
Rating
Code
C 495 A60Q25-2
20 10 x 38 mm FWC-25A10F 6003305.25
667 A60Q25-8
D 830
40 FWP-50A22F A70QS50-22F 5014006.50
996 2
1K1 22 x 58 mm
1K3 70 FWP-100A22F A70QS100-22F 5014006.100
1K4

Table 62 - 575V AC Input Drives

Drive Field Type Qty Bussmann Mersen SIBA
Current Amps
Frame

Rating
Code
C 540 A60Q25-2
20 10 x 38 mm FWC-25A10F 6003305.25
675 A60Q25-8
D 810
1K0 2
1K2 40 22 x 58 mm FWP-50A22F A70QS50-22F 5014006.50
1K3
1K6

Table 63 - 690V AC Input Drives

Drive Field Type Qty Bussmann Mersen SIBA
Current Amps
Frame

Rating
Code
C 452 A60Q25-2
20 10 x 38 mm FWC-25A10F 6003305.25
565 A60Q25-8
D 678
791
40 FWP-50A22F A70QS50-22F 5014006.50
904
2
1K0
22 x 58 mm
1K1
1K2
70 FWP-100A22F A70QS100-22F 5014006.100
1K4
1K5

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 Supplemental Drive Information Appendix A

Figure 72 - Frame C Field Circuit Fuse Location

Field circuit fuses are on the control board EMI shield next to the control board.

Drive shown with front covers removed.

Figure 73 - Frame D Field Circuit Fuse Location

Top, left side of drive control panel.

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Appendix A Supplemental Drive Information

Fuses for Regenerative Frame C and D Drives

Leg fuses are internally mounted and provided with frames C and D drives. See
Fuse Code FS4 in Figure 71 on page 251. Also, see Figure 74 on page 256 and
Figure 75 on page 256 for fuse locations.

Table 64 - Leg Fuses - 230V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 521 521 426 6 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3-V1-5 BS 20 671 32.800 + switch 28 001 04
700 700 571 6 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3V 1-5 BS 20 671 32.800 + switch 28 001 04

Table 65 - Leg Fuses - 230V AC Input Frame D Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - DIN 43653 Stud-Mount

Code
D 875 875 715 6 170M6263 + switch 170H0069 Y300263 + switch MS 3V 1-5 UR 20 635 32.900 + switch 28 001 04
1K0 1050 858 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR 20 635 32.1000 + switch 28 001 04

Table 66 - Leg Fuses - 460V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 495 495 404.4 6 170M5462 + switch 170H0069 6,9 URD 32 TTF 630 + switch MS 3-V1-5 BS 20 671 32.630 + switch 28 001 04
667 667 544.9 6 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3-V1-5 BS 20 671 32.800 + switch 28 001 04

Table 67 - Leg Fuses - 460V AC Input Frame D Drives

Drive DC AC Line Qty Bussmann Mersen SIBA
Current Amps Amps
Frame

Rating Square Body - DIN 43653 Stud-Mount

Code
D 830 830 678.1 6 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR 20 635 32.800 + switch 28 001 04
996 996 813.7 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR 20 635 32.1000 + switch 28 001 04
1K1 1162 949.4 6 170M6265 + switch 170H0069 A300262 + switch MS 3V 1-5 UR 20 635 32.1100 + switch 28 001 04
1K3 1328 1085.0 6 170M6266 + switch 170H0069 B300266 + switch MS 3V 1-5 UR 20 635 32.1250 + switch 28 001 04
1K4 1494 1220.6 6 170M6267 + switch 170H0069 C300267 + switch MS 3V 1-5 UR 20 635 32.1400 + switch 28 001 04

Table 68 - Leg Fuses - 575V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 540 540 441 6 – 11 URD 72 TTF 0800 + switch MS 3V 1-5 BS 20 771 32.800 + switch 28 001 04
675 675 551 6 – 11 URD 72 TTF 0800 + switch MS 3V 1-5 BS 20 771 32.800 + switch 28 001 04

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 Supplemental Drive Information Appendix A

Table 69 - Leg Fuses - 575V AC Input Frame D Drives

Drive DC AC Line Qty Bussmann Mersen SIBA
Current Amps Amps
Frame

Rating Square Body - DIN 43653 Stud-Mount

Code
D 810 810 661 6 170M6246 + switch 170H0069 J300572 + switch MS 3V 1-5 UR 20 735 32.800 + switch 28 001 04
1K0 1080 881 6 170M6248 + switch 170H0069 L300574 + switch MS 3V 1-5 UR 20 735 32.1000 + switch 28 001 04
1K2 1215 991 12 170M6244 + switch 170H0069 G300570 + switch MS 3V 1-5 UR 20 735 32.630 + switch 28 001 04
1K3 1350 1102 12 170M6245 + switch 170H0069 H300571 + switch MS 3V 1-5 UR 20 735 32.700 + switch 28 001 04
1K6 1688 1377 12 170M6246 + switch 170H0069 J300572 + switch MS 3V 1-5 UR 20 735 32.800 + switch 28 001 04

Table 70 - Leg Fuses - 690V AC Input Frame C Drives

Drive DC AC Line Qty Bussmann Mersen SIBA
Current Amps Amps
Frame

Rating Square Body - Flush End Contact

Code
C 452 452 369 6 170M5394 + switch 170H0069 12,5 URD 72 TTF 0500 + switch MS 3V 1-5 BS 20 771 32.500 + switch 28 001 04
565 565 461 6 – 12,5 URD 72 TTF 0630 + switch MS 3V 1-5 BS 20 771 32.630 + switch 28 001 04

Table 71 - Leg Fuses - 690V AC Input Frame D Drives

Drive DC AC Line Qt Bussmann Mersen SIBA
Current Amps Amps y
Frame

Rating Square Body - DIN 43653 Stud-Mount

Code
D 678 678 553 6 170M6244 + switch 170H0069 G300570 + switch MS 3V 1-5 UR 20 735 32.630 + switch 28 001 04
791 791 645 6 170M6246 + switch 170H0069 J300572 + switch MS 3V 1-5 UR 20 735 32.800 + switch 28 001 04
904 904 738 6 170M6247 + switch 170H0069 K300573 + switch MS 3V 1-5 UR 20 735 32.900 + switch 28 001 04
1K0 1017 830 6 170M6248 + switch 170H0069 L300574 + switch MS 3V 1-5 UR 20 735 32.1000 + switch 28 001 04
1K1 1130 922 12 170M6244 + switch 170H0069 G300570 + switch MS 3V 1-5 UR 20 735 32.630 + switch 28 001 04
1K2 1243 1014 12 170M6244 + switch 170H0069 G300570 + switch MS 3V 1-5 UR 20 735 32.630 + switch 28 001 04
1K4 1413 1153 12 170M6245 + switch 170H0069 H300571 + switch MS 3V 1-5 UR 20 735 32.700 + switch 28 001 04
1K5 1582 1291 12 170M6246 + switch 170H0069 J300572 + switch MS 3V 1-5 UR 20 735 32.800 + switch 28 001 04

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Appendix A Supplemental Drive Information

Figure 74 - Frame C Regenerative Drive - Leg Fuse Location

Leg fuses and switches are installed on the bus bars behind the control board EMI shield.

Drive shown with front covers removed and control board EMI shield lowered.

Figure 75 - Frame D Regenerative Drive - Leg Fuse Location

Leg fuses and switches are installed on the bus bars behind the control panel, which holds the circuit boards.

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 Supplemental Drive Information Appendix A

Fuses for Non-Regenerative Frame C and D Drives

AC input line and/or leg fuses are internally mounted and provided with
frames C and D drives. See Fuse Code FS4 in Figure 71 on page 251. Also, see
Figure 76 on page 258 for fuse locations.

Table 72 - AC Input Line Fuses - 230V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 521 521 426 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3-V1-5 BS 20 671 32.1000 + switch 28 001 04
700 700 571 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3V 1-5 BS 20 671 32.1000 + switch 28 001 04

Table 73 - Leg Fuses - 230V AC Input Frame D Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - DIN 43653 Stud-Mount

Code
D 875 875 715 6 170M6263 + switch 170H0069 Y300263 + switch MS 3V 1-5 UR 20 635 32.900 + switch 28 001 04
1K0 1050 858 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR 20 635 32.1000 + switch 28 001 04

Table 74 - AC Input Line Fuses - 460V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 495 495 404.4 3 170M5464 + switch 170H0069 6,9 URD 32 TTF 800 + switch MS 3-V1-5 BS 20 671 32.800 + switch 28 001 04
667 667 544.9 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3-V1-5 BS 20 671 32.1000 + switch 28 001 04

Table 75 - Leg Fuses - 460V AC Input Frame D Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - DIN 43653 Stud-Mount

Code
D 830 830 678.1 6 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR 20 635 32.800 + switch 28 001 04
996 996 813.7 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR 20 635 32.1000 + switch 28 001 04
1K1 1162 949.4 6 170M6265 + switch 170H0069 A300262 + switch MS 3V 1-5 UR 20 635 32.1100 + switch 28 001 04
1K3 1328 1085. 6 170M6266 + switch 170H0069 B300266 + switch MS 3V 1-5 UR 20 635 32.1250 + switch 28 001 04
0
1K4 1494 1220. 6 170M6267 + switch 170H0069 C300267 + switch MS 3V 1-5 UR 20 635 32.1400 + switch 28 001 04
6

Table 76 - AC Input Line Fuses - 575V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 540 540 441 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3V 1-5 BS 20 671 32.1000 + switch 28 001 04
675 675 551 3 170M5466 + switch 170H0069 6,9 URD 32 TTF 1000 + switch MS 3V 1-5 BS 20 671 32.1000 + switch 28 001 04

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Appendix A Supplemental Drive Information

Table 77 - Leg Fuses - 575V AC Input Frame D Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - DIN 43653 Stud-Mount

Code
D 810 810 661 6 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR 20 635 32.800 + switch 28 001 04
1K0 1080 881 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR 20 635 32.1000 + switch 28 001 04
1K2 1215 991 6 170M6265 + switch 170H0069 A300262 + switch MS 3V 1-5 UR 20 635 32.1100 + switch 28 001 04
1K3 1350 1102 6 170M6266 + switch 170H0069 B300266 + switch MS 3V 1-5 UR 20 635 32.1250 + switch 28 001 04
1K6 1688 1377 12 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR 20 635 32.800 + switch 28 001 04

Table 78 - AC Input Line Fuses - 690V AC Input Frame C Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - Flush End Contact

Code
C 452 452 369 6 170M5463 + switch 170H0069 6,9 URD 32 TTF 0700 + switch MS 3V 1-5 BS 20 671 32.700 + switch 28 001 04
565 565 461 6 170M5465 + switch 170H0069 6,9 URD 32 TTF 0900 + switch MS 3V 1-5 BS 20 671 32.900 + switch 28 001 04

Table 79 - Leg Fuses - 690V AC Input Frame D Drives

Drive DC AC Qty Bussmann Mersen SIBA
Current Amps Line
Frame

Rating Amps Square Body - DIN 43653 Stud-Mount

Code
D 678 678 553 6 170M6260 + switch 170H0069 V300260 + switch MS 3V 1-5 UR 20 635 32.630 + switch 28 001 04
791 791 645 6 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR 20 635 32.800 + switch 28 001 04
904 904 738 6 170M6263 + switch 170H0069 Y300263 + switch MS 3V 1-5 UR 20 635 32.900 + switch 28 001 04
1K0 1017 830 6 170M6264 + switch 170H0069 Z300264 + switch MS 3V 1-5 UR 20 635 32.1000 + switch 28 001 04
1K1 1130 922 6 170M6265 + switch 170H0069 A300262 + switch MS 3V 1-5 UR 20 635 32.1100 + switch 28 001 04
1K2 1243 1014 6 170M6266 + switch 170H0069 B300266 + switch MS 3V 1-5 UR 20 635 32.1250 + switch 28 001 04
1K4 1413 1153 6 170M6267 + switch 170H0069 C300267 + switch MS 3V 1-5 UR 20 635 32.1400 + switch 28 001 04
1K5 1582 1291 12 170M6262 + switch 170H0069 X300262 + switch MS 3V 1-5 UR 20 635 32.800 + switch 28 001 04

Figure 76 - Frame C Non-Regenerative Drive - AC Input Line Fuse Location

AC Input fuses and switches are installed on the bus bars behind the control board EMI shield.

Drive shown with front covers removed and control board EMI shield lowered.

258 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Control Power Circuit Switching Power Supply Circuit Board Fuses

Protection Fuses
The following fuses are used to protect the switching power supply circuit.

IMPORTANT Verify the circuit board revision before you order and install fuses.

Frame Circuit Board ID / Revision Designation Fuse (5 x 20 mm)

A SW1-31 / H and below F1 1 A, 250V, slow
SW1-31 / I and above F1 2.5 A, 250V, slow
B F1 3.15 A, 250V fast
SW2-32 / H and below
F2 2.5 A, 250V slow
F1
SW2-32 / I and above 2.5 A, 250V slow
F2
C F1 3.15 A, 250V fast
SW3-32 / H and below
F2 2.5 A, 250V slow
F1
SW3-32 / I and above 2.5 A, 250V slow
F2
D SW1-31 / I and above F1 2.5 A, 250V, slow

Figure 77 - Frame A Switching Power Supply Circuit Board Fuse Location

Top View of Drive switching power supply circuit board fuse holder.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 259

Appendix A Supplemental Drive Information

Figure 78 - Frame B Switching Power Supply Circuit Board Fuse Location

Top View of Drive switching power supply circuit board fuse holders.

F1 = 3.15 A fuse F2 = 2.5 A fuse

Rev. “H” and below only. Rev. “H” and below only.

Figure 79 - Frame C Switching Power Supply Circuit Board Fuse Location

F1 = 3.15 A fuse F2 = 2.5 A fuse

Rev. “H” and below only. Rev. “H” and below only.

The switching power supply circuit board is on the back of the control board EMI shield.

260 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Figure 80 - Frame D Switching Power Supply Circuit Board Fuse Location

switching power supply fuse holder

The switching power supply circuit board is on the control panel.

Frame B Pulse Transformer Circuit Board Fuses

The following fuses are used to protect the MOVs on the pulse transformer
circuit board on frame B drives only.
Circuit Board ID / Revision Designation Fuse (6 x 32 mm)
FIR2-xx / M and earlier F1/F2/F3 16 A, 500V fast

Figure 81 - Frame B Pulse Transformer Circuit Board Fuse Location

Pulse transformer board fuse locations

(shown with control board EMI shield lowered).

Control board EMI shield

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 261

Appendix A Supplemental Drive Information

Frame C Transient Noise Filter Circuit Board Fuses

The following fuses are used to protect the MOVs on the Transient Noise Filter
circuit board for frame C drives only.
Board ID / Revision Designation Fuse (6 x 32 mm)
FL-31 / All F11/F21/F31 25 A, 500V fast

Figure 82 - Frame C Transient Noise Filter Circuit Board Fuse Locations

Transient Noise Filter board fuse locations

C and D terminals - DC output to the motor armature

262 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Frame D Overvoltage Clipping Circuit Board Fuses

The following fuses are used to protect the resistors and capacitors on the
overvoltage clipping circuit board for frame D drives only. The overvoltage
clipping circuit board is on the left side wall inside the drive enclosure,
behind the control panel.
Circuit Board ID / Revision Designation Fuse (14 x 51 mm)
CFSFxxx / All F11/F21/F31 10 A, 690V fast

Figure 83 - Frame D Overvoltage Clipping Circuit Board Fuse Locations

Overvoltage clipping board fuse locations (shown with control panel open).

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 263

Appendix A Supplemental Drive Information

AC Input Line Reactors and AC If a DC contactor is used, an AC input contactor is not needed.
Input Contactors
Table 80 - 230V AC Input Drives
Frame Drive Current DC Amps AC Line Hp IP00 (Open Style) Line Line Reactor kW (HP) AC Input Contactor Cat. No.
Rating Code Amps Reactor Cat No.
A 7P0 7 5.7 1.5 1321-3R8-A 0.75 (1) 100-C12D10
9P0 9 7.4 2 1321-3R12-A 1.49 (2) 100-C12D10
012 12 9.8 3 1321-3R18-A 0.75…3.7 (1…5) 100-C12D10
020 20 16 5 1321-3R18-A 0.75…3.7 (1…5) 100-C23D10
029 29 24 7.5 1321-3R55-A 5.5…11 (7.5…15) 100-C30D10
038 38 31 10 1321-3R55-A 5.5…11 (7.5…15) 100-C37D10
055 55 45 15 1321-3R55-A 5.5…11 (7.5…15) 100-C60D10
073 73 60 20 1321-3R80-A 15 (20) 100-C60D10
093 93 76 25 1321-3R100-A 18.5…22 (25…30) 100-C85D10
110 110 90 30 1321-3R100-A 18.5…22 (25…30) 100-D110D11
B 146 146 119 40 1321-3R160-A 30…37 (40…50) 100-D140D11
180 180 147 50 1321-3R160-A 30…37 (40…50) 100-D180D11
218 218 178 60 1321-3RB250-A 45…56 (60…75) 100-D180D11
265 265 217 75 1321-3RB250-A 45…56 (60…75) 100-D250ED11
360 360 294 100 1321-3RB320-A 75 (100) 100-D300ED11
434 434 355 125 1321-3RB400-A 93 (125) 100-D420ED11
C 521 521 426 150 1321-3R500-A 112 (150) 100-D630ED11
700 700 572 200 1321-3R600-A 149 (200) 100-D630ED11
D 875 875 715 250 1321-3R750-A 186 (250) 100-D860ED11
1K0 1050 858 300 1321-3R850-A 224 (300) 100-D860ED11

264 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Table 81 - 460V AC Input Drives

Frame Drive Current DC Amps AC Line Hp IP00 (Open Style) Line Reactor kW (HP) AC Input Contactor Cat. No.
Rating Code Amps Line Reactor Cat No.
A 4P1 4.1 3.3 2 1321-3R4-A 0.55 (0.75) 100-C12D10
6P0 6 4.9 3 1321-3R8-A 0.75 (1) 100-C12D10
010 10 8.2 5 1321-3R18-B 1.5…7.5 (2…10) 100-C12D10
014 14 11.4 7.5 1321-3R18-B 1.5…7.5 (2…10) 100-C12D10
019 19 15.5 10 1321-3R18-B 1.5…7.5 (2…10) 100-C23D10
027 27 22.1 15 1321-3R55-B 11…22 (15…30) 100-C23D10
035 35 28.6 20 1321-3R55-B 11…22 (15…30) 100-C30D10
045 45 36.8 25 1321-3R55-B 11…22 (15…30) 100-C37D10
052 52 42.5 30 1321-3R55-B 11…22 (15…30) 100-C43D10
073 73 59.6 40 1321-3R80-B 30 (40) 100-C60D10
086 86 70.3 50 1321-3R100-B 37…45 (50…60) 100-C85D10
100 100 81.7 60 1321-3R100-B 37…45 (50…60) 100-C85D10
129 129 105.4 75 1321-3R160-B 56…75 (75…100) 100-D110D11
B 167 167 136.4 100 1321-3R160-B 56…75 (75…100) 100-D140D11
207 207 169.1 125 1321-3RB250-B 93…112 (125…150) 100-D180D11
250 250 204.3 150 1321-3RB250-B 93…112 (125…150) 100-D210ED11
330 330 269.6 200 1321-3RB320-B 149 (200) 100-D300ED11
412 412 336.6 250 1321-3RB400-B 186.4 (250) 100-D420ED11
C 495 495 404.4 300 1321-3R500-B 223.7 (300) 100-D420ED11
667 667 544.9 400 1321-3R600-B 298.3 (400) 100-D630ED11
D 830 830 678.1 500 1321-3R750-B 372.8 (500) 100-D860ED11
996 996 813.7 600 1321-3R850-B 447,4 (600) 100-D860ED11
1K1 1162 949.4 700 1321-3R1000-B 552 (700) 100-G860KD22
1K3 1328 1085.0 800 2 x1321-3R600-B 596.6 (800) 100-G860KD22
1K4 1494 1220.6 900 2 x1321-3R600-B 671.1 (900) 100-G1200KD12

Table 82 - 575V AC Input Drives

Frame Drive Current DC Amps AC Line Amps Hp IP00 (Open Style) Line Reactor kW (HP) AC Input Contactor Cat. No.
Rating Code Line Reactor Cat No.
B 067 67.5 55.1 50 1321-3R55-B 37 (50) 100-C60D10
101 101.25 82.7 75 1321-3R100-B 56 (75) 100-C85D10
135 135 110.3 100 1321-3R130-B 75 (100) 100-D110D11
270 270 220.6 200 1321-3RB250-B 149 (200) 100-D250ED11
405 405 330.9 300 1321-3RB320-B 224 (300) 100-D420ED11
C 540 540 441.2 400 1321-3RB500-B 298 (400) 100-D630ED11
675 675 551.5 500 1321-3R600-B 373 (500) 100-D630ED11

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 265

Appendix A Supplemental Drive Information

Table 82 - 575V AC Input Drives (continued)

Frame Drive Current DC Amps AC Line Amps Hp IP00 (Open Style) Line Reactor kW (HP) AC Input Contactor Cat. No.
Rating Code Line Reactor Cat No.
D 810 810 661.8 600 1321-3R750-B 447 (600) 100-D860ED11
1K0 1080 882.4 800 1321-3R1000-B 597 (800) 100-G700KD22
1K2 1215 992.7 900 1321-3R1000-B 671 (900) 100-G860KD22
1K3 1350 1103.0 1000 2 x 1321-3R600-B 746 (1000) 100-G1000KD12
(1)
1K6 1687.5 1378.7 1250 2 X 1321-3R750-B –
(1) No AC Input Contactor available for this drive rating - must be sourced locally.

Table 83 - 690V AC Input Drives

Frame Drive Current DC Amps AC Line Amps Hp IP00 (Open Style) Line Reactor kW (HP) AC Input Contactor Cat. No.
Rating Code Line Reactor Cat No.
C 452 452 369 400 1321-3RB500-C – 100-D420ED11
565 565 462 500 1321-3RB600-C – 100-D630ED11
D 678 678 554 600 1321-3R750-C – 100-D630ED11
791 791 646 700 1321-3R750-C – 100-D860ED11
904 904 739 800 1321-3R1000-C – 100-D860ED11
1K0 1017 831 900 1321-3R1000-C – 100-D860ED11
1K1 1130 923 1000 2 X 1321-3R600-C – 100-G700KD22
1K2 1243 1016 1100 2 X 1321-3R600-C – 100-G860KD22
1K4 1412.5 1154 1250 2 X 1321-3R750-C – 100-G1200KD12
1K5 1582 1292 1400 2 X 1321-3R750-C – 100-G1200KD12

266 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Isolation Transformers This table contains the recommended isolation transformers

Table 84 - Recommended Isolation Transformers

Three Phase Primary Three Phase Secondary Voltage
Voltage
kVA kW (Hp) Voltage 230V AC 460V AC 575V AC
Catalog Number Catalog Number Catalog Number
5 1.2 - 2.2 230 1321-3TW005-AA 1321-3TW005-AB N/A
(1.5 - 3)
460 1321-3TW005-BA 1321-3TW005-BB N/A
575 1321-3TW005-CA 1321-3TW005-CB N/A
7.5 3.7 (5) 230 1321-3TW007-AA 1321-3TW007-AB N/A
460 1321-3TW007-BA 1321-3TW007-BB N/A
575 1321-3TW007-CA 1321-3TW007-CB N/A
11 5.5 (7.5) 230 1321-3TW011-AA 1321-3TW011-AB N/A
460 1321-3TW011-BA 1321-3TW011-BB N/A
575 1321-3TW011-CA 1321-3TW011-CB N/A
14 7.5 (10) 230 1321-3TW014-AA 1321-3TW014-AB N/A
460 1321-3TW014-BA 1321-3TW014-BB N/A
575 1321-3TW014-CA 1321-3TW014-CB N/A
20 11 (15) 230 1321-3TW020-AA 1321-3TW020-AB N/A
460 1321-3TW020-BA 1321-3TW020-BB N/A
575 1321-3TW020-CA 1321-3TW020-CB N/A
27 15 (20) 230 1321-3TW027-AA 1321-3TW027-AB N/A
460 1321-3TW027-BA 1321-3TW027-BB N/A
575 1321-3TW027-CA 1321-3TW027-CB N/A
34 18.5 (25) 230 1321-3TW034-AA 1321-3TW034-AB N/A
460 1321-3TW034-BA 1321-3TW034-BB N/A
575 1321-3TW034-CA 1321-3TW034-CB N/A
40 22 (30) 230 1321-3TW040-AA 1321-3TW040-AB N/A
460 1321-3TW040-BA 1321-3TW040-BB N/A
575 1321-3TW040-CA 1321-3TW040-CB N/A
51 30 (40) 230 1321-3TW051-AA 1321-3TW051-AB N/A
460 1321-3TW051-BA 1321-3TW051-BB N/A
575 1321-3TW051-CA 1321-3TW051-CB N/A
63 37 (50) 230 1321-3TH063-AA 1321-3TH063-AB 1321-3TH063-AC
460 1321-3TH063-BA 1321-3TH063-BB 1321-3TH063-BC
575 1321-3TH063-CA 1321-3TH063-CB 1321-3TH063-CC
75 45 (60) 230 1321-3TH075-AA 1321-3TH075-AB 1321-3TH075-AC
460 1321-3TH075-BA 1321-3TH075-BB 1321-3TH075-BC
575 1321-3TH075-CA 1321-3TH075-CB 1321-3TH075-CC
93 56 (75) 230 1321-3TH093-AA 1321-3TH093-AB 1321-3TH093-AC
460 1321-3TH093-BA 1321-3TH093-BB 1321-3TH093-BC
575 1321-3TH093-CA 1321-3TH093-CB 1321-3TH093-CC

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 267

Appendix A Supplemental Drive Information

Table 84 - Recommended Isolation Transformers (continued)

Three Phase Primary Three Phase Secondary Voltage
Voltage
kVA kW (Hp) Voltage 230V AC 460V AC 575V AC
Catalog Number Catalog Number Catalog Number
118 75 (100) 230 1321-3TH118-AA 1321-3TH118-AB 1321-3TH118-AC
460 1321-3TH118-BA 1321-3TH118-BB 1321-3TH118-BC
575 1321-3TH118-CA 1321-3TH118-CB 1321-3TH118-CC
145 93 (125) 230 1321-3TH145-AA 1321-3TH145-AB 1321-3TH145-AC
460 1321-3TH145-BA 1321-3TH145-BB 1321-3TH145-BC
575 1321-3TH145-CA 1321-3TH145-CB 1321-3TH145-CC
175 112 (150) 230 1321-3TH175-AA 1321-3TH175-AB 1321-3TH175-AC
460 1321-3TH175-BA 1321-3TH175-BB 1321-3TH175-BC
575 1321-3TH175-CA 1321-3TH175-CB 1321-3TH175-CC
220 145 (200) 230 1321-3TH220-AA 1321-3TH220-AB 1321-3TH220-AC
460 1321-3TH220-BA 1321-3TH220-BB 1321-3TH220-BC
575 1321-3TH220-CA 1321-3TH220-CB 1321-3TH220-CC
275 187 (250) 230 1321-3TH275-AA 1321-3TH275-AB 1321-3TH275-AC
460 1321-3TH275-BA 1321-3TH275-BB 1321-3TH275-BC
575 1321-3TH275-CA 1321-3TH275-CB 1321-3TH275-CC
330 224 (300) 230 1321-3TH330-AA 1321-3TH330-AB 1321-3TH330-AC
460 1321-3TH330-BA 1321-3TH330-BB 1321-3TH330-BC
575 1321-3TH330-CA 1321-3TH330-CB 1321-3TH330-CC
440 298 (400) 230 N/A 1321-3TH440-AB 1321-3TH440-AC
460 N/A 1321-3TH440-BB 1321-3TH440-BC
575 N/A 1321-3TH440-CB 1321-3TH440-CC
550 373 (500) 230 N/A 1321-3TH550-AB 1321-3TH550-AC
460 N/A 1321-3TH550-BB 1321-3TH550-BC
575 N/A 1321-3TH550-CB 1321-3TH550-CC
660 448 (600) 230 N/A 1321-3TH660-AB 1321-3TH660-AC
460 N/A 1321-3TH660-BB 1321-3TH660-BC
575 N/A 1321-3TH660-CB 1321-3TH660-CC
770 522 (700) 230 N/A 1321-3TH770-AB 1321-3TH770-AC
460 N/A 1321-3TH770-BB 1321-3TH770-BC
575 N/A 1321-3TH770-CB 1321-3TH770-CC
880 597 (800) 230 N/A 1321-3TH880-AB 1321-3TH880-AC
460 N/A 1321-3TH880-BB 1321-3TH880-BC
575 N/A 1321-3TH880-CB 1321-3TH880-CC

268 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Dynamic Brake Resistor Kits See Table 87 and Table 88 on page 272 for recommended alternate DC
Output Contactors for 575V and 690V AC input drives, respectively.
and DC Output Contactors
Table 85 - 230V AC Input Drives
Drive DC AC Hp Dynamic Brake Armature Total DB DC Loop Contactor Cat. No.(2) DC
Current Amps Line Resistor Kit Cat. Voltage Resistance Contactor
Frame

Rating Code Amps No. (Volts) (ohms) Drive without Drive with Dynamic Crimp Lugs
Dynamic Brake Brake Cat. No.(3)
A 7P0 7 5.7 1.5 1370-DBL62 240 20 1370-NC56 1370-DC56 1370-LG40
9P0 9 7.4 2 1370-DBL63 240 20 1370-NC56 1370-DC56 1370-LG40
012 12 9.8 3 1370-DBL64 240 15 1370-NC56 1370-DC56 1370-LG40
020 20 16 5 1370-DBL65 240 8.6 1370-NC56 1370-DC56 1370-LG40
029 29 24 7.5 1370-DBL66 240 6 1370-NC56 1370-DC56 1370-LG40
038 38 31 10 1370-DBL67 240 5 1370-NC56 1370-DC56 1370-LG40
055 55 45 15 1370-DBL68 240 3.5 1370-NC56 1370-DC56 1370-LG56
073 73 60 20 1370-DBL69 240 2.6 1370-NC110 1370-DC110 1370-LG92
093 93 76 25 1370-DBL70 240 2 1370-NC110 1370-DC110 1370-LG92
110 110 90 30 1370-DBL71 240 2 1370-NC110 1370-DC110 1370-LG110
B 146 146 119 40 1370-DBL72 240 1.4 1370-NC180 1370-DC180 1370-LG160
180 180 147 50 1370-DBL73 240 1.0 1370-NC180 1370-DC180 1370-LG180
218 218 178 60 1370-DBL74 240 1.0 1370-NC280 1370-DC280 1370-LG228
265 265 217 75 1370-DBL75 240 0.67 1370-NC280 1370-DC280 1370-LG268
360 360 294 100 1370-DBL76 240 0.47 ABB_EHDB360C2P-1L2S ABB_EHDB360C-1L22SS (4)

(4)
434 434 355 125 CUTLER- 240 0.4 ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS
HAMMER_G3AP50
(Qty 4 - two in
series, two in
parallel)
(4)
C 521 521 426 150 HUBBELL_Y139W32 240 0.322
2GB
(1) (4)
700 700 572 200 240 0.25 ABB_EHDB800C2P-1L2S ABB_EHDB800C-1L22SS
(1) (4)
D 875 875 715 250 240 0.2 ABB_EHDB960C2P-1L2S ABB_EHDB960C-1L22SS
1K0 1050 858 300 (1) 240 0.2 SIEMENS-MFG_14-193- SIEMENS-MFG_14-193- (4)
101-58-2 (Qty 2) 101-58-2 (Qty 1)
(1) No Dynamic Brake Resistor kit available for this drive rating - must be sourced locally.
(2) Coil voltage = 115V AC, 50/60Hz.
(3) See DC Contactor Crimp Lug Kit Specifications on page 271 for more information.
(4) Wire and Lug size dependent on enclosure dimensions and local codes.

Table 86 - 460V AC Input Drives

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 269

Appendix A Supplemental Drive Information

Drive DC AC Hp Dynamic Brake Armature Total DB DC Loop Contactor Cat. No.(2) DC

Current Amps Line Resistor Kit Cat. No. Voltage Resistance Contactor
Frame

Rating Amps (Volts) (ohms) Drive without Drive with Dynamic Crimp Lugs
Code Dynamic Brake Brake Cat. No.(3)
A 4P1 4.1 3.3 2 1370-DBH63 500 81 1370-NC56 1370-DC56 1370-LG40
6P0 6 4.9 3 1370-DBH64 500 62 1370-NC56 1370-DC56 1370-LG40
010 10 8.2 5 1370-DBH65 500 45 1370-NC56 1370-DC56 1370-LG40
014 14 11.4 7.5 1370-DBH66 500 27 1370-NC56 1370-DC56 1370-LG40
019 19 15.5 10 1370-DBH67 500 20 1370-NC56 1370-DC56 1370-LG40
027 27 22.1 15 1370-DBH68 500 12 1370-NC56 1370-DC56 1370-LG40
035 35 28.6 20 1370-DBH69 500 10 1370-NC56 1370-DC56 1370-LG40
045 45 36.8 25 1370-DBH70 500 9 1370-NC56 1370-DC56 1370-LG52
052 52 42.5 30 1370-DBH71 500 7 1370-NC56 1370-DC56 1370-LG52
073 73 59.6 40 1370-DBH72 500 5.2 1370-NC110 1370-DC110 1370-LG92
086 86 70.3 50 1370-DBH73 500 4 1370-NC110 1370-DC110 1370-LG92
100 100 81.7 60 1370-DBH74 500 4 1370-NC110 1370-DC110 1370-LG110
129 129 105.4 75 1370-DBH75 500 3 1370-NC180 1370-DC180 1370-LG140
B 167 167 136.4 100 1370-DBH76 500 2.1 1370-NC180 1370-DC180 1370-LG180
207 207 169.1 125 1370-DBH77 500 2.1 1370-NC280 1370-DC280 1370-LG228
250 250 204.3 150 1370-DBH78 500 1.5 1370-NC280 1370-DC280 1370-LG268
330 330 269.6 200 1370-DBH79 500 1.05 ABB_EHDB360C2P-1L2S ABB_EHDB360C-1L22SS (4)

(5)
412 412 336.6 250 HUBBELL_Y95W808GB 500 1 ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS
(5)
C 495 495 404.4 300 HUBBELL_Y101W595GB 500 0.8 ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS
(5)
667 667 544.9 400 HUBBELL_Y109W542GB 500 0.625 ABB_EHDB800C2P-1L2S ABB_EHDB800C-1L22SS
(1) (5)
D 800 830 678.1 500 500 0.463 ABB_EHDB960C2P-1L2S ABB_EHDB960C-1L22SS
(2) (5)
960 996 813.7 600 500 0.322 SIEMENS-MFG_14-193- SIEMENS-MFG_14-193-
101-58-2 (Qty 2) 101-58-2 (Qty 1)
(2) (5)
1K1 1162 949.4 700 500 0.322 SIEMENS-MFG_14-193- SIEMENS-MFG_14-193-
101-58-2 (Qty 2) 101-58-2 (Qty 1)
(2) (5)
1K3 1328 1085.0 800 500 0.255 CUTLER- CUTLER-
HAMMER_6702ED636-2 HAMMER_6702ED636-2
(Qty 2) (Qty 1)
(2) (5)
1K4 1494 1220.6 900 500 0.255 CUTLER- CUTLER-
HAMMER_6702ED636-2 HAMMER_6702ED636-2
(Qty 2) (Qty 1)
(1) No Dynamic Brake Resistor kit available for this drive rating - must be sourced locally.
(2) Coil voltage = 115V AC, 50/60Hz.
(3) See DC Contactor Crimp Lug Kit Specifications on page 271 for more information.
(4) Wire and Lug size dependent on enclosure dimensions and local codes.

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 Supplemental Drive Information Appendix A

DC Contactor Crimp Lug Kit Use the information that is provided in this table to assist you in ordering the
correct Lug kit for your application.
Specifications
Rated Motor DC Contactor Rating Armature Conductor Size (2) DB Conductor Size (3) Armature Conductor DB Conductor Crimp Lug Kit Catalog
Armature Current (1) A DC AWG AWG Crimp Lug Hole Size Lug Hole Size Number
A DC
4.1…35 56 8 8 #10 #10 1370-LG40
45…52 56 6 8 #10 #10 1370-LG52
55 56 4 8 #10 #10 1370-LG56
60…86 110 2 6 0.25 in. 0.25 in. 1370-LG92
100…110 110 1/0 4 0.25 in. 0.25 in. 1370-LG110
129 180 2/0 2 0.3125 in. 0.3125 in. 1370-LG140
146 180 3/0 2 0.3125 in. 0.3125 in. 1370-LG160
147…167 180 4/0 2 0.3125 in. 0.3125 in. 1370-LG180
207…218 280 300MCM 1/0 0.5 in. 0.375 in. 1370-LG228
250…265 280 400MCM 2/0 0.5 in. 0.375 in. 1370-LG268
266…280 280 500MCM 3/0 0.5 in. 0.375 in. 1370-LG280
(1) The Rated Motor Armature Current is taken directly from the motor nameplate or motor data. The current listed in this column is the maximum current that is allowed for the Armature Conductor Size
(column 3) and the DC Contactor Rating (column 2).
(2) The armature conductors are sized by multiplying the Rated Motor Armature Current by 1.25 as provided for in NEC 420-22 (1987). The DC lug ratings are determined from NEC Table 310-16 (1987) for
copper conductors, insulation temperature that is rated at 75° C (167° F) at an ambient temperature of 30° C (86° F). If conditions are other than shown in NEC Table 310-16, then refer to application
codes.
(3) The dynamic braking (DB) conductors are sized as in footnote 2, but at half ampacity due to the short time duration of current flow in these conductors, and has been sized to satisfy NEMA Standard
ICS 3-302.62 - Dynamic Braking. If the load inertia is larger than the motor inertia, calculations must be made to determine correct conductor sizing and DB resistor wattage per NEMA Standard ICS 3-
302.62.

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Appendix A Supplemental Drive Information

Alternate Dynamic Brake The following alternate dynamic brake resistor kits and/or DC output
contactors can be used with the corresponding PowerFlex DC drives but must
Resistor Kits and DC Output be sourced separately from the drive.
Contactors Table 87 - 575V AC Input Drives

Drive DC AC Hp Armature DB Resistor DC Loop Contactor Cat. No.(1) DC

Current Amps Line Voltage Size (ohms) Contactor
Frame

Rating Amps (Volts) Drive w/No Dynamic Brake Drive w Dynamic Brake Crimp Lugs
Code Cat. No.(2)
(3)
B 067 67.5 55.1 50 600 5.93 ABB_EHDB220C2P-1L2S ABB_EHDB220C-1L22SS
101 101 83 75 600 3.95 ABB_EHDB220C2P-1L2S ABB_EHDB220C-1L22SS
135 135 110 100 600 2.96 ABB_EHDB220C2P-1L2S ABB_EHDB220C-1L22SS
270 270 221 200 600 1.48 ABB_EHDB360C2P-1L2S ABB_EHDB360C-1L22SS
405 405 331 300 600 0.988 ABB_EHDB520C2P-1L2S ABB_EHDB520C-1L22SS
C 540 540 441 400 600 0.741 ABB_EHDB650C2P-1L2S ABB_EHDB650C-1L22SS
675 675 551 500 600 0.593 ABB_EHDB800C2P-1L2S ABB_EHDB800C-1L22SS
D 810 810 662 600 600 0.494 ABB_EHDB960C2P-1L2S ABB_EHDB960C-1L22SS
1K0 1080 882 800 600 0.370 SIEMENS-MFG_14-193-101-58-2 (Qty 2) SIEMENS-MFG_14-193-101-58-2 (Qty 1)
1K2 1215 993 900 600 0.329 SIEMENS-MFG_14-193-101-58-2 (Qty 2) SIEMENS-MFG_14-193-101-58-2 (Qty 1)
1K3 1350 1103 1000 600 0.296 CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
1K6 1688 1379 1250 600 0.237 CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
(1) Coil voltage = 115V AC, 50/60Hz.
(2) See DC Contactor Crimp Lug Kit Specifications on page 279 for more information.
(3) Wire and Lug size dependent on enclosure dimensions and local codes.

Table 88 - 690V AC Input Drives

Drive DC AC Hp Armature DB Resistor DC Loop Contactor Cat. No.(1) DC

Current Amps Line Voltage Size (ohms) Contactor
Frame

Rating Amps (Volts) Drive w/No Dynamic Brake Drive w Dynamic Brake Crimp Lugs
Code Cat. No.(2)
(3)
C 452 452 369 400 700 1.03 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
565 565 462 500 700 0.826 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
D 678 678 554 600 700 0.688 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
791 791 646 700 700 0.590 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
904 904 739 800 700 0.516 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K0 1017 831 900 700 0.459 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K1 1130 923 1000 700 0.413 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K2 1243 1016 1100 700 0.375 SIEMENS-MFG_14-193-101-58-2 (Qty SIEMENS-MFG_14-193-101-58-2 (Qty 1)
2)
1K4 1413 1154 1250 700 0.330 CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
1K5 1582 1292 1400 700 0.295 CUTLER-HAMMER_6702ED636-2 (Qty 2) CUTLER-HAMMER_6702ED636-2 (Qty 1)
(1) Coil voltage = 115V AC, 50/60Hz.
(2) See DC Contactor Crimp Lug Kit Specifications on page 271 for more information.
(3) Wire and Lug size dependent on enclosure dimensions and local codes.

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 Supplemental Drive Information Appendix A

Alternate EMC Filters The following recommended filters can be used in place of the Rasmi filters
that are listed in the table in the Installation Requirements Related to EN
61800-3 and the EMC Directive section on page 41.

IMPORTANT Only the Rasmi RF 3xxx-MHU, Rasmi RF-3xxx-SIEI, and EPCOS B84143B Type
S081 filters have been certified for use with the PowerFlex DC drive. All
other filters must be verified in the application.

Table 89 - Rasmi and Rasmi Alternative Filters

Frame Drive Current Voltage Rasmi Filters Rasmi Alternative Type Filters
Rating Code Class
Part Number Part Number Part Number
A 7P0 230V AC EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) RF 3007-FTF, Code 7670 (Rasmi / EuroTek) RF 3010-MHU
9P0 EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3010-MHU
012 EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3016-MHU
020 EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3025-MHU
029 EMI-FFP-480-30, Code 8272 (was RF 3030-SIEI) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3040-MHU
038 EMI-FFP-480-40, Code 8273 (was RF 3040-SIEI) RF 3042-FTF, Code 7672 (Rasmi / EuroTek) RF 3040-MHU
055 RF 3055-FLP, Code 8078 (Rasmi / EuroTek) RF 3055-FTF, Code 7673 (Rasmi / EuroTek) RF 3070-MHU
073 RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3075-FTF, Code 7674 (Rasmi / EuroTek) RF 3100-MHU
093 RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3100-FTF, Code 7675 (Rasmi / EuroTek) RF 3100-MHU
110 RF 3150-FLP, Code 8076 (Rasmi / EuroTek) RF 3130-FTF, Code 7676 (Rasmi / EuroTek) RF 3130-MHU
B 146 RF 3150-FLP, Code 8076 (Rasmi / EuroTek) RF 3180-FTF, Code 7677 (Rasmi / EuroTek) RF 3180-MHU
180 RF 3180-FLP, Code 8077 (Rasmi / EuroTek) RF 3180-FTF, Code 7677 (Rasmi / EuroTek) RF 3180-MHU
218 RF 3250-MHU – –
265 RF 3320-MHU – –
360 RF 3400-MHU – –
434 RF 3600-MHU – –
C 521 RF 3600-MHU – –
700 RF 3800-MHU – –
D 875 RF 31k0-MHU – –
1K0 RF 31k6-MHU – –

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Appendix A Supplemental Drive Information

Table 89 - Rasmi and Rasmi Alternative Filters (continued)

Frame Drive Current Voltage Rasmi Filters Rasmi Alternative Type Filters
Rating Code Class
Part Number Part Number Part Number
A 4P1 460V AC EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) RF 3007-FTF, Code 7670 (Rasmi / EuroTek) RF 3010-MHU
6P0 EMI-FFP-480-9, Code 8270 (was RF 3009-SIEI) RF 3007-FTF, Code 7670 (Rasmi / EuroTek) RF 3010-MHU
010 EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3010-MHU
014 EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) RF 3016-FTF, Code 7671 (Rasmi / EuroTek) RF 3016-MHU
019 EMI-FFP-480-24, Code 8271 (was RF 3024-SIEI) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3025-MHU
027 EMI-FFP-480-30, Code 8272 (was RF 3030-SIEI) RF 3030-FTF, Code 8082 (Rasmi / EuroTek) RF 3040-MHU
035 EMI-FFP-480-40, Code 8273 (was RF 3040-SIEI) RF 3042-FTF, Code 7672 (Rasmi / EuroTek) RF 3040-MHU
045 RF 3045-FLP, Code 8073 (Rasmi / EuroTek) RF 3055-FTF, Code 7673 (Rasmi / EuroTek) RF 3050-MHU
052 RF 3055-FLP, Code 8078 (Rasmi / EuroTek) RF 3055-FTF, Code 7673 (Rasmi / EuroTek) RF 3070-MHU
073 RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3075-FTF, Code 7674 (Rasmi / EuroTek) RF 3100-MHU
086 RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3100-FTF, Code 7675 (Rasmi / EuroTek) RF 3100-MHU
100 RF 3100-FLP, Code 8075 (Rasmi / EuroTek) RF 3100-FTF, Code 7675 (Rasmi / EuroTek) RF 3100-MHU
129 RF 3150-FLP, Code 8076 (Rasmi / EuroTek) RF 3130-FTF, Code 7676 (Rasmi / EuroTek) RF 3130-MHU
B 167 RF 3180-FLP, Code 8077 (Rasmi / EuroTek) RF 3180-FTF, Code 7677 (Rasmi / EuroTek) RF 3180-MHU
207 RF 3250-MHU – –
250 RF 3250-MHU – –
330 RF 3400-MHU – –
412 RF 3600-MHU – –
C 495 RF 3600-MHU – –
667 RF 3800-MHU – –
D 830 RF 31k0-MHU – –
996 RF 31k6-MHU – –
1K1 RF 31k6-MHU – –
1K3 RF 31k6-MHU – –
1K4 RF 31k6-MHU – –

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 Supplemental Drive Information Appendix A

Table 90 - Schaffner and Schaffner Alternative Filters

Drive Current Voltage Schaffner Filters Schaffner Alternative Type Filters

Frame
Rating Code Class
Part Number Part Number Part Number
A 7P0 230V FN 258-7-29 FN 3258-7-44 FN 3270H-10-44
9P0 FN 258-16-29 FN 3258-16-44 FN 3270H-10-44
012 FN 258-16-29 FN 3258-16-44 FN 3270H-20-44
020 FN 258-30-33 FN 3258-30-33 FN 3270H-20-44
029 FN 258-30-33 FN 3258-30-33 FN 3270H-35-33
038 FN 258-42-33 FN 3258-42-33 FN 3270H-50-34
055 FN 258-55-34 FN 3258-55-34 FN 3270H-65-34
073 FN 258-75-34 FN 3258-75-34 FN 3270H-80-35
093 FN 258-100-35 FN 3258-100-35 FN 3270H-100-35
110 FN 258-130-35 FN 3258-130-35 FN 3270H-150-99
B 146 FN 258-180-40 FN 3258-180-40 FN 3270H-150-99
180 FN 258-180-40 FN 3258-180-40 FN 3270H-200-99
218 FN 258-250-40 FN 3359-250-28 FN 3270H-250-99
265 FN 258-250-40 FN 3359-320-99 FN 3270H-320-99
360 – FN 3359-400-99 FN 3270H-400-99
434 – FN 3359-400-99 FN 3270H-600-99
C 521 – FN 3359-600-99 FN 3270H-600-99
700 – FN 3359-800-99 FN 3270H-800-99
D 875 FN 3359-1000-99 – FN 3270H-1000-99
1K0 FN 3359-1000-99 – FN 3270H-1000-99

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Appendix A Supplemental Drive Information

Table 90 - Schaffner and Schaffner Alternative Filters (continued)

Drive Current Voltage Schaffner Filters Schaffner Alternative Type Filters

Frame
Rating Code Class
Part Number Part Number Part Number
A 4P1 460 FN 258HV-7-29 – FN 3270H-10-44
6P0 FN 258HV-7-29 – FN 3270H-10-44
010 FN 258HV-16-29 – FN 3270H-10-44
014 FN 258HV-16-29 – FN 3270H-20-44
019 FN 258HV-30-33 – FN 3270H-20-44
027 FN 258HV-30-33 – FN 3270H-35-33
035 FN 258HV-42-33 – FN 3270H-35-33
045 FN 258HV-55-34 – FN 3270H-50-34
052 FN 258HV-55-34 – FN 3270H-65-34
073 FN 258HV-75-34 – FN 3270H-80-35
086 FN 258HV-100-35 – FN 3270H-100-35
100 FN 258HV-100-35 – FN 3270H-100-35
129 FN 258HV-130-35 – FN 3270H-150-99
B 167 FN 3359HV-180-28 – FN 3270H-200-99
207 FN 3359HV-250-28 – FN 3270H-250-99
250 FN 3359HV-320-99 – FN 3270H-250-99
330 FN 3359HV-320-99 – FN 3270H-320-99
412 FN 3359HV-400-99 – FN 3270H-400-99
C 495 FN 3359HV-600-99 – FN 3270H-600-99
667 FN 3359HV-800-99 – FN 3270H-800-99
D 830 FN 3359HV-800-99 – FN 3270H-1000-99
996 FN 3359HV-1000-99 – FN 3270H-1000-99
1K1 FN 3359HV-1600-99 – –
1K3 FN 3359HV-1600-99 – –
1K4 FN 3359HV-1600-99 – –
B 067 575 FN 258HV-75-34 – –
101 FN 258HV-100-35 – –
135 FN 258HV-130-35 FN 3359HV-150-28 –
270 FN 3359HV-320-99 – –
405 FN 3359HV-400-99 – –
C 540 FN 3359HV-600-99 – –
675 FN 3359HV-800-99 – –
D 810 FN 3359HV-800-99 – –
1K0 FN 3359HV-1000-99 – –
1K2 FN 3359HV-1600-99 – –
1K3 FN 3359HV-1600-99 – –
1K6 FN 3359HV-1600-99 – –

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 Supplemental Drive Information Appendix A

Table 90 - Schaffner and Schaffner Alternative Filters (continued)

Drive Current Voltage Schaffner Filters Schaffner Alternative Type Filters

Frame
Rating Code Class
Part Number Part Number Part Number
C 452 690 FN3359HV-600-99 – –
565 FN3359HV-600-99 – –
D 678 FN3359HV-800-99 – –
791 FN3359HV-800-99 – –
904 FN3359HV-1000-99 – –
1K0 FN3359HV-1600-99 – –
1K1 FN3359HV-1600-99 – –
1K2 FN3359HV-1600-99 – –
1K4 FN3359HV-1600-99 – –
1K5 FN3359HV-1600-99 – –

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Appendix A Supplemental Drive Information

Table 91 - EPCOS and EPCOS Alternative Filters

Drive Current Voltage EPCOS Filters EPCOS Alternative Type Filters

Frame
Rating Code Class
Part Number Part Number Part Number
D 875 230 B84143B1000S080 B84143B1000S020 –
1K0 B84143B1600S080 B84143B1600S020 –
D 830 460 B84143B1000S081 B84143B1000S020 B84143B1000S021
996 B84143B1600S081 B84143B1600S020 B84143B1600S021
1K1 B84143B1600S081 B84143B1600S020 B84143B1600S021
1K3 B84143B1600S081 B84143B1600S020 B84143B1600S021
1K4 B84143B1600S081 B84143B1600S020 B84143B1600S021
B 135 575 B84143B0180S081 B84143B0150S021 –
270 B84143B0320S081 B84143B0320S021 –
405 B84143B0600S081 B84143B0600S021 –
C 540 B84143B0600S081 B84143B0600S021 –
675 B84143B1000S081 B84143B1000S021 –
D 810 B84143B1000S081 B84143B1000S021 –
1K0 B84143B1600S081 B84143B1600S021 –
1K2 B84143B1600S081 B84143B1600S021 –
1K3 B84143B1600S081 B84143B1600S021 –
1K6 B84143B2500S021 – –
C 452 690 B84143B0600S081 B84143B0600S021 –
565 B84143B0600S081 B84143B0600S021 –
D 678 B84143B1000S081 B84143B1000S021 –
791 B84143B1000S081 B84143B1000S021 –
904 B84143B1000S081 B84143B1000S021 –
1K0 B84143B1600S081 B84143B1600S021 –
1K1 B84143B1600S081 B84143B1600S021 –
1K2 B84143B1600S081 B84143B1600S021 –
1K4 B84143B1600S081 B84143B1600S021 –
1K5 B84143B1600S081 B84143B1600S021 –

278 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Supplemental Drive Information Appendix A

Terminal Adapter Kits for The following frame D drives require the listed terminal adapter kits to meet
UL installation requirements.
Frame D Drives
Voltage Drive Current U, V, W Terminal Adapter Kit C, D Terminal Adapter Kit
Class Rating Code Number Number
230 1K0 SK-20P-S726172 –
460 1K1 –
1K3 SK-20P-S726171 –
1K4 –
575 1K0 SK-20P-S726172 –
1K2 –
1K3 SK-20P-S726171 –
1K6 SK-20P-S726173
690 1K0 SK-20P-S726172 –
1K1 –
1K2 –
SK-20P-S726171
1K4 –
1K5 –

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Appendix A Supplemental Drive Information

Notes:

280 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix B

HIM Overview

Topic Page
External and Internal Connections 281
LCD Display Elements 282
ALT Functions 282
Menu Structure 284
Viewing and Editing Parameters 286
Removing/Installing the HIM 287

External and Internal The PowerFlex® DC drive provides a number of cable connection points for the
HIM (frame A shown).
Connections

PORT

MOD

NET A 1 4
NET B

STS

2
2
3ro
1

No. Connector Description

1 DPI Port 1 HIM connection when installed in cover.
2 DPI Port 2 DPI cable connection for handheld and remote options.
3 DPI Port 3 or 2 Splitter cable that is connected to DPI Port 2 provides additional port.
4 DPI Port 5 Cable connection for communication adapter (shown with front cover removed).

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Appendix B HIM Overview

LCD Display Elements

Display Description

Direction⎥ Drive Status⎥ Alarm⎥ Auto/Man⎥ Information

F-> Power Loss Auto
0.0 rpm Commanded or Output Speed or Current
Main Menu:
Diagnostics
Programming / Monitoring / Troubleshooting
Parameter
Device Select

The top line of the HIM display can be configured with parameter 1321 [DPI
Fdbk Select].

ALT Functions To use an ALT function, press the ALT key, release it, then press the
programming key that is associated with the function printed on the HIM
above the key:

Table 92 - ALT Key Functions

Press the ALT Key and Performs this function …
then …
S.M.A.R.T. Displays the S.M.A.R.T. list screen. See Using the S.M.A.R.T. List Screen on page 283 for
more information.
ALT Esc

View Lets you select how parameters are viewed or provides detailed information about a
parameter or component.
Sel

Lang Displays the language selection screen.

Auto / Man Switches between Auto and Manual Modes.

Remove Allows HIM removal without causing a fault if the HIM is not the last controlling device
and does not have Manual control of the drive.

Exp Allows value to be entered as an exponent (Not available on the PowerFlex DC drive).
.

Param # Allows entry of a parameter number for viewing/editing.

+/–

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 HIM Overview Appendix B

Using the S.M.A.R.T. List Screen

The LCD HIM provides the S.M.A.R.T. list screen, which contains some of
the most commonly changed parameters, including the following:
Parameter Name / Number Description
[Max Ref Speed] (45) The base motor speed from the motor nameplate.
[Rated Motor Volt] (175) The maximum armature voltage of the drive output.
[Nom Mtr Arm Amps] (179) Corresponds to 100% of the current limit.
[Nom Mtr Fld Amps] (280) Rated motor nameplate field current.
[Anlg In1 Sel] (70) Selects the parameter to which a value is written from analog input 1
(default = “Speed Ref A”)
[Maximum Speed] (2) Defines the maximum speed of the drive.
[Current Limit] (7) Symmetrical current limit for both current directions for four quadrant drives,
expressed as a percentage of the value in parameter 179 [Nom Mtr Arm
Amps].
[Accel Time 1] (660) Sets the rate of acceleration for Ramp 0.
[Fdbk Device Type] (414) The source of speed feedback.

Some important Start Up parameters are not included in this screen. See Drive
Start Up on page 93 for detailed instructions.

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Appendix B HIM Overview

Menu Structure Figure 84 - HIM Menu Structure

User
Display

Esc Sel (See Key below for button descriptions.)

Faults Fault Info

Diagnostics Status Info Drive Status 1 View Fault Queue
Device Items Drive Status 2 Clear Faults
Device Version PowerFlex DC Drive Alarm 1 Clr Fault Queue
Product Data Spd Feedback Reset Device
Control Board Arm. Current
Main Control Bd Output Voltage
Boot Code Field Current
Main Control Bd AC Line Voltage
Application Code Output Power

Parameter Select via ALT Sel

Param Access Lvl Basic

File-Group-Par* FGP: File Advanced
Numbered List File 1 Name FGP: Group
Changed Params File 2 Name Group 1 Name FGP: Parameter
File 3 Name Group 2 Name Parameter Name
* default selection Group 3 Name Parameter Name
Parameter Name
Device Select PowerFlex DC
(Connected DPI Devices) Value Screen

HIM CopyCat Device -> HIM

Memory Storage Reset To Defaults Device <- HIM
Delete HIM Set

Device Identity
Preferences Change Password
User Dspy Lines

Key:
Press to move between menu items
Press to select a menu item
Press Esc to move 1 level back in the menu structure
Press ALT Sel to select how to view parameters

Diagnostics Menu
When a fault trips the drive, use this menu to access detailed data about the
drive.
Option Description
Faults View fault queue or fault information, clear faults, or reset drive.
Status Info View parameters that display status information about the drive.
Device Items View statistics that are associated with DPI communication.
Device Version View the firmware version and hardware series of components.

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Parameter Menu

Use this menu to view and edit parameters for the drive. When you enter the
the Parameter menu, by default the File–Group–Parameter view is displayed.
To access other views for the Parameter menu, with "Parameter" highlighted in
the Main menu, press Alt then Sel (View), select the desired view in the list and
press Enter. The following selections are available:
Option Description
Param Access Lvl Displays parameter 211 [Param Access Level]. The PowerFlex DC drive is initially set to
the Basic Parameter view. To view all parameters, set parameter 211 [Param Access Lvl]
to option 1 “Advanced”.
File-Group-Par Displays all parameters in a File - Group - Parameter (FGP) structure. The FGP structure
simplifies programming by grouping parameters that are used for similar functions.
Numbered List Displays all parameters in numerical order.
Changed Params Displays the most recently changed parameter. You can scroll through the list of all
changed parameters to the least recently changed. The new and default values are
listed for each parameter.

See Viewing and Editing Parameters on page 286 for more information.

Device Select Menu

Use this menu to access parameters in connected peripheral devices.

Memory Storage Menu

Drive data can be saved to, or recalled from, ‘HIM sets.’ HIM sets are files that
are stored in permanent nonvolatile HIM memory.

ATTENTION: It is recommended that you stop the drive before performing a

download to the drive by using the HIM CopyCat function or DriveExecutive™.

Option Description
HIM CopyCat
Device -> HIM Save data to a HIM set.
Device <- HIM Load data from a HIM set to active drive memory.
Delete HIM Set Delete a HIM set.
Reset To Defaults Restore the drive to its factory default settings.

Preferences Menu

The HIM and drive have features that you can customize.
Option Description
Drive Identity Add text to identify the drive.
User Dspy Lines Select the display, parameter, scale, and text for the User Display. The User Display is two
lines of user-defined data that appears when the HIM is not being used for programming.

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Appendix B HIM Overview

Viewing and Editing LCD HIM

Parameters Step Example Displays

1. In the Main Menu, press or to scroll to ‘Parameter.’

2. Press . ‘FGP File’ appears on the top line and the first three files FGP: File
appear below it. Monitor
Motor Control
Speed Command
3. To scroll through the files, press or .
FGP: Group
4. To select a file, press . The groups in the file are displayed under it.
Motor Data
Field Config
5. Repeat steps 3 and 4 to select a group and then a parameter. The parameter Torq Attributes
value screen appears.
FGP: Parameter
Field Reg Enable
Fld Economy En
Field Mode Sel

6. To edit the parameter, press .

FGP: Par 499
7. Press the or change the value. Fld Economy En
1
If desired, press Sel to move from digit to digit, letter to letter, or bit to Enabled
bit. The digit or bit that you can change is highlighted.
FGP: Par 499
8. To save the value, press . Fld Economy En
If you want to cancel a change, press Esc . 0
Disabled

9. To scroll through the parameters in the group, press or ,

Or press Esc to return to the group list.

Numeric Keypad Shortcut

On a HIM with a numeric keypad, press the ALT key and the +/– key to access
the parameter by typing its number.

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Removing/Installing the HIM The HIM can be removed or installed while the drive is powered.

IMPORTANT HIM removal is only permissible in Auto mode. If the HIM is removed while
in Manual mode or the HIM is the only remaining control device, a fault
occurs.

Step Example Displays

To remove the HIM, follow these steps.

1. Press ALT and then (Remove). The ‘Remove HIM’ Remove Op Intrfc:
confirmation screen appears. Press Enter to
Disconnect Op Intrfc?
2. To confirm that you want to remove the HIM, press . (Port 1 Control)

3. Remove the HIM from the cradle on the drive.

To install the HIM, insert it into the cradle on the drive or connect the DPI cable.

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Notes:

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 Appendix C

Application Notes
Topic Page Topic Page
Alpha Test Mode 289 Reference Control 325
Analog Input Configuration 292 Resolver Cable Balance Tuning Test 328
Current / Speed Curve 294 Resolver Type Selection 329
Drive Reference and Feedback Scaling 296 Scale Blocks 330
Droop Compensation 302 SCR Diagnostic Tests 331
Field-weakening Mode Configuration 302 S-curve Configuration 333
(v1.006)
Lifting/Torque Proving 306 Speed Regulation Functions 335
Manually Tuning the Speed Regulator for 317 Speed / Torque Mode Selection 342
Firmware Revision 6.001 and Later
Multiple Motor Applications 319 Start At Powerup 348
Parameter 21 [Min Firing Angle] 320 Fine-Tuning the Regulators 349
Configuration
PID Function 321

Alpha Test Mode The Alpha Test is a diagnostic function that allows you to activate the
Armature or Field power module in an open loop mode. By commanding an
SCR firing angle, a voltage is produced at the output of the selected power
module. The SCR firing angle is specified in parameter 167 [Arm Test Angle]
or Par 168 [Fld Test Angle]. A load greater than 500 mA is required for proper
SCR operation - typically, an incandescent bulb or inductive load (never a
motor) is used.

The Alpha Test is started as soon as parameter 166 [Alpha Test] is set to one of
the following values:
• 1 “Arm Fwd” (armature forward)
• 2 “Arm Rev” (armature reverse)
• 3 “Fld Fwd” (field forward).

The HIM displays “ArmAlphaTest” or “FldAlphaTest” while active. Start and

Jog commands have no affect and a motor contactor is not closed when the test
mode is initiated.

The Alpha Test ends when Par 166 [Alpha Test] is set to 0 “Off ”. Otherwise,
only a digital input Enable or a Fault stops the test - a HIM Stop has no affect.
A change to the Alpha Test Mode (set in Par 166 [Alpha Test]) resets both test
angles to their minimum firing value (180 deg).

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Appendix C Application Notes

Overcurrent and Overvoltage fault protections are active during these tests.
Also, the Autotune function is disabled while Alpha test is enabled.

Alpha Test Setup and Operation

ATTENTION: Only qualified electrical personnel familiar with the

construction and operation of this equipment and the hazards that are
involved should perform this test. Failure to observe this precaution could
result in equipment damage and/or bodily injury.
ATTENTION: The Alpha test is open loop. Therefore, disconnect the motor
armature and field leads and replace them with dummy loads. Failure to
observe this precaution could result in machine damage and/or bodily injury.
ATTENTION: Uncontrolled machine operation could result with a motor
connected during these tests and may cause personal injury and/or
equipment damage. Verify that the drive is not connected to a motor
armature circuit before enabling these test modes.

WARNING: Remove power before you make or break cable connections.

When you remove or insert a cable connector with power applied, an
electrical arc may occur. An electrical arc may cause these system events,
which can cause personal injury or property damage.
• An erroneous signal to system field devices, which can cause unintended
machine motion
• An explosion in a hazardous environment
Electrical arcing causes excessive wear to contacts on both the module and its
mating connector. Worn contacts can create electrical resistance.

IMPORTANT The Alpha Test requires that you attach the leads of an isolated oscilloscope
to the armature or field terminals of the drive.

1. Remove and lock-out all incoming power to the drive.

L1 L2 L3
I

2. Disconnect the motor armature leads and mechanically lock the rotor.

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3. Attach the isolated oscilloscope leads to the appropriate drive terminals

(based on test to be performed).
4. Reapply power to the drive.
5. Verify the no faults or alarms present. If an alarm or fault code displays,
see Chapter 4 - Troubleshooting on page 219.
6. Open the Enable input on the drive.
7. Set Par 166 [Alpha Test] to the desired value (1 = “Arm Fwd”, 2 = “Arm
Rev” or 3 = “Fld Fwd”).
8. Close the Enable input.
9. Slowly decrease the appropriate angle parameter (Par 167 [Arm Test
Angle] or Par 168 [Fld Test Angle]) until a steady pattern of voltage
pulses display on the oscilloscope. The resulting patterns indicate the
status of the thyristors.
• Six pulses per AC line cycle indicate that all thyristors in the selected
bridge are operating properly.
• Fewer than six pulses per AC line cycle indicates that one or more
thyristors for the selected bridge are not operating.
Conduction (or output voltage) does not typically begin until the angle
is below approximately 120°.
10. Open the Enable input and set Par 166 [Alpha Test] to 0 "Off ".
11. Remove power from the drive.
12. Remove the oscilloscope from the leads of the drive and unlock the
rotor.
13. If necessary, replace the defective firing board in the drive.
14. Reconnect the motor armature and field leads to the drive.
15. Reapply power to the motor and drive.

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Appendix C Application Notes

Analog Input Configuration The analog inputs default to ±10V. To configure the analog inputs for 0-10V,
set parameters [Anlg Inx Config] to 1, “0-10V”. To configure the analog inputs
for a current signal, set parameters [Anlg Inx Config] to 2, “0 - 20mA” or 3, “4
to 20mA”. In addition, switches S9, S10, and S11 must be properly configured
(see Control Circuit Board Jumper and DIP Switch Settings on page 78 for
more information).

From Digital Reference Setting

Anlg In1 Config
Analog Input 1 +/-10V Ain1 Tune Scale Anlg In1 Tune
1 0
Ref_1+
F Anlg In1 Sel
1 Speed Ref A
HW + Volts Anlg In1 Target
input Σ 0
2 type Anlg In1 Cmp Er
- 0
Ref_1- Window comparator
Anlg In1 Scale Anlg In 1 Filter
1 0 ms

Anlg In1 Cmp

Anlg In1 Offset 0
0

Anlg In1 Cmp Eq

Anlg In1 Cmp Dly

0 ms

See the Analog Inputs/Outputs Mapping block diagram on page 364 for more information.

Example 1:
The speed reference value of a drive is defined with an external voltage of 5V.
With this value, the drive reaches the maximum allowable speed set in Par 45
[Max Ref Speed]. Enter a scaling factor of 2 in [Anlg Inx Scale] to scale the
input voltage from 5V to 10V.

Example 2:

An external analog reference reaches a maximum value of 9.8V. Enter a scaling

factor of 1.020 in [Anlg Inx Scale] to scale the maximum voltage from 9.8V to
10V.

The same result could be obtained via parameter [Anlgx Tune Scale], by
entering the values of the appropriate parameters via the HIM. The maximum
possible analog-input value (in this case 9.8V) must be present at the terminal
with a positive polarity at the time of configuration.

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Analog-input Signal Comparison

This feature provides an indication via the HIM or a digital output when the
signal of analog input 1 has reached a limit above or below a set reference point.

Anlg In1 Cmp Err

0

Anlg In1 Cmp

0

Anlg In1 Cmp Eq

Anlg In1 Cmp Dly

0 ms

Calculations that are used to determine Pars1042 [Anlg In1 Cmp] and 1043
[Anlg In1 Cmp Err]:

• [Anlg In1 Cmp] = (comparison value) x 10000 / (max. reference value)

• [Anlg In1 Cmp Err] = (tolerance value) x 10000 / (max. reference value)

Example 1:

An application requires an indication via a digital output that the motor speed
is within 100 rpms of 700 rpm.

• Par 45 [Max Ref Speed] = 1500 rpm (maximum reference value)

• For Analog Input 1, 10V or 20 mA sets the maximum value of Par 44

[Speed Ref A] = Par 45 [Max Ref Speed]

Configure the following:

• Set Par 70 [Anlg In1 Sel] = “Speed Ref A”

• Set [Digital Outx Sel] = “Input1 Cmp” (Par 1045 [Anlg In1 Cmp Eq])

• Set Par 1042 [Anlg In1 Cmp] = 4667 (700 x 10000 / 1500)

• Set Par 1043 [Anlg In1 Cmp Err] = 666 (100 x 10000 / 1500)

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Appendix C Application Notes

• Par 1045 [Anlg In1 Cmp Eq] = “1” (high) when the signal on Analog
Input 1 is within the range that is specified in Par 1043 [Anlg In1 Cmp
Err]. Par 1045 [Anlg In1 Cmp Eq] = “0” (low) when the signal on
Analog Input 1 is outside the range that is specified in Par 1043 [Anlg
In1 Cmp Err].

Example 2:

An application requires an indication via a digital output that the output

current is within ±2% of 50% of the maximum current limit.

• Par 7 [Current Limit] = 100% (maximum reference value)

• For Analog Input 1, 10V or 20 mA sets the maximum value = Par 7

[Current Limit]

Configure the following:

• Set Par 70 [Anlg In1 Sel] = “Pos Cur Lim”

• Set [Digital Outx Sel] = “Input1 Cmp” (Par 1045 [Anlg In1 Cmp Eq])

• Set Par 1042 [Anlg In1 Cmp] = 5000 (50 x 10000 / 100)

• Set Par 1043 [Anlg In1 Cmp Err] = 200 (2 x 10000 / 100)

Current / Speed Curve The current/speed curve function lets you control these attributes:
• Establish a current limit lower than the standard current limits of the
drive (specified in parameters 8 [Current Lim Pos] and 9 [Current Lim
Neg]).
• Reduce the output current (torque) of the drive through a defined curve
as the speed increases based on a threshold speed, effectively reducing
torque. The curve is composed of five equally divided set points.

Par 10 [Cur Lim Pos Out]

or Current/Speed
Par 11 [Cur Lim Neg Out]

Par 751 [TrqTpr Lim0]

Current

Par 752 [TrqTpr Lim1]

Par 753 [TrqTpr Lim2]

Par 754 [TrqTpr Lim3]
Par 755 [TrqTpr Lim4]

Par 162 [Max Feedback Spd]

Par 756 [TrqTpr Spd]
Speed

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Configure these parameters to enable and control the current / speed curve.

• Enable the current/speed curve function by setting parameter 750

[TrqTpr Enable] to 1 “Enabled”.

• Set the current limit (for both directions of rotation in four quadrant
drives) in parameter 751 [TrqTpr Lim0]. The value that is specified in
this parameter overrides the value of parameters 8 [Current Lim Pos]
and 9 [Current Lim Neg].

• Set the threshold speed at which current (torque) reduction begins in

parameter 756 [TrqTpr Spd].

• Set the first reduced current limit in parameter 752 [TrqTpr Lim1]. The
value that is defined in this parameter must be set according to these
constraints:
• Less than the value of parameter 751 [TrqTpr Lim0]
• Greater than the values in parameters 753 [TrqTpr Lim2], 754
[TrqTpr Lim3], and 755 [TrqTpr Lim4].

• Set the second, third, and final reduced current limits in parameters 753
[TrqTpr Lim2], 754 [TrqTpr Lim3] and 755 [TrqTpr Lim4],
respectively. The value of each subsequent parameter must be less than
the previous parameter value. The drive maintains the value that is
specified in parameter 755 [TrqTpr Lim4] up to the value set in
parameter 162 [Max Feedback Spd].

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Appendix C Application Notes

Drive Reference and With firmware revision 3.001, external reference and feedback speed values are
each normalized to 25,000 counts. For firmware revision 2.005 and lower,
Feedback Scaling external reference and feedback speed values are scaled to “rpm x 4” counts.

The value of parameter 45 [Max Ref Speed] (rpm) determines the correlation
(scaling) between the following attributes:
• DPI speed reference counts and rpm
• Analog-input reference values (10V = Par 45 rpm).

All speed reference values are based on the value of [Max Ref Speed]. The value
of [Max Ref Speed] represents the maximum speed that the motor can attain
(also known as “gear-in speed”). If field weakening is used, [Max Ref Speed] is
set to the field weakened speed. Otherwise, the motor base speed is typically
used.

The value of parameter 162 [Max Feedback Spd] (rpm) determines the
correlation (scaling) between DPI speed feedback counts and rpm and the DC
tachometer values (if configured). All speed feedback values are based on [Max
Feedback Spd]. Typically, [Max Feedback Spd] is set to the same value as
parameter 45 [Max Ref Speed], but is not required (because each is separately
scaled to 25000 counts). See Valid Speed Feedback Values on page 300 for
limitations for parameter 162 [Max Feedback Spd] and 169 [Encoder PPR].

Armature Voltage Feedback

When armature voltage feedback is configured, Par 162 [Max Feedback Spd]
must be set to the motor base speed (rpm) value that is associated with Par 175
[Rated Motor Volt].

DC Analog Tachometer Feedback

DC analog tachometer feedback is configured with these settings:
• Set parameter 414 [Fdbk Device Type] to 2 “DC Tach”
• Position DIP switch S4 on the control board to the maximum input
voltage for the tachometer (see Table 28 on page 79 for details)
• Set parameter 162 [Max Feedback Spd] to the same rpm value as
indicated by the maximum input voltage that is set with DIP switch S4

To maximize the feedback speed resolution, use Par 562 [Anlg Tach Gain] to
scale the voltage indicated by DIP switch S4 to Par 162 [Max Feedback Spd].
Use this equation to determine the correct analog-tachometer gain setting:

Par 562 [Anlg Tach Gain] = (Tachometer Maximum DC Input

Voltage) x (1000 rpm/ volts Tach Voltage) / Par 45 [Max Ref Speed]

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Encoder Feedback

Encoder feedback is configured with parameter 169 [Encoder PPR]. No

scaling or switch settings are needed, but the same limitations as the DC analog
tachometer apply. See Valid Speed Feedback Values on page 300 for more
information on setting parameters 162 [Max Speed Feedback] and 169
[Encoder PPR].

Speed Regulator Feedback Bypass

Speed Regulator feedback bypass provides an automatic switch to armature

voltage feedback when a speed feedback-signal loss occurs (“Speed Fdbk Loss”
(F91). Speed Regulator feedback bypass is configured with these settings:
• Set parameter 458 [SpdReg FB Bypass] to 1 “Enabled”
• Connect the drive armature-voltage feedback terminals A1 and A2 to
the motor terminals A1 and A2, respectively

The drive armature-voltage feedback terminals must be connected to the

motor terminals to use Speed Regulator feedback bypass when these
conditions are present:
• A DC contactor is installed with the drive
• Field weakening is enabled (Par 469 [Field Mode Sel] = 1 “Field
Weaken”)

Drive Reference and Feedback Scaling Examples

The examples that are listed here are based on the following data:
• 500V motor, with base speed = 1750 rpm
• Weakened spd = 2500 rpm
• Weakened ratio = 70% (1750/2500 = 0.7)
• 50V / 1000 rpm tachometer
• 240 ppr encoder
• 7500 fpm application (field weakened or gear-in speed)

Examples 2, 3, and 4 indicate how the value of Par 162 [Max Speed Feedback]
is derived from the required analog tachometer scaling that DIP switch S4
determines.

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Appendix C Application Notes

Example 1: Armature Voltage Feedback (Overvoltage Fixed at 20%)

Because armature voltage feedback is being used the maximum reference and
feedback speeds must be equal and set to the rated speed of the motor. In this
case, field weakening is not permitted.

• Par 175 [Rated Motor Volt] = 500V (default)

• Par 45 [Max Ref Speed] = 1750 rpm (default)

• Par 162 [Max Feedback Spd] = 1750 rpm (default)

• The reference and feedback resolution = 0.21 fpm/count

(5250 fpm/25000 counts)

Example 2: DC Tachometer with No Feedback Bypass

When a DC tachometer is used, the maximum feedback speed must be scaled

to the maximum voltage of the tachometer. A loss of feedback resolution
results when Par 562 [Anlg Tach Gain] is left at the default value (1.0000). The
loss in resolution occurs because the drive is only using 1750 rpm out f the
maximum 3600 rpm.

• Par 175 [Rated Motor Volt] = 500V (default)

• Par 45 [Max Ref Speed] = 1750 rpm (default)

• Par 562 [Anlg Tach Gain] = 1.0000 (default)

• Par 585 [Overspeed Val] = 1925 rpm (default)

• Set DIP switch S4 = 180V

This value is set to the next highest DIP switch setting available based
on the result of the following calculation:
Tachometer x Max Motor Speed x Overspeed Percentage = Scaled Tach Input Volts
(50V/1000 rpm) x (1750 rpm) x (1.1) = 96.25V

• Set Par 162 [Max Feedback Spd] = 3600 rpm

This value is based on (180V/50V) =3.6 (1000)

• The reference resolution = (5250 fpm/25000 counts) = 0.21 fpm/count

• The feedback resolution = 0.62 fpm/count

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Example 3: DC Tachometer with Feedback Bypass

This example is similar to example 2 except that it compensates for the loss in
feedback resolution by setting parameter 562 [Anlg Tach Gain].

• Par 175 [Rated Motor Volt] = 500V (default)

• Par 45 [Max Ref Speed] = 1750 rpm (default)

• Set Par 562 [Anlg Tach Gain] = 2.057 (3600/1750)

• Par 585 [Overspeed Val] = 1925 rpm (default)

• Set DIP switch S4 = 180V

This value is set to the next highest DIP switch setting available based
on the result of the following calculation:
Tachometer x Max Motor Speed x Overspeed Percentage = Scaled Tach Input Volts
(50V/1000 rpm) x (1750 rpm) x (1.1) = 96.25V

• Par 162 [Max Feedback Spd] = 1750 rpm (default)

This value is based on: (180V/50V/2.057) =1.750 (1000)

• The reference and feedback resolution = (5250 fpm/25000 counts) =

0.21 fpm/count

Example 4: DC Tachometer with Field Weakening

This example is similar to example 3 except that a field weakening speed of

2500 rpm is configured rather than a base speed of 1750 rpm.

• Par 175 [Rated Motor Volt] = 500V (default)

• Set Par 45 [Max Ref Speed] = 2500 rpm

• Set Par 562 [Anlg Tach Gain] = 1.44

• Set Par 585 [Overspeed Val] = 2750 rpm

• Set DIP switch S4 = 180V

This value is set to the next highest DIP switch setting available based
on the result of the following calculation:
Tachometer x Max Motor Speed x Overspeed Percentage = Scaled Tach Input Volts
(50V/1000 rpm) x (2500 rpm) x (1.1) = 137.5V

• Set Par 162 [Max Feedback Spd] = 2500 rpm

This value is based on: (180V/50V/1.44) = 2.5 (1000)

• The reference and feedback resolution = (7500 fpm/25000 counts) =

0.3 fpm/count

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Example 5: Encoder with Field Weakening

This example is similar to example 4 except that an encoder is configured so

there is no feedback scaling required.

• Par 175 [Rated Motor Volt] = 500V (default)

• Set Par 45 [Max Ref Speed] = 2500 rpm

• Set Par 162 [Max Feedback Spd] = 2500 rpm

• Set Par 169 [Encoder PPR] = 240 ppr

• Set Par 585 [Overspeed Val] = 2750 rpm

• The reference and feedback resolution = (7500 fpm/25000 counts) =

0.3 fpm/count

Valid Speed Feedback Values

Regardless of the type of speed feedback device that is used, the value of
parameters 162 [Max Feedback Spd] and 169 [Encoder PPR] must be in the
‘Allowed Area’ that is shown in Figure 85 on page 301 based on the value of Par
175 [Rated Motor Volt].

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 6000
Par 162 = 6000 rpm (max.)
Par 169 = 100 ppr (min.)

5000

4000

Allowed Area
3000
Figure 85 - Speed Feedback Settings

2000

Par 162 [Max Feedback Spd]

Par 162 = 1465 rpm

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Par 169 = 100 ppr (min.)
1500

When Par 175 = 700V or greater,

1000 Par 162 = 300 rpm Par 162 min. = 500 rpm
Par 162 = 300 rpm
Par 169 = 500 ppr Par 169 = 976 ppr
500

0
Application Notes

0 100 200 400 500 600 800 1000 1200 1400 1600 1800 2000

Par 169 [Encoder PPR] Par 162 = 8 rpm

Par 169 = 977 ppr

301
Appendix C
Appendix C Application Notes

Droop Compensation The Droop function is used when the current must be balanced between two
drives. A typical situation that requires the use of the Droop function is when
two motors are mechanically coupled and must run at the same speed. If
Droop is not used, a difference in the drives speed regulators can result in these
issues:
• One of the motors runs at a higher speed and is overloaded.
• One of the motors runs at a lower speed and acts, essentially, as a brake.

The Droop function lets you overcome this difference by adding a load
compensation component to the speed reference, which is proportional to the
actual load differences of the drives.
For example:
Master Drive Slave Drive
[Anlg In1 Sel] = “Speed Ref A” [Anlg In1 Sel] = “Speed Ref A”
[Anlg Out1 Sel] = “Torque Ref” (Par 14) [Anlg In2 Sel] = “Load Comp” (Par 698)
[Enable Droop] = “Enabled”
[Droop Percent] = 5%
[Droop Filter] = 100 ms
[Droop Limit] = 1000

See the block diagram for Droop Compensation - Inertia / Loss Compensation
on page 370 for more information.

Field-weakening Mode IMPORTANT This configuration applies only to firmware revision 1.006. For instructions
Configuration (v1.006) on how to configure a drive with firmware revision 2.001 for use with an AC
or DC contactor, with or without a dynamic brake, see Contactors on page
31.

The following configuration is required when operating the drive in field

weakening mode with a DC contactor and/or inverting fault device that is
installed in the armature circuit.

ATTENTION: The following information is merely a guide for proper

installation. Rockwell Automation, Inc. 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.

Complete the appropriate installation and programming requirements that are

contained on pages 303…305 when your PowerFlex® DC drive uses this
configuration:
• Field weakening mode is enabled (Par 469 [Field Mode Sel] set to 1 -
“Field Weaken”)
• A DC contactor and/or an inverting fault device is installed in the
armature circuit

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ATTENTION: If a dynamic brake resistor is used with one of these

configurations, dynamic braking stop time is extended when the digital input
configured as 35 - “Fld Weak En” is asserted. If one of these configurations is
used in an inappropriate application, equipment damage and/or personal
injury may result. Do not use one of these configurations without considering
applicable local, national, and international codes, standards, regulations, or
industry guidelines.

Using a DC Contactor Only (Firmware v1.006 Only)

1. Set parameter 1391 [ContactorControl] to "Contactor" (default value).
2. Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] parameter
to "Contactor" (default value for parameters 1392 [Relay Out 1 Sel] and
140 [Digital In8 Sel]).
3. Connect the DC contactor auxiliary (status) contact to a second digital
input.
4. Set the corresponding second [Digital Inx Sel] parameter (133…144) to
“Fld Weak En”.
5. Set the corresponding [Inversion In x] parameter (1276…1283 or
1387…1390) for the second digital input to “Enabled”.

Using a DC Contactor and a Dynamic Brake (Firmware v1.006 Only)

1. Set parameter 1391[ContactorControl] to "Contactor+DB".
2. Set one relay output parameter (1392 [Relay Out 1 Sel] or 629 [Relay
Out 2 Sel]) to "Contactor" and the other relay output parameter to
"ContactorDB".
3. Set one [Digital Inx Sel] parameter to "Contactor" (default value for
parameter 140 [Digital In8 Sel]).
4. Connect the DC contactor auxiliary (status) contact to a second digital
input.
5. Set the corresponding second [Digital Inx Sel] parameter (133…144) to
“Fld Weak En”.
6. Set the corresponding [Inversion In x] parameter (1276…1283 or
1387…1390) for the second digital input to “Enabled”.

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Using an Inverting Fault Device Only (Firmware v1.006 Only)

1. Connect the inverting-fault device contact to two separate digital

inputs. When two inverting fault devices are used, the device contacts
must be wired in series.
2. Set one corresponding [Digital Inx Sel] parameter (133…144) to 35 -
“Fld Weak En”.
3. Set the other corresponding [Digital Inx Sel] parameter (133…144) to
14 - “Aux Fault”.
4. Set both of the corresponding [Inversion In x] parameters (1276…1283
or 1387…1390) to 1 - “Enabled”.

Using a DC Contactor and an Inverting Fault Device (Firmware

v1.006 Only)
DC Contactor Configuration

1. Set parameter 1391[ContactorControl] to "Contactor" (default value).

2. Set one [Relay Out x Sel] parameter and one [Digital Inx Sel] parameter
to "Contactor" (default value for parameters 1392 [Relay Out 1 Sel] and
140 [Digital In8 Sel]).
3. Connect the DC contactor auxiliary (status) contact to a digital input.
4. Set the corresponding [Digital Inx Sel] parameter (133…144) to 35 -
“Fld Weak En”.
5. Set the corresponding [Inversion In x] parameter (1276…1283 or
1387…1390) to 1 - “Enabled”.

Inverting-fault Device Configuration

1. Connect the inverting-fault device contact to a digital input.

2. Set the corresponding [Digital Inx Sel] parameter (133…144) to 14 -
“Aux Fault”.
3. Set the corresponding [Inversion In x] parameter (1276…1283 or
1387…1390) to 1 - “Enabled”.

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Using a DC Contactor, a Dynamic Brake and an Inverting Fault

Device (Firmware v1.006 Only)
DC Contactor and Dynamic Brake Configuration

1. Set parameter 1391[ContactorControl] to "Contactor+DB".

2. Set one [Relay Out x Sel] parameter (1392 [Relay Out 1 Sel] or 629
[Relay Out 2 Sel]) to "Contactor" and the other relay output to
"ContactorDB".
3. Set one [Digital Inx Sel] parameter to "Contactor" (default value for
parameter 140 [Digital In8 Sel]).
4. Connect the DC contactor auxiliary (status) contact to a second digital
input.
5. Set the corresponding second [Digital Inx Sel] parameter (133…144) to
“Fld Weak En”.
6. Set the corresponding [Inversion In x] parameter (1276…1283 or
1387…1390) for the second digital input to “Enabled”.

Inverting-fault Device Configuration

1. Connect the inverting-fault device contact to a digital input.

2. Set the corresponding [Digital Inx Sel] parameter (133…144) to 14 -
“Aux Fault”.
3. Set the corresponding [Inversion In x] parameter (1276…1283 or
1387…1390) to 1 - “Enabled”.

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Appendix C Application Notes

Lifting/Torque Proving TorqProve™ technology for PowerFlex DC drives is intended for applications
where proper coordination between motor control and a mechanical brake is
required. Before the mechanical brake is released, the drive checks motor
armature continuity and verify proper motor control (torque proving). The
drive also verifies that the mechanical brake has control of the load before drive
control (brake proving) is released. After the drive sets the brake, motor
movement is monitored to verify that the brake can hold the load.

ATTENTION: Loss of control in suspended load applications can cause

personal injury and/or equipment damage. The drive or mechanical brake
must always control the load. Parameters 1100…1114 are designed for
lifting/torque proving applications. It is the responsibility of the engineer
and/or end user to configure drive parameters, test any lifting functionality
and meet safety requirements in accordance with all applicable codes and
standards.

TorqProve can be operated with an encoder or encoderless. See “Attention” on

page 307 before the use of TorqProve with no encoder.

TorqProve functionality with an encoder includes:

• Torque Proving (includes last torque measurement)
• Brake Proving
• Brake Slip (feature slowly lowers load if brake slips/fails)
• Float Capability (ability to hold full torque at zero speed)
• Micro-Positioning
• Fast Stop
• Speed Deviation Fault and Encoder Loss Fault.

Encoderless TorqProve functionality includes:

• Torque Proving
• Micro-Positioning
• Fast Stop
• Speed Deviation Fault.

IMPORTANT Brake Slip detection and Float capability (ability to hold load at zero speed)
are not available in encoderless TorqProve.

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Figure 86 - Torque Proving Flow Diagram

Operator Run Run

Commands Command Command Released

Run can be initiated anytime

Time
Drive Running
[Brk Release Time] [ZeroSpdFloatTime] [Brk Set Time]
Parameter 1107 Parameter 1113 Parameter 1108

Drive Torque Brake Float Brake (1) Brake

Actions Prove Initiated Released Initiated Set Slip Test

All times between Drive Actions are programmable and can be made very small
(i.e. Brake Release Time can be 0.1 seconds)

(1) For torque proving to function properly, a mechanical brake must

be wired to a relay output.
Brake 78
Relay 79
35
36
75
Control 76
Voltage U2
V2

ATTENTION: You must read this information before you use the TorqProve
feature without an encoder.
Encoderless TorqProve must be limited to lifting applications where personal
safety is not a concern. Encoders offer additional control and protection and
must be used where personal safety is a concern. Encoderless TorqProve cannot
hold a load at zero speed without a mechanical brake and does not offer
additional protection if the brake slips/fails. Loss of control in suspended load
applications can cause personal injury and/or equipment damage.
It is your responsibility to configure drive parameters, test any lifting
functionality, and meet safety requirements in accordance with all applicable
codes and standards. If encoderless TorqProve is desired, you must certify the
safety of the application. To acknowledge that you have read this information
and properly certified the encoderless application, parameter 414 [Fdbk Device
Type] must be changed to “DC Tach” (2). If parameter 414 is set to “DC Tach,” you
can set bit 1 of parameter 1100 [Torq Prove Cfg] to “1” without causing a Type 2
alarm when lifting/torque proving is enabled (Par 1100, bit 0 = 1).

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Appendix C Application Notes

Tuning The Motor For Torque Prove Applications

It is possible to use Autotune to tune the motor (see Tune the Current
Regulator on page 102 and Tune the Speed Regulator on page 109). However,
it is recommended that the motor is disconnected from the hoist/crane
equipment during the routine.

ATTENTION: Unexpected brake release can cause personal injury and/or

equipment damage. To guard against an unexpected brake release, verify
the digital output that is used for brake connections and/or programming.
The PowerFlex DC drive does not control the mechanical brake until
TorqProve is enabled. If the brake is connected to a digital output, it could
be released. If necessary, disconnect the digital output until wiring/
programming can be completed and verified.

Crane Setup with Encoder/Resolver Feedback

These setup instructions assume the following.

• The drive and motor size have been carefully selected
• The drive parameters are at the factory defaults
• Programming is done with DriveTools™ SP or Connected Components
Workbench® software
• Crane control is done via Run Forward / Run Reverse inputs
• The mechanical brake control is wired to Relay Output 2
• If a resolver is used, the drive must have a Resolver Feedback module
installed
• The encoder/resolver is mounted on the back of the motor (not behind
the gearbox)
• The encoder, if used, meets this specification: Quadrature differential
(A, A-, B, B-), Line driver output, Minimum 1000 PPR 5V or 12V
signals (12V preferred)

ATTENTION: Loss of control in suspended load applications can cause

personal injury and/or equipment damage. The drive or mechanical brake
must always control the load. Parameters 1100…1114 are designed for
lifting/torque proving applications. It is the responsibility of the engineer
and/or end user to configure drive parameters, test any lifting functionality
and meet safety requirements in accordance with all applicable codes and
standards.

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Set Up the Drive

Adjust parameter settings and enter nameplate data.

Parameter Setting
Braking Details
245 [Speed Ramp En] 1 “Enabled”
629 [Relay Out 2] 31 “TP Brake Cmd”
Motor Nameplate Data
175 [Rated Motor Volt] Motor nameplate voltage
179 [Nom Mtr Arm Amps] Motor nameplate current
162 [Max Feedback Spd] Motor nameplate speed
280 [Nom Mtr Fld Amps] Motor nameplate field current
374 [Drv Fld Brdg Cur] Drive Field Supply Rating (matches S14)
Motor Control
241 [Spd Trq Mode Sel] 1 “Speed Reg”
Maximum Speed
45 [Max Ref Speed] Motor nameplate speed
Drive Duty Rating
376 [MtrOvrld Type] 1 “Heavy Duty”
Overload Speed
334 [MtrOvrld Speed] 0% (so no current derating is applied)
Protection
479 [MtrOvrld Flt Cfg] 2 “Fault”
7 [Current limit] 200% (of P179 Nom Mtr Arm Amps)

Motor Tuning Routines

Run the following three tests in the order listed. See Chapter 2 “Drive Start
Up” staring on page 93 for details. If these tests have already been performed,
proceed to Torque Prove Setup on page 311.

Current Tune
This routine measures motor characteristics with the brake set (brake closed).

Verify Motor Rotation and Speed Feedback Polarity

This test checks for correct motor armature and speed feedback device
connections.

Speed Tune
This routine gives better results if the connected equipment allows free motor
rotation. This routine requires the mechanical brake to open and the motor to
run.

If a “TorqPrv Spd Band” fault (F94) occurs during any of the motor tuning
routines, see page 226 for a list of possible errors and actions.

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Speed Reference Setup

1. Set the minimum speed.

Parameter Setting
1 [Minimum Speed] 0.00
2. Set the maximum speed limits.
Parameter Setting
2 [Maximum Speed] Speed limit that is used during normal operation
3. Set the digital input functions.
Parameter Setting
133 [Digital In1 Sel] “Stop/CF” (2)
134 [Digital In2 Sel] “Run Forward” (6)
135 [Digital In3 Sel] “Run Reverse” (7)
136 [Digital In4 Sel] “Enable” (1)
137 [Digital In5 Sel] “Flt MicroPsn” (65)
138 [Digital In6 Sel] “Not Used” (0)
4. Set the speed reference.
Set the DPI Speed Reference to the nominal operating speed.
Parameter Setting
70 [Anlg In1 Sel] “Off” (0)
323 [DPI P1 Select] “Speed Ref A” (1)
5. Verify the speed reference in parameter 1329 [Speed Ref Source] =
1323.
6. Set the speed loop tuning.
Parameter Setting
434 [Speed Reg BW] 20 R/S
Defines the reactivity of the speed regulator. This value is used
to calculate Kp and Ki gains.
433 [Total Inertia] 1.5 Secs
This value can be increased or decreased depending on Speed
regulator response.

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Torque Prove Setup

Carefully perform the following steps in the order presented.

1. Enter the Torque Prove parameter settings.

Parameter Setting
629 [Relay Out 2 Sel] “TP Brake Cmd” (31)
1100 [Torq Prove Cfg] Bit 0 “TP Enable” = 1

Once Torque Prove is activated, the drive is in alarm state.

2. Select the source of speed feedback.
Parameter Setting
414 [Fdbk Device Type] “Encoder” (1) - Verify that P169 [Encoder PPR] is set correctly.
3. Set the time to decrease motor torque during the Brake Slip test.
Drive Parameter Setting
1104 [Torq Limit Slew] 10.000 Secs (Default)
4. Set the speed deviation.
Parameter Setting
1105 [Speed Dev Band] 52.50 RPM (Default)

Increase this setting if the drive faults on F94 “TorqPrv Spd Band.”
5. Set the speed deviation level.
Parameter Setting
1106 [SpdBand Intgrtr] 60 ms (Default)

Increase this setting if the drive faults on F94 “TorqPrv Spd Band.”
6. Set the brake release time.
Parameter Setting
1107 [Brk Release Time] 100 ms (Default)

Increase or decrease this setting depending on the time that is required

to open the brake.
7. Set the brake set time.
Parameter Setting
1108 [Brk Set Time] 100 ms (Default)

Increase or decrease this setting depending on the time that is required

to close the brake.
8. Set the allowable brake slip.
Parameter Setting
1109 [Brk Alarm Travel] 1.00 (Default)

Sets the number of motor revolutions the motor is allowed to lower the
load when a brake slip has been detected.

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9. Set the brake slip definition.

Parameter Setting
1110 [Brk Slip Count] 0.25 (Default)

Sets the number of encoder or resolver revolutions to define a brake

slippage condition.
10. Set the brake float tolerance.
Parameter Setting
1111 [Float Tolerance] 52.50 RPM

Sets the level at which the float timer starts counting.

11. Set the brake float time.
Parameter Setting
1113 [ZeroSpdFloatTime] 5.000 Secs (Default)

Sets the time to maintain zero speed with brake open when the run
command has been released.

The drive is now configured and Torque Prove for the mechanical brake
control is activated. The load can now be applied.

Optimize the Speed Loop Tuning

You can now use DriveObserver to optimize the speed loop tuning. Use a 30
second time scaling on the X-axis. Use DriveObserver to configure the
following traces.
Parameter Setting
1008 [Spd Reg Fdbk] Scaled to minimum and maximum speed limits
113 [Ramp Out] Scaled to minimum and maximum speed limits
200 [Arm Current] Scaled to current limit value
41 [Current Reg In] Default scaling

Run the crane up and down under full load. Adjust acceleration and
deceleration rates if necessary.

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Troubleshooting Crane Setup with Encoder/Resolver Feedback

The following faults commonly occur during drive commissioning.

F4 “AC Undervoltage”
• If the mains supply is still present, reduce the undervoltage level at P481
[UnderVolt Thresh].

F5 “Arm Overvoltage”
• Verify the parameter settings as stated in Set Up the Drive on page 309.

F94 “TrqProve Spd Band” (Speed deviation fault)

• This fault is only active when TorqProve is enabled.
• The speed loop tuning is incorrect. Increase P434 [Spd Reg BW] or
P433 [Total Inertia]. If these values are too high, the regulator becomes
unstable.
• P1008 [Spd Reg Fdbk] should follow P113 [Ramp Out] as closely as
possible.
• The drive is going into current limit. The drive is undersized or
acceleration / deceleration is set too fast.
• The brake is not opening. Check for faulty brake operation.

For more fault information, see Chapter 4 Troubleshooting on page 219.

Crane Setup - Encoderless

These setup instructions assume the following.

• The drive and motor size have been carefully selected
• The drive parameters are at the factory defaults
• Programming is done with DriveTools SP or Connected Components
Workbench® software
• Crane control is done via Run Forward / Run Reverse inputs
• The mechanical brake control is wired to Relay Output 2

ATTENTION: Loss of control in suspended load applications can cause

personal injury and/or equipment damage. The drive or mechanical brake
must always control the load. Parameters 1100…1114 are designed for
lifting/torque proving applications. It is the responsibility of the engineer
and/or end user to configure drive parameters, test any lifting functionality
and meet safety requirements in accordance with all applicable codes and
standards.

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Appendix C Application Notes

Set Up the Drive

Adjust the parameter settings and enter nameplate data.

Parameter Setting
Braking Details
245 [Speed Ramp En] 1 “Enabled”
629 [Relay Out 2] 31 “TP Brake Cmd”
Motor Nameplate Data
175 [Rated Motor Volt] Motor nameplate voltage
179 [Nom Mtr Arm Amps] Motor nameplate current
162 [Max Feedback Spd] Motor nameplate speed
280 [Nom Mtr Fld Amps] Motor nameplate field current
374 [Drv Fld Brdg Cur] Drive Field Supply Rating (matches S14)
Motor Control
241 [Spd Trq Mode Sel] 1 “Speed Reg”
Maximum Speed
45 [Max Ref Speed] Motor nameplate speed
Drive Duty Rating
376 [MtrOvrld Type] 1 “Heavy Duty”
Overload Speed
334 [MtrOvrld Speed] 0%
Protection
479 [MtrOvrld Flt Cfg] 2 “Fault”
7 [Current limit] 200% (of P179 Nom Mtr Arm Amps)

Motor Tuning Routines

Run the following three tests in the order listed. See Chapter 2 “Drive Start
Up” staring on page 93 for details. If these tests have already been performed,
proceed to Torque Prove Setup.

Current Tune
This routine measures motor characteristics with the brake set (brake closed).

Verify Motor Rotation and Speed Feedback Polarity

This test checks for correct motor armature and speed feedback device
connections.

Speed Tune
This routine gives better results if the connected equipment allows free motor
rotation. This routine requires the mechanical brake to open and the motor to
run.

If a “TorqPrv Spd Band” fault (F94) occurs during any of the motor tuning
routines, see page 226 for a list of possible errors and actions.

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 Application Notes Appendix C

Speed Reference Setup

1. Set the minimum speed.

Parameter Setting
1 [Minimum Speed] 0.00
2. Set the maximum speed limits.
Parameter Setting
2 [Maximum Speed] Speed limit that is used during normal operation
3. Set the digital input functions.
Parameter Setting
133 [Digital In1 Sel] “Stop/CF” (2)
134 [Digital In2 Sel] “Run Forward” (6)
135 [Digital In3 Sel] “Run Reverse” (7)
136 [Digital In4 Sel] “Enable” (1)
137 [Digital In5 Sel] “Flt MicroPsn” (65)
138 [Digital In6 Sel] “Not Used” (0)
4. Set the speed reference.
Set the DPI Speed Reference to the nominal operating speed.
Parameter Setting
70 [Anlg In1 Sel] “Off” (0)
323 [DPI P1 Select] “Speed Ref A” (1)
5. Verify the speed reference in parameter 1329 [Speed Ref Source] =
1323.
6. Set the speed loop tuning.
Parameter Setting
434 [Speed Reg BW] 20 R/S
Defines the reactivity of the speed regulator. This value is used
to calculate Kp and Ki gains.
433 [Total Inertia] 1.5 Secs
This value can be increased or decreased depending on Speed
regulator response.

Torque Prove Setup

Carefully perform the following steps in the order presented.

1. Enter the Torque Prove parameter settings.

Parameter Setting
629 [Relay Out 2 Sel] “TP Brake Cmd” (31)
1100 [Torq Prove Cfg] Bit 0 “TP Enable” = 1
Bit 1 “Encoderless” = 1
Bit 5 “BrkSlipEncls” = 1
2. Select the source of speed feedback.
Parameter Setting
414 [Fdbk Device Type] “DC Tach” (2)

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3. Set the speed deviation.

Parameter Setting
1105 [Speed Dev Band] 200 RPM

This setting can be lowered once the system has been tuned. The lower
this value, the faster the protection.
4. Set speed deviation level.
Parameter Setting
1106 [SpdBand Intgrtr] 200 ms

This setting can be lowered once the system has been tuned. The lower
this value, the faster the protection.
5. Set brake float tolerance.
Parameter Setting
1111 [Float Tolerance] 25 RPM

Determines the level where the mechanical brake sets in encoderless

mode.

The drive is now configured and Torque Prove for the mechanical brake
control is activated. The load can now be applied.

Optimize the Speed Loop Tuning

You can now use DriveObserver to optimize the speed loop tuning. Use a 30
second time scaling on the X-axis. Use DriveObserver to configure these traces:
Parameter Setting
1008 [Spd Reg Fdbk] Scaled to minimum and maximum speed limits
113 [Ramp Out] Scaled to minimum and maximum speed limits
200 [Arm Current] Scaled to current limit value
41 [Current Reg In] Default scaling

Run the crane up and down under full load. Adjust acceleration and
deceleration rates if necessary.

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 Application Notes Appendix C

Troubleshooting Crane Setup - Encoderless

The following faults commonly occur during drive commissioning.

F4 “AC Undervoltage”
• If the mains supply is still present, reduce the undervoltage level at P481
[UnderVolt Thresh].

F5 “Arm Overvoltage”
• Verify the parameter settings as stated in Set Up the Drive on page 314.

F94 “TrqProve Spd Band” (Speed deviation fault)

• This fault is active only when TorqProve is enabled.
• The speed loop tuning is not correct. Increase P434 [Spd Reg BW] or
P43 [Total Inertia]. If these values are too high, the regulator becomes
unstable.
• P1008 [Spd Reg Fdbk] should follow P113 [Ramp Out] as closely as
possible.
• The drive is going into current limit. The drive is undersized or
acceleration / deceleration is set too fast.
• The brake is not opening. Check for faulty brake operation.

For more fault information, see Chapter 4 Troubleshooting on page 219.

Manually Tuning the Speed The calculation of Speed Loop gains was simplified in firmware revision 6.001
and later so that they are similar to other PowerFlex Architecture class drives.
Regulator for Firmware The value of parameter 434 [Spd Reg BW] now automatically determines the
Revision 6.001 and Later Speed Regulator gains (Kp and Ki). The Speed Regulator gains can still be
entered manually by setting P434 [Spd Reg BW] to 0. There is also a separate
bandwidth parameter for bypass mode, P448 [Spd Reg BW Bypass]. This
parameter affects P459 [Spd Reg Kp Bypass] and P460 [Spd Reg Ki Bypass].
Follow these steps when converting to revision 6.001 and later from an earlier
firmware revision:

1. Before installing PowerFlex DC firmware revision 6.001 or later, save

the current drive-configuration data by using the HIM CopyCat
function, or DriveExecutive™ or Connected Components Workbench
software.
2. Record the following parameter values:
Parameter Value

87 [SpdReg Kp Pct]

88 [SpdReg Ki Pct]

1013 [Torque Const]

1030 [Spd Tune Inertia]

1031 [Spd Tune Friction]

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Appendix C Application Notes

3. Download the PowerFlex DC firmware revision 6.001 or later. A F100

“EEPROM Error” fault occurs and all parameters are reset to the factory
default values.
4. Download the saved HIM CopyCat or DriveExecutive configuration
data to the drive. An error message/messages appears due to the change
in major revision number.
5. Acknowledge the error/fault messages by selecting OK (DriveTools™ SP
or Connected Components Workbench® software) or pressing the Esc
key (HIM).
6. Verify that P1013 [Torque Const] equals the value that you recorded in
the table in step 2.
7. See the table in step 2 to enter values for these parameters:
• Enter the value that is recorded in table 2 for Par 1030 [Spd Tune
Inertia] into Par 1014 [Inertia]
• Enter the value that is recorded in table 2 for Par 1031 [Spd Tune
Friction] into Par 1015 [Friction]
8. Verify that P1034 [Spd Reg Kp Pct] equals the value that is recorded in
the table in step 2 for P87 [Spd Reg Kp Pct]. If the values are not equal,
P434 [Spd Reg BW] can be adjusted to make P1034 [Spd Reg Kp Pct]
the same as the original value for P87 [Spd Reg Kp Pct].
9. Set P434 [Spd Reg BW] = 0 and adjust P88 [Spd Reg Ki Pct] until
P1035 is equal to the expected value.
10. Verify that P1035 [Spd Reg Ki Pct] equals the value that is recorded in
the table in step 2 for P88 [Spd Reg Ki Pct].

If completed properly, the Speed Regulator performance is now the same as it

was in the previous firmware revision. If desired, the Speed Regulator autotune
(see page 109) can be executed to have the drive automatically determine the
Speed-regulator gain values.

A summary of the basic relationships between Speed Regulator gains,

bandwidth, and tuning for firmware revision 6.001 and later is shown here.
Damping (Par 436) z
Inertia (P433) J
Bandwidth (Par 434) BW = Kp / J
Proportional Gain (Par 87) Kp = BW * J
Integral Gain (Par 88) Ki = (BW * Kp)/(4 * z2)

Load Time Constant Tc = Kp / Ki = (4 * z2) / BW = 1 / Wld

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Multiple Motor Applications The PowerFlex DC drive can be used in multiple motor applications. The
motors can be configured for parallel or series connections.

IMPORTANT The PowerFlex DC drive is not designed for use with resistive or magnetic
loads.

Considerations for Multiple Motors Connected in Parallel

Follow this guidance when using PowerFlex DC drives in multiple motor

applications where the motors are connected in parallel:
• The horsepower, armature voltage, armature current, and rated speed
ratings of all motors that are used in the application must match.
• Parameter 179 [Nom Mtr Arm Amps] must be equal to the sum of all
motor armature current ratings.
• Install armature circuit overloads on each motor that is used in the
application. The drive monitors the total current output for overload.
However, the drive cannot detect an individual motor overload
condition for motors connected in parallel.
• The motor fields must be connected in parallel from the drive output
source.
• It is highly recommended that you install a field loss relay on each motor
field.
• Motor over speed protection is required.

Considerations for Multiple Motors Connected in Series

Follow this guidance when using PowerFlex DC drives in multiple motor

applications where the motors are connected in series:
• The horsepower, armature voltage, armature current, and rated speed
ratings of all motors that are used in the application must match.
• The sum of the nameplate armature voltage ratings for all motors cannot
exceed the maximum rated drive output voltage.
• The sum of the nameplate armature voltage ratings for all motors must
be equal to the armature voltage set in parameter 175 [Rated Motor
Volt].
• The motor fields must be connected in parallel from the drive output
source.
• It is highly recommended that you install a field loss relay on each motor
field.
• Monitor the individual motor voltages for balance.
• Motor over speed protection is required.

The current and speed loop Autotune functions cannot be used with multiple
motors. Complete the Manually Tuning the Speed Regulator for Firmware
Revision 6.001 and Later procedures on page 317.

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Parameter 21 [Min Firing Parameter 21 [Min Firing Angle] allows for the adjustment of the “Alpha”
firing angle limit from the default of 25° to as low as 5°. The firing angle is the
Angle] Configuration angle (point) in the sine-wave where the SCR turns on. The earlier in the sine-
wave that the SCR turns on, the more power is delivered to the motor. When
the regulator demands more current to increase the motor speed, or to
maintain the speed under an increased load, the regulator decreases the firing
angle to deliver more power to the motor. When the motor is spinning, it acts
as a generator and it develops a voltage that is opposite to the applied voltage
from the power module CEMF (Counter Electromotive Force). To regulate
the same current as speed is increased, the regulator reduces the firing angle,
which applies more voltage to the motor. And the motor speed, low line
voltage (either from the source or in the form of a soft line) necessitates a
reduction in the firing angle to deliver proper regulator control of the motor. If
the firing angle reaches the minimum limit, then the drive regulator is no
longer effective when it “requests” more power to be delivered to the motor
from the power module. The drive does not deliver the required power to the
motor and the drive is unable to meet the needs of the application. The actual
firing angle can be dynamically monitored in parameter 165 [Firing Angle]. If
there is a concern whether firing angle limit is limiting the drive performance,
it is recommended that you trend parameter 165 [Firing Angle] over a long
enough period that represents the typical drive loading in the future. If the
minimum firing angle is reached while monitoring, it is recommended that you
reduced the angle in 5° increments. Confirm the adjustment with loading
profiles that are typical between adjustments.

Do not reduce the firing angle limit too aggressively. Only reduce the firing
angel to a value necessary to run the motor at full speed and operate with low
line (-10%) and overload conditions that are required of the drive.

For regenerative drives, inverting fault protection must be provided in the form
of a circuit breaker or fuses. Once an SCR turns on and starts to conduct
current, it stays on (latches) until the incoming AC line reverse biases the SCR.
If the AC line drops too low relative to the motor terminal voltage during
regeneration, SCRs normally commutated off, remain on, and cause an
inverting fault. The inverting fault protection is necessary to control the
maximum current through the motor and power bridge during the fault.

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PID Function The PID function is used to increase or reduce the reference signal output to
the speed or current regulator of the drive. The PID function can be used for
nip-roll, winder/unwinder, roll doctor/salvage machine, pump, and extruder
pressure control and extruder temperature-control applications. (See the
complete “PID Control” block diagram on page 378.)

These examples are included for configuring the following applications:

• Speed winder with a load cell and tension control

❏ Line speed signal (see Configure a Line Speed Signal on page 321)
❏ Closed loop dancer / load cell feedback (see Configure the Feedback
Signal in the Follower Drive/Drives on page 323)

❏ Tension set point (see Configure the Tension Set Point Signal in the
Follower Drive/Drives on page 324)

• Torque winder with a load cell and tension control

❏ Line speed signal (see Configure a Line Speed Signal on page 321)

❏ Closed loop dancer / load cell feedback (see Configure the Feedback
Signal in the Follower Drive/Drives on page 323)
❏ Tension set point (see Configure the Tension Set Point Signal in the
Follower Drive/Drives on page 324)

Configure a Line Speed Signal

The line speed signal is the main reference for the speed or current regulator in
the follower drive/drives.

In the Master drive:

• Configure an analog output for the main speed reference (1 “Spd Ref
Out”)

In the Follower drive:

• Set Par 80 [Anlg In3 Sel] to 12 “UserDefined0”

• Set Par 786 [PID Source] to 19 “UsrDefined0” (Par 503).

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Appendix C Application Notes

Line Speed
Master NIP-Roll
Reverse
Forward

Load Cell
0 - +10V

M E M E
Tension Set
-10V
Master Slave
Set
Drive Drive
Feedback

Line Speed Signal

(Internal Ramp)

+10V Forward
-10V Reverse
Line Speed Reference

In addition you can configure the following:

• Enter the gain for the feed-forward signal in Par 787 [PID Source Gain]

• Monitor the feed-forward signal after the gain is applied in Par 758
[Feed Fwd PID]
P758
Feed Fwd PID

P786 Gain
PID Source

P787
PID Source Gain

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Configure the Feedback Signal in the Follower Drive/Drives

The feedback signal originates from a load cell or a closed loop dancer and is
input to the drive via an analog input.

• Set Par 70 [Anlg In1 Sel] to 19 “PID Feedback”.

Line Speed
Master NIP-Roll
Reverse
Forward

Load Cell
0 - +10V

M E M E
Tension Set
-10V
Master Slave
Set
Drive Drive
Feedback

Line Speed Signal

(Internal Ramp)

+10V Forward
-10V Reverse
Line Speed Reference

In addition you can configure the following:

• Par 763 [PID Feedback] contains the raw feedback counts from the
analog input signal that is received from the transducer position
(dancer) or tension (load cell)

• Monitor the tension set point for a torque winder application in Par
1194 [Act Ten Ref Pct]

• Configure the PID feedback gain in Par 1254 [PID Error Gain]

• Limit the PID correction error using Par 757 [PID Clamp]

• Monitor the actual error input to the PI and PD blocks in Par 759 [PID
Error]

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Appendix C Application Notes

P760 P762
PID Setpoint 0 PID Setpoint Sel

P761
PID Setpoint 1

P1254 P763
PID Error Gain PID Feedback

+ +
+ +
P763
PID Feedback + Σ Σ

P1194 P757 P759

Act Ten Ref Pct PID Clamp PID Error

Configure the Tension Set Point Signal in the Follower Drive/Drives

Configure the initial tension for the application in the Follower drive/drives:

• Set Par 75 [Anlg In2 Sel] to 17 “PID Setpt 0”

Line Speed
Master NIP-Roll
Reverse
Forward

Load Cell
0 - +10V

M E M E
Tension Set
-10V
Master Slave
Set
Drive Drive
Feedback

Line Speed Signal

(Internal Ramp)

+10V Forward
-10V Reverse
Line Speed Reference

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In addition, configure the following in the Follower drive/drives:

• Verify that Par 762 [PID Setpoint Sel] is set to 0 “Setpoint 0”

P760 P762
PID Setpoint 0 PID Setpoint Sel

P761
PID Setpoint 1

P1254 P763
PID Error Gain PID Feedback

+ +
+ +
P763
PID Feedback + Σ Σ

P1194 P757 P759

Act Ten Ref Pct PID Clamp PID Error

Reference Control The drive speed command can be obtained from any of these sources:
• Digital inputs that are configured as speed selects
• A digital input that is configured for “Auto/Manual”
• Reference Select bits of a command word (see Communication
Configurations on page 240 for more information)
The actual source-parameter number is displayed in parameter 1329 [Speed
Ref Source] with any modifications indicated in parameter 1330 [Spd Ref Sel
Sts].

“Auto” Speed Sources

Analog input 1 is the default auto source for a command reference when these
selections are configured:
• Parameter 70 [Anlg In1 Sel] (analog input 1) is set to “Speed Ref A”
• All speed select digital inputs are open or not programmed

If any of the speed-select digital inputs are closed, the drive uses other
parameters as the auto-speed command source.

“Manual” Speed Sources

The manual source for the speed command to the drive is one of these options:
• A HIM request for manual control (see ALT Functions on page 282)
• Control terminal block (analog input or MOP) if a digital input is
programmed to “Auto/Manual”

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Speed Source Changes

The selection of the active speed reference can be made through the digital
inputs, DPI command, Jog button, or Auto/Manual HIM operation.

Figure 87 - Speed-reference Selection Chart

Auto Reference Options [Digital Inx Sel]
Anlg In1-3 Sel Speed Sel: Trim
DPI P1-5 Select P44 [Speed Ref A] 321 Ramp
MOP Select 000
Encoder Out Sel
Resolver Spd Sel P385 Ramp/
Anlg In1-3 Sel [Speed Ref Out] Speed
DPI P1-5 Select P48 [Speed Ref B] Draw
MOP Select 001
Encoder Out Sel Auto Trim
Resolver Spd Sel Speed/
P155 [Preset Speed 2] 010 Droop
P156 [Preset Speed 3] 011
P157 [Preset Speed 4] 100 Min Max
P158 [Preset Speed 5] 101 Ref Speed Off
P159 [Preset Speed 6] 110 Cmd Speed
Limit Limit
P160 [Preset Speed 7] 111
Manual Reference Options Speed
Jog Command
HIM (P1-P5) Requesting Manual Digital Input Man Cmd
Anlg In1-3 Sel P267 [TB Manual Ref] Manual Sel
MOP Select Speed
Regulator
Anlg In1-3 Sel P266 [Jog Speed] On
Speed
Feedback Motor

Torque Reference Source

The torque reference can only be supplied by an analog input, the HIM, or a
network reference. You cannot switch between available sources while the drive
is running. Digital inputs that are programmed as “Speed Sel 1, 2, 3” and the
HIM Auto/Manual function (see Figure 87 on page 326) do not affect the
active torque reference. The HIM, however, cannot acquire Manual Reference
control while it is configured to supply the torque reference.

Auto/Manual Examples
PLC = Auto, HIM = Manual
A PLC controls a process when the drive is in Auto mode, but requires manual
control from the HIM during set-up. The PLC issues the speed reference
through a communication module that is installed in the drive (Port 5).
Therefore, parameter 1327 [DPI P5 Select] is set to “Speed Ref A” with the
drive running from the Auto source.

Acquire Manual Control

• Press ALT then Auto/Man on the HIM. When the HIM acquires
manual control, the drive speed command comes from the HIM speed
control keys.

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Release to Auto Control

• Press ALT then Auto/Man on the HIM again. When the HIM releases
manual control, the drive speed-command returns to the PLC.

PLC = Auto, Terminal Block = Manual

A PLC controls a process when the drive is in Auto mode, but requires manual
control from an analog potentiometer that is wired to the drive terminal block.
The PLC issues the auto speed reference through a communication module
that is installed in the drive (Port 5). Therefore, parameter 1327 [DPI P5
Select] is set to “Speed Ref A” with the drive running from the Auto source.
Because analog input 2 issues the manual speed reference, parameter 75 [Anlg
in2 Sel] is set to “TB Man Ref ”. The value of analog input 2 can be viewed in
parameter 267 [TB Manual Ref ]. To switch between Auto and Manual,
parameter 136 [Digital In4 Sel] is set to “Auto/ Manual”.

Acquire Manual Control

• Close the digital input. With the input closed, the speed command
comes from the pot.

Release to Auto Control

• Open the digital input. With the input open, the speed command
returns to the PLC.

Auto/Manual Notes

1. Manual control is exclusive. If a HIM or terminal block takes manual

control, no other device can take manual control until the Him or
terminal block releases control.
2. If a HIM has manual control and power is removed from the drive, the
drive returns to Auto mode when power is reapplied.

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Resolver Cable Balance At drive power-up, the resolver feedback module automatically performs cable
length compensation and resonance tuning for the attached resolver and cable.
Tuning Test The status of the cable length compensation and resonance are identified in
parameter 426 [Resolver Status], bit 3 “CableCompSts” and 10 “HardwareSts,”
respectively. The cable balance-tuning test can be performed to attempt the
enhancement of the resolver performance. This optional test takes
approximately 10 seconds to complete successfully.

ATTENTION: The motor rotates during this tuning procedure. Hazard of

personal injury exists due to motor shaft rotation and/or machinery motion.

Performing the Cable Balance Tuning Test

WARNING: Remove power before you remove or make cable connections.

When you remove or insert a cable connector with power applied, an
electrical arc may occur. An electrical arc may cause these system events,
which can cause personal injury or property damage.
• An erroneous signal to system field devices, which can cause unintended
machine motion
• An explosion in a hazardous environment
Electrical arcing causes excessive wear to contacts on both the module and its
mating connector. Worn contacts can create electrical resistance.

1. Remove and lock-out all incoming power to the drive.

2. Verify that the resolver feedback module has been correctly installed and
wired in the drive according to the PowerFlex DC Drive Resolver
Feedback Module Installation Instructions, publication 20P-IN071.
3. Apply power to the drive.
4. Verify that Par 422 [Fdbk Option ID] displays the appropriate module
ID for the resolver feedback-module board that is installed in the drive.
5. Verify that the following parameters have been properly configured:
• Parameter 423 [Reslvr Type Sel] (see page 139)
• Parameter 424 [Reslvr Spd Ratio] (see page 139)
• Parameter 425 [Resolver Config] (see page 140)
6. Set Par 414 [Fdbk Device Type] to 3 “Armature” (armature voltage
feedback).
7. Run the drive at 50% of base speed (or at least 750 rpm when 10-bit
resolution that is selected. Higher resolutions and x2, x5 resolvers have
lower minimum speeds).
8. Verify that Par 426 [Resolver Status], bit 2 “ReslvrMinSpd” is not set.
9. Set Par 431 [Reslvr CableBal] to 1 “On” (this parameter automatically
resets to zero after tuning is completed).

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10. Monitor Par 426 [Resolver Status], bits 0 “CableBalSts” and 1

“CableBalTest”. The initial test typically takes approximately 10 seconds
to complete successfully (subsequent tests more quickly). However, if
the cable balance algorithm is unable to adapt to the cable, the test could
be active for up to 60 seconds.
• For bit 0 “CableBalSts”: 1 = the cable is not balanced or the test is
active, and 0 = the cable is balanced (tuned).
• For bit 1 “CableBalTest”: 0 = the cable balance (tuning) test is
completed, and 1 = the cable cannot be balanced or the motor was
not at minimum speed during the test.
11. Stop the drive. If the cable balance test fails, verify that the resolver is
properly configured and connected to the drive. Repeat the test after
addressing any issues.
12. Reconfigure Par 414 [Fdbk Device Type] to 4 “Resolver”.

Resolver Type Selection The following table provides a description and related attributes for the
resolver types compatible with the PowerFlex DC drive and resolver feedback
module. Where possible, specific compatible resolver models have been
identified. Additional options are available for this parameter when a resolver
with attributes that match is used (identified by the option “Resolver xx”).

Table 93 - Resolver Type Attributes

Par 423 [Reslvr Type Sel] Option Resolver Catalog Numbers Par 424 [Reslvr Spd Carrier Input Transformer Feedback Power Amp
(Manufacturer) (1) Ratio] Frequency Voltage Ratio Amp Gain Voltage
1 “2014x1/AMCI” 800123-R, -1R, -2R (Rel) x1 2381 26 0.4538 0.5 45
TS-2014N181E32 (Tam)
TS-2087N1E9 (Tam)
TS-2087N11E9 (Tam)
R11X-C10/7 (Adv)
2 “T2014x2/2087” 800123-S, -1S, -2S (Rel) x2 2381 26 0.4538 0.5 45
TS-2014N182E32 (Tam)
TS-2087N12E9 (Tam)
TS-2087N2E9 (Tam)
3 “T2014x5/2087” 800123-T, 1T, 2T (Rel) x5 2381 26 0.4538 0.5 45
TS-2014N185E32 (Tam)
TS-2087N5E9 (Tam)
4 “Resolver 04” – x2 4000 8 0.25 0.92 14
5 “Resolver 05” – x2 9300 22 0.5 0.5 45
6 “Resolver 06” – x1 4000 5 0.5 0.92 14
7 “Resolver 07” – x1 7000 4.25 0.4706 0.92 14
8 “Resolver 08” – x1 2500 12 0.5 0.5 45
9 “Resolver 09” – x2 4000 8 0.25 0.92 14
10 “Resolver 10” – x2 9300 15.5 0.5013 0.5 45
11 “Resolver 11” – x2 2500 7 1.7 0.5 45
12 “Resolver 12” – x2 9300 22 0.5 0.5 45
13 “Resolver 13” – x1 2000 6.36 0.5 0.92 14
14 “Resolver 14” – x1 6500 8 0.5 0.5 14
15 “Resolver 15” – x1 6500 8 0.5 0.5 14

(1) Abbreviations in this column indicate the following resolver manufacturers: Adv = Advanced Micro Controls, Inc. (AMCI), Rel = Reliance (-x = foot mounted, -1x = foot mounted, double shaft, -2x = flange-mounted), Tam =
Tamagawa.

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Scale Blocks The six individually configurable Scale Blocks let you link or rescale dissimilar
parameter types (for example, integer vs. real) by using these functions:
• Multiply
• Divide
• Maximum and minimum limits
• input and output offsets
• absolute value

See Scale Block 1 block diagram for an example.

IMPORTANT The Scale Blocks functions are executed sequentially in the background,
which can cause a delay in processing data between the input and output
values. The amount of delay is dependent on the application.

The following rules apply to Scale Blocks:

• All input [Scalex Input] and output [Scalex Output] values are specified
as a parameter number (not parameter values).
• Both Sink (read/write) and Source (read only) parameters can be used as
input values ([Scalex Input]).
• Only Sink (read/write) parameters can be used as the output value
([Scalex Output]).
• Configuration parameters (parameters that can be changed only while
the drive is stopped) can be used as the output value ([Scalex Output]).
However, any value that is written to a configuration parameter does not
take effect in the drive until it is stopped.
• The output value is truncated to a whole number when different
parameter types are used. For example, a real input value of 54.97%
becomes an integer output value of 54 rpm.
• Dividing by zero does not cause an error, but results in an output value of
zero.
• Turning off (setting = “0”) the input parameter or changing the output
parameter number does not reset or change the original output value. In
other words, the output parameter remains at the last value written.

Scale Block 1 P488

Scale1 In Max

+ +
P484 P485
Scale1 Input Σ X Σ Scale1 Output
+ +

P492 P491
P489 Scale1 Out Off
Scale1 In Abs Scale1 In Min
P487
Scale1 Div
P490 P486
Scale1 In Off Scale1 Mul

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Link Parameters Via the Scale Block Parameters

You can enter most parameter values directly. However, certain parameters can
be “linked” by using the Scale Block parameters so the value of one parameter
becomes the value of another.

For example, the value of an analog input 1, parameter 70 [Anlg In1 Sel], can
be linked to parameter 660 [Accel Time 1]. Follow these steps to link
parameters.

1. Set parameter 70 [Anlg In1 Sel] to 12 “UserDefined0”.

2. Set parameter 484 [Scale1 Input] to “503” (the parameter number of
[UserDefined0]).
3. Set parameter 485 [Scale1 Output] to “660” (the parameter number of
[Accel Time 1]).

Rather than entering an acceleration time via the HIM, this link allows the
value to change by varying the analog signal, providing additional flexibility for
certain applications. Test this functionality for the desired response before
applying to an application.

SCR Diagnostic Tests Two SCR diagnostic functions are available; (1) Open SCR, and (2) Shorted
SCR. Each test is run to identify which SCR or SCR pair has failed, including
multiple SCR failures. However, if the drive cannot determine the specific
shorted SCR or SCR pair, a shorted SCR (b15) is indicated in Par 214
[SCR Diag Status] and bits 0…11 remain off (0). Each diagnostic function can
be enabled/disabled independently (default is disabled) via parameter 213
[SCR Diag Test En] and each operate after the drive is started. Typically, enable
the SCR diagnostic functions when a problem is suspected.

When enabled, the Shorted SCR test pulses each SCR/pair immediately after
a Start command (and the contactor is closed). The test results in a short delay
before controlling the motor. If a shorted SCR is detected, a non-configurable
fault is generated.

The Open SCR test monitors voltage and/or current and uses these adjustable
parameters to determine when and if to initiate a fault or alarm:
• 215 [OpenSCR WarnLvl]
• 217 [OpenSCR Threshold]
• 218 [OpenSCR Trip Lvl]

You can configure parameter 216 [OpenSCR Flt Cfg] to indicate a fault or an
alarm that is based on the Open SCR test results.

Parameter 214 [SCR Diag Status] shows which SCR(s) were detected as failed
(open or shorted).

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Open SCR Test

Under normal drive operation, the load that each SCR carries is relatively
equal, as shown in this image.

If one or more SCRs fail to turn on, a unique pattern of insufficient or missing
current-pulses results, as shown in this image.

Open SCR diagnostics detects SCRs that are not conducting by analyzing the
level of current produced by each SCR pair firing. If an SCR(s) consistently
fails to produce current at a level approximately equal to other SCRs that fired,
the drive concludes that an open SCR has occurred.

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The Open SCR diagnostic test calculates the percentage deviation of current
feedback for each pair of SCRs from the average current feedback. The percent
deviation must exceed the value set for Par 216 [OpenSCR Threshold] before
the test proceeds to the next part of the diagnostic. In the next part, deviations
from the average current are accumulated over time to eliminate transient
effects from the calculation. When the deviations reach the value of Par 218
[OpenSCR Trip Lvl], an open SCR condition is annunciated based on Par 216
[OpenSCR Flt Cfg]. The open SCR(s) are indicated in Par 214
[SCR Diag Status].

You can configure the drive to indicate a warning that SCR operation is
imbalanced before a fault is generated. This warning is only indicated in Par
214 [SCR Diag Status], bit 13 “OpenSCR Warn”. To configure the drive to
indicate a warning before a fault, set Par 215 [OpenSCR Warn Lvl] less than
Par 218 [OpenSCR Trip Lvl]. To avoid nuisance open SCR events, such as an
unbalanced AC supply line, use these parameters to increase the tolerance to
the conditions that can trigger the event.

Shorted SCR Test

Once enabled, the shorted SCR test executes each time that the drive is started.
This test introduces a delay of a few seconds before controlling the motor. If a
shorted SCR is detected, a non-configurable fault (F89 [Shorted SCR]) is
generated and also indicated in Par 214 [SCR Diag Status].

S-curve Configuration To enable S-shaped ramp (S-curve) operation in the drive, set Par 18 [Ramp
Type Select] to 1 “S shaped.” When S-curve operation is enabled, it allows for a
smoother change in speed than a linear ramp.
Speed (rpm)

Time (s)

When S-curve is added to the ramp, the total length of time to perform a speed
change increases. When accelerating, the S-curve does not exceed the
maximum acceleration set by parameters 24 and 660 [Accel Time x]. Likewise,
when decelerating, the S-curve does not exceed the maximum deceleration set
by parameters 32 and 662 [Decel Time x]. When the S-curve times are much
smaller (<20%) than the linear acceleration times, the speed profile is similar to
a linear ramp (slightly delayed). As S-curve times are increased, more of the
speed profile is spent in the “s” (non-linear) and less in the linear acceleration
section. When s-curve and linear ramp times are equal, there is no longer any

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Appendix C Application Notes

linear portion of the ramp (although maximum acceleration is reached at the

mid-point of the total ramp). When S-curve time is larger than the linear ramp
time, again there is no linear portion, and maximum acceleration is never
reached. The same is true for deceleration ramps.

The total ramp time is independent of the change in the speed reference. So, it
takes the same amount of time to make a 10 rpm change as it will for a 1000
rpm change. Do not “ramp” the reference externally to the drive while S-curve
is enabled in the drive (it makes the ramp time longer).

When the S-shaped ramp <= Linear ramp, the S-shaped ramp speed profile is
divided into three sections:
• Initial (positive) “S” (jerk)
• Linear (constant acceleration)
• Final (negative) “S” (jerk)

Total Ramp (T3)

Initial “S” Linear Final “S”

(T1) (T2) (T1)

Approximately half of the value of parameter 19 [S Curve Time] is added to

the initial “S” and half of the value is added to the final “S.”

When the S-shaped ramp > Linear ramp, the linear portion becomes zero.

To calculate the total ramp time when S-curve is enabled, the amount of time
in each section of the profile must be determined. T1 = initial S and final S,
and T2 = linear.

The total ramp time T3 = T1+T2+T1 (each ramp has two equal “S” portions
and one linear portion). In the following equations, Ta = linear ramp time
(Pars 24, 32, 660, and 662), Ts = S-curve time (Par 19).

For S-shaped ramp <= Linear ramp

• T1 = (Ts * Ts) / (2 * Ta)
• T2 = Ta – T1

For S-shaped ramp > Linear ramp

• T1 = Ts/sqrt(2)
• T2 = 0

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S-curve Acceleration Ramp Example:

Acceleration-ramp parameter configuration:

• Par 18 [Ramp Type Select] = 1 “S shaped”
• Par 660 [Accel Time 1] = 5 s (Ta)
• Par 19 [S Curve Time] = 3.5 s (Ts)

In this case, S-shaped ramp <= Lramp, so T1 and T2 are calculated as:

T1 = (3.5 * 3.5) / (2 * 5)
T1 = 12.25 / 10
T1 = 1.23 s

T2 = 5 – 1.23
T2 = 3.78 s

The resulting total ramp time is calculated as:

T3 = 1.23 + 3.78 + 1.23

T3 = 6.24 s

Therefore, the total acceleration-ramp time with S-curve enabled in this

example increased the total ramp time without S-curve by 1.24 seconds.

Speed Regulation Functions The PowerFlex DC drive provides a flexible speed regulator circuit that can be
adapted to the requirements of various applications. The drive is set to PI
regulation by default.

Adaptive Speed Regulator

The adaptive speed regulator function enables different gains of the speed
regulator depending on the speed reference or another variable (adaptive
reference). This feature allows optimum adaptation of the speed regulator to
the specific application.

In v6.001 and later, the internal value of these gains is shown in Testpoints
575…580 (see Testpoint Codes and Functions on page 233). The internal
value represents the equivalent firmware version 5.007 and earlier speed
regulator gains.

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Appendix C Application Notes

P186 P187
Adaptive Joint 1 Adaptive Joint 2

P188 P189
Adaptive P Gain1 Adaptive I Gain1

P190 P191
Adaptive P Gain2 Adaptive I Gain2

P192 P193
Adaptive P Gain3 Adaptive I Gain3

P183
Adaptive Ref

P184 P185
Adaptive Spd 1 Adaptive Spd 2

The adaptive speed regulator is enabled when parameter 181 [Adaptive Spd
En] = “1 Enabled”. Normally the gain depends on the speed of the drive. It can,
however, follow a variable reference that is defined in parameter 183 [Adaptive
Ref ]. The type of regulation that is used is selected in parameter 182 [Adaptive
Reg Typ]; 0 = “Speed”, or 1 = “Adaptive Ref ”.

Parameters 184 [Adaptive Spd 1] and 185 [Adaptive Spd 2] are used to define
the three ranges that can have different gains. A parameter set can be defined
for each of these ranges, with each set containing an individually definable P
and I component. The three sets of parameters are: 188 [Adaptive P Gain1]
and 189 [Adaptive I Gain1], 190 [Adaptive P Gain2] and 191 [Adaptive I
Gain2], and 192 [Adaptive P Gain3] and 193 [Adaptive I Gain3]). When the
adaptive speed regulator is enabled, the first set of parameters is active until the
speed specified in Par 184 [Adaptive Spd 1] or Par 183 [Adap Ref ] is reached.

Parameters 186 [Adaptive Joint 1] and 187 [Adaptive Joint 2] provide a

smooth transition between the different parameter sets. The fields must be
defined so that [Adaptive Joint 1] and [Adaptive Joint 2] do not overlap.

When the adaptive speed regulator is enabled, parameters 87 [Spd Reg Kp]
and [Spd Reg Ki] parameters have no effect on the speed regulator. They do,
however, retain their value and are active when the adaptive speed regulator is
disabled.

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 Application Notes Appendix C

Configuring the Adaptive Speed Regulator

• Set Par 181 [Adaptive Spd En] = “1 Enabled”

• If the gain must be changed based on units other than the drive speed
reference, set Par 182 [Adaptive Reg Typ] = 1 “Adaptive Ref ”. The
adaptive reference is provided to the drive as an analog value via an
analog input. For this reason, Par 183 [Adaptive Ref ] must be assigned
to an analog input. The other possibility is to enter the value of Par 183
[Adaptive Ref ] via the HIM. In this case, the analog input is not
necessary.

• Enter the appropriate values in Par 184 [Adaptive Spd 1] and Par 185
[Adaptive Spd 2] to define the three speed ranges. Values are expressed
as a percentage of Par 45 [Max Ref Speed] and the maximum value of
Par 183 [Adaptive Ref ].

• When Par 182 [Adaptive Reg Typ] = 0 “Speed”, tuning is completed via
Fine-Tuning the Regulators on page 349. In this case the following
points must be considered:

• The value that is entered in Par 61 [TstGen Offset] must meet these
constraints:
• Set to the low end of the speed range to be tuned
• Set outside the range of the values in parameters
[Adaptive Joint x]

• Enter the step value in Par 60 [TstGen Amplitude], so that the speed
remains inside the range to be tuned.
• The optimization is conducted separately for each range and the
parameters of the regulator are set for each range with Pars [Adaptive
P Gainx] and [Adaptive I Gainx].
• After the optimization of the different phases, review the entire speed
range. By changing the value of [Adaptive Joint x], it is possible to
reduce the instabilities present in the transients during the changes
from one range to the other. Increasing the values transients are
slighter.

• When Par 182 [Adaptive Reg Typ] = 1 “Adaptive Ref ”, tuning is

application-specific.

• When the speed zero logic (see page 340) is disabled (factory default
setting) and the drive is disabled, the gains of the speed regulator are
active. These gains are set via Pars 188 [Adaptive P Gain1] and 189
[Adaptive I Gain1]. When the speed zero logic is enabled, the values set
when the motor is stopped are valid.

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Appendix C Application Notes

Speed Up Function

The Speed-up function is used to avoid oscillations in the presence of loads

with a high moment of inertia. To enable the Speed-up function, set Par 1016
[SpdFuncSelect] to 0 “Speed Up.” When this function is enabled, a D
(derivative) value is added to the speed feedback circuit, which allows you to
increase the integral gain of the speed regulator. It is also useful in the case of
cyclical non-constant loads on the motor (for example, cams). The feedback
that is applied to the speed regulator is made of two components:

• the motor speed

• the output signal from the Speed Up function

Figure 88 - Speed-Up function inactive Figure 89 - Speed-up function active

Oscillation during a speed change due to a high moment of inertia. The same drive with Speed-up function active.
Top: Par 122 [Spd Feedback] Top: Par 122 [Spd Feedback]
Bottom: Par 199 [Arm Current Pct] Bottom: Par 199 [Arm Current Pct]

Parameters that are used in the example:

• Par 445 [Spd Up Gain Pct] = 50%

• Par 446 [Speed Up Base] = 14 rpm/ms

• Par 447 [Speed Up Filter] = 20 ms

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Speed Threshold Indicators

There are two speed threshold functions available that can be programmed via
a digital output to provide indication of when the drive has exceeded certain
set points.

Par 393 [Speed Threshold] displays whether the speed of the drive is above or
below a set speed for clockwise and counter-clockwise rotation. Set the
threshold speed for clockwise rotation in Par 101 [Speed Thresh Pos] and set
the threshold speed for counter-clockwise rotation in Par 102 [Speed Thresh
Neg]. You can specify a delay time in Par 103 [Threshold Delay] that must
elapse before indication that the speed has fallen below the threshold values.
Par 393 [Speed Threshold] can be assigned to a digital output. The assigned
digital output changes state only at the clockwise (positive) speed threshold.

P101
Speed Thresh Pos

[Digital Outx Sel]

= 2 “Spd Thresh”
P122
Spd Feedback
P393
Speed Threshold

P102
Speed Thresh Neg

P103 0 t
Threshold Delay

The value of Par 394 [At Speed] identifies if the drive speed is equal or not
equal to the set speed reference (in Par 118 [Speed Reg In]) before the speed
regulator and ramp reference (if enabled) are applied. The speed above and
below the speed reference at which indication occurs is set in Par 104 [At
Speed Error]. Use Par 105 [At Speed Delay] to specify a delay time before
indication that the speed reference is within the range set in Par 104 [At Speed
Error] occurs. Par 394 [At Speed] can be assigned to a digital output.

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Appendix C Application Notes

P118
Speed Reg In P104
At Speed Error

[Digital Outx Sel]

= 3 “At Speed”
P122
Spd Feedback P394
At Speed

P105 0 t
At Speed Delay

Speed Zero Function

The Speed Zero Logic determines the behavior of the drive when the motor is
at zero speed. See the Speed Adaptive and Speed Zero Logic block diagram on
page 373.

Configuring the Speed Zero Logic

It is possible to avoid drive creep when the motor is at zero speed by disabling
the Integral section of the Speed regulator. By default, the output of the
Integral portion of the Speed regulator is disabled (Par 123 [Spd Zero I En] =
0 “Disabled”).

IMPORTANT If the speed regulator is disabled, the motor cannot receive a load when it is
stopped. Therefore this function is not suitable for all applications!

Disable the output of the P gain of the Speed regulator by setting Par 126 [Spd
Zero P Gain] to one of the following settings:

• If the speed reference is above the value set in Par 106 [Ref Zero Level]:
Set Par 124 [Spd Ref Zero En] = 1 “Enabled”

• If the speed reference and/or the reaction are above the value set in Par
106 [Ref Zero Level], set Par 124 [Spd Ref Zero En] = 0 “Disabled”

Par 124 [Spd Ref Zero En] is active only when Par 125 [Spd Zero P En] = 1
“Enabled”.

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Set the P gain for zero speed:

• If the P gain corresponds to the value set in Par 126 [Spd Zero P Gain],
then set Par 125 [Spd Zero P En] = 1 “Enabled”

• If the P gain corresponds to the normal P gain, then set Par 125 [Spd
Zero P En] = 0 “Disabled”

The P gain at zero speed is set via Par 126 [Spd Zero P Gain] when Par 125
[Spd Zero P En] = 1 “Enabled”.

The value of Par 106 [Ref Zero Level] determines the threshold for the
recognition of zero speed.

Speed Draw Function

The Speed Draw function can be used to apply a configurable speed ratio (set
in Par 1017 [Speed Ratio]) to the main speed reference of the drive. This
function is useful in a multi-drive system where a proportional speed increase
between the motors is required. The range of parameter 1017 [Speed Ratio]
can be set in one of these ways:
• 0...32767, if written in digital form
• 0...20000 (0V to +10V), if assigned to an analog input

The resulting speed value can be viewed in Par 1018 [Speed Draw Out] via an
analog output.

Figure 90 - Speed Draw Example

Master = 1000 RPM 1050 RPM 1100 RPM

M M M

Drive A Drive B Drive C

Anlg Input Anlg Input Anlg Input
1 1 2 1 2
Line Speed Line Speed
ratio 1 = +5% ratio 2 = +10%
+ +
Speed Ratio = 5.25V Speed Ratio = 5.5V
(10500 count) (11000 count)

+
Line Speed

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Speed Draw Example Configuration

Drive A:
• Set parameter 70 [Anlg In1 Sel] to 1 “Speed Ref A”

Drive B:
• Set parameter 70 [Anlg In1 Sel] to 1 “Speed Ref A”
• Set parameter 75 [Anlg In2 Sel] to 22 “Speed Ratio”
• Set parameter 1017 [Speed Ratio] to 10500

Drive C:
• Set parameter 70 [Anlg In1 Sel] to 1 “Speed Ref A”
• Set parameter 75 [Anlg In2 Sel] to 22 “Speed Ratio”
• Set parameter 1017 [Speed Ratio] to 11000

Speed / Torque Mode Parameter 241 [Spd Trq Mode Sel] is used to choose whether the drive
operates as a speed regulator, a torque regulator, or a combination of the two.
Selection Each mode is discussed in more detail in this section. See the “Torque Mode
Selection” block diagram on page 369 for more information.

This function is only available for firmware revision 3.001 and later.

Zero Torque Mode

Zero torque current is allowed when Par 241 [Spd Trq Mode Sel] is set to 0
“Zero Trq Ref ”. Operation in zero torque mode allows the motor to be fully
fluxed and ready to rotate when a speed command or torque command is given.
This mode can be used for a cyclical application where throughput is a high
priority. The control logic can select zero torque during the “rest” portion of a
machine cycle instead of stopping the drive. When the cycle start occurs,
instead of issuing a start to the drive, a speed regulation mode can be selected.
The drive then immediately accelerates the motor without the need for “flux
up” time.

IMPORTANT Zero Torque may excessively heat the motor if operated in this mode for
extended periods of time. No load or flux current is still present when the
drive is operating in zero torque mode. A motor with an extended speed
range or separate cooling methods (blower) may be required.

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Speed Regulation Mode

When Par 241 [Spd Trq Mode Sel] is set to 1 “Speed Reg” (default), the drive
and motor are operated in speed mode. The torque command changes as
necessary to maintain the desired speed. Operating as a speed regulator is the
most common and simplest mode to configure. Examples of speed regulated
applications are blowers, conveyors, feeders, pumps, saws, and tools.

In a speed regulated application, the speed regulator output generates the

torque reference. Under steady state conditions, the speed feedback is steady
while the torque reference is a constantly adjusting signal. This constant
adjustment is required to maintain the desired speed. In a transient state, the
torque reference changes dramatically to compensate for a speed change. A
short duration change in speed is the result of increasing or decreasing the load
rapidly.

Inertia compensation is summed with the output of the speed regulator.

Torque Regulation Mode

Par 241 [Spd Trq Mode Sel] is set to 2 “Torque Reg” for torque mode. In
torque regulation mode, the drive controls the desired motor torque. The
motor speed is the result of torque command and load present at the motor
shaft. The reference signal is equal to the value of Par 39 [Torque Ref ]. A
torque regulated application can be described as any process that requires some
tension control. An example is a winder or unwinder with material being
“drawn” or pulled with a specific tension required.

If the material that is being wound or unwound breaks, the load decreases
dramatically and the motor can potentially go into an overspeed condition.

Speed Limited Adjustable Torque (SLAT) Min Mode and SLAT Max
Mode

SLAT Min Mode (Par 241 [Spd Trq Mode Sel] set to 3) and SLAT Max Mode
(Par 241 [Spd Trq Mode Sel] set to 4) are for applications that require a
smooth transition from a torque mode to a speed mode of operation. Examples
include: web handlers, center winders, and center unwinders, where the drive is
normally following a torque reference but a break or slippage could occur.
Direction of the applied torque and direction of the material movement
determine whether SLAT Min or SLAT Max mode is used.

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SLAT Min Mode

In SLAT Min mode, a speed reference that forces the speed regulator into
saturation (the speed reference is slightly above the speed feedback) is typically
configured. In this case, the drive follows the torque reference until there is a
breakage or slippage in the application.

When the drive is following a torque reference (torque mode) in SLAT Min
mode, one of two conditions forces the drive into following the speed reference
(speed mode):
1. The output of the speed regulator becomes less than the torque
reference.
2. The speed error becomes negative (the speed feedback becomes greater
than the speed reference). A negative speed error indicates forced speed
mode.
Parameter 15 [SLAT Err Stpt] and parameter 16 [SLAT Dwell Time] let you
set some hysteresis for turning off the forced speed mode. They are set to “0” as
default so that there is no hysteresis. In SLAT Min mode, Par 15 [SLAT Err
Stpt] sets how much less the speed feedback is than the speed reference before
turning off the forced speed mode. Par 16 [SLAT Dwell Time] sets how long
the speed error must exceed the SLAT error set point before turning off the
forced speed mode.
When the drive switches from torque mode to forced speed mode, the speed-
regulator integral part is pre-loaded with the InternalTorque Reference (ITR)
or Par 14 [Selected TorqRef ] to create a smooth transition.

In order for the drive to switch from speed to torque mode, forced speed mode
(if active) must first be turned off. Forced speed mode turns off when the speed
error is greater than the SLAT error setpoint for the SLAT dwell time. With
default parameter settings, forced speed mode turns off when the speed error
becomes positive.

When Forced Speed Mode is off, the drive switches back to torque mode when
the speed regulator output becomes greater than the torque reference.
Figure 91 - SLAT Min Mode Block Diagram
Par 15 [SLAT Err Stpt]
Speed Error < 0
Par 16 [SLAT Dwell Time]
Forced Speed
Off On Mode (FSM )
Low Pass
Filter
Speed Error > SLAT Setpoint
for SLAT Dwell Time

FSM State Controller

FSM = On Internal Torque

Reference (ITR)
Application Speed Regulator
Dependant Speed PI Output (SRO)
+
Reference Bias - Speed Error
Regulator Min Off
Select
Motor Speed
Feedback

External Torque
Reference (ETR)

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SLAT Max Mode

In SLAT Max mode, a speed reference that forces the speed regulator into
saturation (the speed reference is slightly below the speed feedback) is typically
configured. In this case, the drive follows the torque reference until there was a
breakage or slippage in the application.

In SLAT Max mode, the drive switches from torque mode to speed mode when
either one of the two following conditions occur:

1. The output of the speed regulator becomes more than the torque
reference (speed mode).
2. The speed error becomes positive (speed mode). In other words, the
speed feedback becomes less than the speed reference.

Parameter 15 [SLAT Err Stpt] and parameter 16 [SLAT Dwell Time] let you
set some hysteresis for turning off the forced speed mode. They are set to “0” as
default so that there is no hysteresis. In SLAT Max mode, Par 15 [SLAT Err
Stpt] sets how much more the speed feedback is than the speed reference
before turning off the forced speed mode. Par 16 [SLAT Dwell Time] sets how
long the speed error must exceed the SLAT error set point before turning off
the forced speed mode.

When the drive switches from torque mode to forced speed mode, the speed-
regulator integral part is pre-loaded with the InternalTorque Reference (ITR)
or Par 14 [Selected TorqRef ] to create a smooth transition.

In order for the drive to switch from speed mode to torque mode, forced speed
mode (if active) must first be turned off. Forced speed mode turns off when the
speed error is less than the SLAT error setpoint for the SLAT Dwell Time.
With default parameter settings, forced speed mode turns off when the speed
error becomes negative.

When Forced Speed Mode is off, the drive switches back to torque mode when
the speed regulator output becomes less than the torque reference.

Figure 92 - SLAT Max Mode Block Diagram

Par 15 [SLAT Err Stpt]
Speed Error > 0
Par 16 [SLAT Dwell Time]
Forced Speed
Off On Mode (FSM)
Low Pass
Filter
Speed Error < -SLAT Setpoint
for SLAT Time

FSM State Controller

FSM = On Internal Torque

Reference (ITR)
Application Speed Regulator
Dependant Speed PI Output (SRO)
+
Reference Bias - Regulator Max Off
Speed Error
Select
Motor Speed
Feedback

External Torque
Reference (ETR)

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Example:

The application is a paper winder. The drive is set for SLAT Min mode, so that
the drive normally runs in torque mode and follows Par 39 [Torque Ref ].
[Torque Ref ] comes from an external controller and is approximately 60% of
motor torque during the snapshot. The speed reference, also from an external
controller, is set just above the speed feedback so the speed regulator is
saturated while in torque mode. Figure 93 captures what occurs in the drive
during a break in the web.

Figure 93 - SLAT Min Mode Trace Example

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 Application Notes Appendix C

Sum Mode

Sum mode is selected when Par 241 [Spd Torq Mode Sel] is set to 5 “Sum”. In
this mode, the reference is derived from the sum of the speed regulator output
(Par 236 [Spd Reg Out Pct]) and the torque reference (Par 39 [Torque Ref ]).
This mode can be used for applications that have precise speed changes with
critical time constraints.

Torque Mode Selection Status Bits

Bits 7 “Forced Spd”, 8 “Speed Mode”, and 9 “Torque Mode” of parameter 382
[Drive Status 2] display the status of the speed/torque mode for the drive.
Par 241 Par 382 [Drive Status 2]
[Spd Trq Mode Sel] Bit 7 “Forced Spd Bit 8 “Speed Mode” Bit 9 “Torque Mode” (1)
0 “Zero Trq Ref” 0 0 1
1 “Speed Reg” 0 1 0
2 “Torque Reg” 0 0 1
3 “SLAT Min” (1) ( b7 + b8 )
4 “SLAT Max” (2) ( b7 + b8 )
5 “Sum” 0 1 1
(1) b9 = not(b7 + b8), if b7=1 & b8=0, then b9=0.

(1) 3 “SLAT Min”

Bit 7 “Forced Spd 0 Not in Forced Speed Mode (FSM)
0 -> 1 Speed error < 0 (i.e., Feedback > Reference), preload the speed regulator
integrator with the value of Par 14 [Selected Torque Ref]
1 Forced Speed Mode (FSM), speed error < 0
1 -> 0 Error (i.e., Reference - Feedback) > Par 15 [SLAT Err Stpt] for more than the
value of Par 16 [SLAT Dwell Time]
Bit 8 “Speed Mode” 0 Par 236 [Spd Reg Pct Out] > Par 39 [Torque Ref]
1 Par 236 [Spd Reg Pct Out] < Par 39 [Torque Ref]

(2) 4 “SLAT Max”

Bit 7 “Forced Spd 0 Not in Forced Speed Mode (FSM)
0 -> 1 Speed error > 0 (i.e., Feedback < Reference), preload the speed regulator
integrator with the value of Par 14 [Selected Torque Ref]
1 Forced Speed Mode (FSM), speed error > 0
1 -> 0 Error (i.e., Reference - Feedback) < -Par 15 [SLAT Err Stpt] for more than the
value of Par 16 [SLAT Dwell Time]
Bit 8 “Speed Mode” 0 Par 236 [Spd Reg Pct Out] < Par 39 [Torque Ref]
1 Par 236 [Spd Reg Pct Out] > Par 39 [Torque Ref]

When Par 241 [Spd Trq Mode Sel] is changed to 1 “Speed Reg”, the speed
regulator integrator is preloaded with the value of Par 14 [Selected Torque
Ref ]. When Par 241 [Spd Trq Mode] is changed to 5 “Sum”, the speed
regulator is preloaded with the value of Par 14 [Selected Torq Ref ]…39
[Torque Ref ].

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Appendix C Application Notes

Start At Powerup The “Start At Powerup” function lets you resume running at commanded
speed automatically after these conditions are met:
• Drive input power is restored
• A run command is issued
• All start permissive conditions are met (see Figure 94 - Start Permissives
Flow Diagram)

To enable this feature, parameter 1344 [Start At Powerup] must be set to 1

“Enable”.
ATTENTION: Equipment damage and/or personal injury may result if this
parameter is used in an inappropriate application. Do not use this function
without considering applicable local, national, and international codes,
standards, regulations, or industry guidelines.

In addition, A delay time of up to 10800 seconds (3 hours) can be programmed

in parameter 1345 [Powerup Delay]. An automatic drive restart is not possible
before the delay time has expired. If a “Start”, “Run” or “Stop” command is
asserted before the time in this parameter expires, the “Start At Powerup”
function is aborted.

Figure 94 - Start Permissives Flow Diagram

Start At PowerUp

[Powerup Delay] No
Time Expired?
Yes

All Start Permissives Met?

1. No fault conditions are present.
2. No Type 2 alarm conditions are present. No
3. The terminal block programmed enable
input is closed.
4. All Stop inputs are maintained.

Yes

Is the terminal block Run, No

Run Forward or Run Reverse
Input Closed?
Yes

Powerup Start Powerup Terminated!

Normal Mode

Until the time that is specified in parameter 1345 [Powerup Delay] elapses,
these indications occur:
• An alarm indicator “ ” is displayed on the HIM
• Bit 12 “PwrUp Start” of parameter 1380 [Drive Alarm 1] is set to “1”

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Fine-Tuning the Regulators The PowerFlex DC drive control regulators have predefined values that are
meant to provide consistent drive performance without performing any further
configuration. One exception is the armature current regulator, which must
always be tuned. When the armature current regulator has been tuned to meet
the requirements of the application, the fine-tuning procedures for the other
regulators are not necessary. However, the fine-tuning procedures can be used
to optimize the output and control features of the drive.

The drive contains the following regulation circuits:

• Armature current regulator - The armature current auto-tuning

procedure is run via Par 452 [CurrReg Autotune]. See Chapter 2 - Drive
Start Up - Tune the Current Regulator on page 102.

• A manual procedure to adjust the armature inductance when the

autotune steps yielded a value outside the recommended setting. See
Manually Adjusting the Current Regulator Tune Settings on page
350.

• Field current regulator:

• A fine-tuning procedure is available. See Fine-Tuning the Field

Current Regulator on page 352.

• Speed regulator - The speed auto-tuning procedure is run via Par 1027
[Spd Reg Autotune]. See Chapter 2 - Drive Start Up - Tune the Speed
Regulator on page 109. A fine-tuning procedure is available. See Fine-
Tuning the Speed Regulator on page 354.

• Armature voltage regulator - A fine-tuning procedure is available. See

Fine-Tuning the Voltage Regulator in the Field Converter on page 356.

To obtain a step function, the internal “Test generator” can be used. The goal
of the fine-tuning procedures is to obtain an optimal step response. For
example, it is recommended that you directly measure the step response for the
field current regulator.

The field current can be directed to an analog output on the Terminal Block
(with a 2 ms sample rate).

Using the Test Generator

The “Test Generator” function creates signals with a rectangular wave form
based on a specific frequency and amplitude. The frequency and amplitude can
be added to a configurable offset value, if needed. Par 58 [TstGen Output]
determines which regulator input signal (reference) is used; torque current,
field, ramp, or speed.

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Manually Adjusting the Current Regulator Tune Settings

While the drive is operating, the value of Par 587 [I Reg Error] is updated in
response to changes in the current output to the motor. By manually applying
current steps to the motor, this parameter can be used as an indication whether
the current regulator in the drive is correctly tuned. Ideally, the value of Par 587
[I Reg Error] should be as near to zero as possible. However, values between -
40 and 40 are acceptable during normal operation (because the drive is
responding to changing current demands). Manually tuning the Current
Regulator attempts to have Par 587 [I Reg Error] reach its lowest value in
response to applied steps in current to the motor.

Adjustments to Par 587 [I Reg Error] are made by changing Par 454 [Arm
Inductance] and by stepping the current to the motor. Par 587 [I Reg Error]
values are valid only when the drive is operating under at least a 30% current
load. The manual-tuning procedure progresses through larger current steps up
to 100%. Par 454 [Arm Inductance] and Par 453 [Arm Resistance] are the
current-regulator tuning parameters and typically do not match the motor
data-sheet values.

Manual Current-loop Tuning

When attempting to tune the current loop manually, the current reference is
stepped to values that can cause the motor to rotate even while the field is
disabled (residual flux). If possible, the motor armature shaft should be locked
to prevent rotation or decrease the maximum amplitude of current applied per
step to minimize armature movement. Not locking the armature is optional
only when an external speed-measurement device, such as an encoder or
tachometer, is used. Armature rotation interferes with obtaining acceptable
tuning values. Be sure to record all original parameter values that are changed
as part of configuration for this test.

1. Disable the field regulator by setting Par 497 [Field Reg Enable] to 0
“Disabled”.

For firmware revision 3.001 and later, make these parameter

configurations:
• Par 469 [Field Mode Sel] to 2 “External”
• Par 414 [Fdbk Device Type] to 1 “Encoder” (a Type 2 alarm is
generated if Par 414 is set to 3 “Armature”)
2. Verify that Par 351 [Field Current] is set to zero (0 or < 0.05 A).
3. For firmware revision 2.xxx and earlier, disable the speed regulator by
setting Par 242 [Speed Reg En] to 0 “Disabled”. For firmware revision
3.xxx and later, set Par 241 [Spd Trq Mode Sel] = 2 “Torque Reg.
4. Set/verify that Parameters 7 [Current Limit], 8 [Current Lim Pos] and 9
[Current Lim Neg] are at 100%.
5. Set Par 453 [Arm Resistance], calculated as:
(Par 175 [Rated Motor Volt] / Par 179 [Nom Mtr Arm Amps]) x 0.04

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6. Set Par 454 [Arm Inductance] to the minimum value (based on drive
size).
7. Set Par 39 [Torque Ref ] to 30% (a percentage relative to Par 179 [Nom
Mtr Arm Amps]).
8. Start the drive and observe the value of Par 587 [I Reg Err] for a few
seconds; it should settle to a specific value. Verify that the motor shaft
does not rotate (a small amount of movement, less than a revolution, is
OK).
9. Stop the drive.

If a Speed Feedback Loss fault (F91) occurs, increase the value of Par
455 [Spd FB Loss Lvl] to its maximum value.
a. If Par 587 [I Reg Err] is positive, increase the value of Par 454 [Arm
Inductance]. The value of parameter 587 determines the magnitude
of change. Generally, make large increases (for example, double)
when Par 587 is large (greater than 40) and smaller increases as Par
587 gets closer to zero.
b. If Par 587 [I Reg Err] is negative, decrease the value of Par 454 [Arm
Inductance]. Again, proportional to the magnitude of Par 587.
10. Repeat step 8 until Par 587 [I Reg Err] is as close to zero as possible.
Values less than 20 are acceptable as close to zero. However, with some
motors, the minimum value of Par 587 can only be 60 (especially at
smaller current steps). With higher current steps, values can be less than
10 or less than 5.
11. Repeat steps 8 and 9 with Par 39 [Torque Ref ] set to 60% and then
again at 100%. If motor rotation occurs, try lowering the current step
value. The higher the current step, the better the tuning results are. If
motor rotation still occurs enter the highest current step value that does
not cause rotation but provides enough time for Par 587 to reach a stable
value. Typically, a stable [I Reg Err] value can be obtained in less than 2
seconds.
12. The current loop should be tuned with the final values of Pars 453 [Arm
Resistance] and 454 [Arm Inductance] and a small value in Par 587 [I
Reg Err].
13. Restore these parameters to their original values:
• 497 [Field Reg Enable]
• 469 [Field Mode Sel]
• 414 [Fdbk Device Type]
• 242 [Speed Reg En]
• 7 [Current Limit]
• 8 [Current Lim Pos]
• 9 [Current Lim Neg]
• 455 [Spd FB Loss Lvl]
14. Unlock the motor armature (if necessary).

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15. Verify that the motor is attached to any normal application inertia (not
process material).
16. Perform a speed regulator autotune by setting Par 1027 [Spd Reg
Autotune] = 1 and pressing the Start button.
17. When autotuning completes, speed regulator tuning values should be
automatically updated.

If the drive is configured as an armature voltage regulator (Par 414 = 3

“Armature”), the calculated gains (Par 87 and 88) may need to be adjusted.
These adjustments are necessary because this type of regulator (voltage) is less
responsive than a true speed regulator (that uses encoder or tachometer
feedback).

Fine-Tuning the Field Current Regulator

IMPORTANT In most cases motors with a direct current and an independent excitation
work with a constant field (Par 469 [Field Mode Sel] = 0 “Base Speed”). In
this case, it is not necessary to optimize the field current or armature
voltage regulators.

This procedure is used for drives that use constant torque and power (mixed
armature and field regulation). In these cases, it is necessary to configure the
field converter according to this method.

IMPORTANT Do not issue a “Start” command to the drive during the field current-
regulator fine-tuning procedure.

Follow these steps to fine-tune and optimize the field current regulator:

1. Configure the following parameters:

• Set Par 467 [Max Fld Flux Pct] = 100% of the field rated current of
the connected motor
• Set Par 468 [Min Fld Curr Pct] = 0
• Set Par 91 [Fld Reg Kp] = 0.00
• Set Par 92 [Fld Reg Ki] = 0.00
2. Measure the field current by using an analog output by setting:
• Par 66 [Anlg Out1 Sel] = 18 “Fld Current”
• Par 67 [Anlg Out2 Sel] = 24 “Field Ref ”
3. Configure the following parameters:
• Set Par 497 [Field Reg Enable] = 1 “Enabled” (default)
• Set Par 469 [Field Mode Sel] = 1 “Field Weaken”
• Set Par 498 [Force Min Field] = 1 “Enabled”
4. Configure the following Test Generator parameters:
• Set Par 58 [TstGen Output] = 3 “Field Ref ”
• Set Par 60 [TstGen Amplitude] = 70% of the field rated current of
the motor (this setting allows the system overshoot).

352 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Application Notes Appendix C

5. Increase the value of the Par 91 [Fld Reg Kp] until the overshoot of the
field current (displayed in Par 234 [Fld Current Pct]) is lower than 4%.
6. Increase the value of Par 92 [Fld Reg Ki] until the overshoot is higher
than 4%. Then, decrease the value of this parameter until it becomes
slightly lower than 4%.

IMPORTANT Because of the relatively high field time constant, the rising speed
of the field current is limited. The rising time with optimal tuning
conditions could be up to 100 milliseconds.

7. Set Par 58 [TstGen Output] = 0 “NotConnected”.

8. Set Par 498 [Force Min Field] = 0 “Disabled”.
9. Set Par 468 [Min Fld Curr Pct] to the desired value.
10. Configure the analog outputs according to your application needs.
Field Current Regulator Tuning Examples
Figure 95 - Increase in the field current with oscillation Figure 97 - Increase in the field current without oscillation
Non-optimal response of the regulator. This graph, as compared to the graph in Figure 95, shows an increase in [Fld
Top: Par 500 [Flux Ref Pct] Reg Kp] from 2% to 10% with [Fld Reg Ki] = 5%.
Bottom: Par 234 [Fld Current Pct] Top: Par 500 [Flux Ref Pct]
Bottom: Par 234 [Fld Current Pct]

Figure 96 - Too high of a time constant on the field

The reduction of the field current depends on the field time constant.
Therefore, the regulator has no influence on the flux current.
Top: Par 500 [Flux Ref Pct]
Bottom: Par 234 [Fld Current Pct]

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 353

Appendix C Application Notes

Fine-Tuning the Speed Regulator

Follow these steps to fine-tune and optimize the speed regulator:

1. Configure the following Test Generator parameters:

• Set Par 58 [TstGen Output] = 4 “Ramp Ref ”
• Set Par 59 [TstGen Frequency] = 0.2 Hz
• Set Par 60 [TstGen Amplitude] = 10%
• Set Par 61 [TstGen Offset] = 20%
2. Measure the results on analog outputs 1 and 2 by setting:
• Par 66 [Anlg Out1 Sel] = 8 “Spd Reg Out”
• Par 67 [Anlg Out2 Sel] = 13 “Motor Curr”.
3. Set Par 660 [Accel Time 1] = 0 sec.
4. Set Par 662 [Decel Time 1] = 0 sec.
5. Set Par 87 [Spd Reg Kp] = 0.00
6. 88 [Spd Reg Ki] = 0.00
7. Start the drive.
8. Increase the value of Par 87 [Spd Reg Kp] until the overshoot is lower
than 4% with the shortest possible acceleration or deceleration time.
9. Increase the value of Par 88 [Spd Reg Ki] until the overshoot is higher
than 4%. Then, decrease the value of this parameter until its value
becomes slightly lower than 4%.
10. Stop the drive.
11. Set Par 58 [TstGen Output] = 0 “NotConnected”.

IMPORTANT When the “Bypass” function is enabled (Par 458 [SpdReg FB Bypass] = 1
“Enabled”), the drive is switched to armature feedback automatically when
a “Speed fbk loss” fault occurs due to an encoder or tachometer feedback
loss. In this case, you must repeat steps 1...9 of the “Fine-Tuning the Speed
Regulator” procedure when the fault has been cleared. After an automatic
switch to armature feedback, the speed regulator works with Pars 459
[SpdReg Kp Bypass] and 460 [SpdReg Ki Bypass] and the D (derivative) part
of the speed regulator is automatically excluded.

When it is necessary to have different gains for the speed regulator above the
speed range, you can utilize the adaptive speed regulator. For further
information about this function, see the Adaptive Speed Regulator block
diagram page 335.

354 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Application Notes Appendix C

[Spd Reg Kp] and [Spd Reg Ki] curves

Figure 98 - [Spd Reg Kp] too low Figure 100 - [Spd Reg Ki] too high
Top: Par 122 [Spd Feedback] Top: Par 122 [Spd Feedback]
Bottom: Par 199 [Arm Current Pct] Bottom: Par 199 [Arm Current Pct]

20.00 ms/DIV 20.00 ms/DIV

Figure 99 - [Spd Reg Kp] too high Figure 101 - [Spd Reg Ki] correct
Top: Par 122 [Spd Feedback] Top: Par 122 [Spd Feedback]
Bottom: Par 199 [Arm Current Pct] Bottom: Par 199 [Arm Current Pct]

20.00 ms/DIV 20.00 ms/DIV

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 355

Appendix C Application Notes

Fine-Tuning the Voltage Regulator in the Field Converter

IMPORTANT In most cases, DC motors with independent excitation, work with a constant
field (Par 469 [Field Mode Sel] = 0 “Base Speed”). In this case, it is not
necessary to optimize the regulator of the field current and the regulator of
the armature voltage.

When field weakening occurs, the voltage regulator keeps the armature voltage
at a constant level. The critical point for this regulator is at the beginning of
field weakening. Tune the regulator so that the armature voltage undergoes
small changes.

IMPORTANT Before the optimization of the voltage regulator, the speed and field current
regulators must have already been tuned. See Tune the Current Regulator
on page 102 and Fine-Tuning the Field Current Regulator on page 352.

1. Configure the following Test Generator parameters:

• Set Par 58 [TstGen Output] = 4 “Ramp Ref ”
• Set Par 59 [TstGen Frequency] = 0.2 Hz
• Set Par 60 [TstGen Amplitude] = 10%
• Set Par 61 [TstGen Offset] = to the switching point from the
armature to the field regulation. For example: If Par 162 [Max
Feedback Spd] = 2000 rpm, field weakening starts at 1500 rpm.
Therefore, set Par 61 [TstGen Offset] = 75%.
2. Measure the field current and the armature voltage by using analog
outputs 1 and 2, by setting:
• Par 66 [Anlg Out1 Sel] = 18 “Fld Current”
• Par 67 [Anlg Out2 Sel] = 14 “Motor Volts”
3. Start the drive.
4. Check the armature voltage via analog output 2. After a possible short
oscillation, the voltage should remain constant. See the Field Voltage
Regulator Tuning Examples examples on page 357. You can change the
Proportional and Integral gains of the Field Voltage regulator via Pars
493 [Arm Volt Kp] and 494 [Arm Volt Ki].
5. Stop the drive.
6. Set Par 58 [TstGen Output] = 0 “NotConnected”.

356 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Application Notes Appendix C

Field Voltage Regulator Tuning Examples

Figure 102 - Field voltage oscillation Figure 104 - Optimal field regulation
Oscillation after a speed change where [Arm Volt Kp] = 10% and After a short transient, the field current and armature voltage are constant.
[Arm Volt Ki] = 80%. [Arm Volt Kp] = 40%, [Arm Volt Ki] = 5%.
Top: Par 234 [Fld Current Pct] Top: Par 234 [Fld Current Pct]
Bottom: Par 233 [Output Voltage] Bottom: Par 233 [Output Voltage]

Figure 103 - Too small of a gain

The armature voltage increases where [Arm Volt Kp] = 3% and
[Arm Volt Ki] = 5%.
Top: Par 234 [Fld Current Pct]
Bottom: Par 233 [Output Voltage]

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 357

Appendix C Application Notes

Tuning the Field Current Curve

The function of the field current curve is to control the actual motor flux and
then motor torque if the field goes into an overvoltage condition. Figure 105
illustrates the relationship between flux and flux current when the field current
curve is defined versus not defined.

Complete these procedures in the order that is listed when tuning the field
current curve:

• Field current regulator. See Fine-Tuning the Field Current Regulator on

page 352.

• Field current curve tuning (Flux / if curve)

• Voltage regulator in the field converter. See Fine-Tuning the Voltage

Regulator in the Field Converter on page 356.

Figure 105 - Curve Conversion Flux/Current

Par 234 [Fld Current Pct]

Par 280 [Nom Mtr Fld Amps] @ 100%

Par 916 [Fld Const 90 Pct]

Curve A
Par 280 [Nom Mtr Fld Amps] @ 50%
Curve B
Par 917 [Fld Const 70 Pct]

Par 918 [Fld Const 40 Pct]

40% 50% 70% 90% 100%

Par 500 [Flux Ref Pct]

Examples:

• Curve A - If the default settings of the drive are retained, the flux current
to flux reference remains linear when the value of Par 500 [Flux Ref Pct]
changes. For example:

• If Par 467 [Max Fld Flux Pct] / Par 500 [Flux Ref Pct] = 100%,
then Par 234 [Fld Current Pct] / Par 500 [Flux Ref Pct] = Par 280
[Nom Mtr Fld Amps]
• If Par 467 [Max Fld Flux Pct] / Par 500 [Flux Ref Pct] = 50%, then
Par 234 [Fld Current Pct] / Par 500 [Flux Ref Pct] = 50% of Par 280
[Nom Mtr Fld Amps]

358 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Application Notes Appendix C

• Curve B - After the field current curve fine-tuning procedure is

completed, the flux current to flux reference curve will be correct for the
motor. See the Current-regulator block diagram on page 374.

Field-current Curve Tuning Procedure:

1. Reset the field current curve by setting Par 920 [Reset Fld Curve] to “1”.
2. Configure the following parameters:
• Enter the percentage (100%) of the maximum motor nameplate
rated armature voltage in Par 921 [Out Volt Level]
• Set Par 469 [Field Mode Sel] = 0 “Base Speed”
• Set Par 467 [Max Fld Flux Pct] = 100%
3. Start the drive.
4. Increase the motor speed until the value (electromotive force) displayed
in Par 233 [Output Voltage] corresponds to the value previously set in
Par 175 [Rated Motor Volt].
5. Decrease the value of Par 467 [Max Fld Flux Pct] until the value
displayed in Par 233 [Output Voltage] is equal to 90% of Par 175 [Rated
Motor Volt]. When you have reached this value, read the value that is
displayed in Par 234 [Fld Current Pct] and enter the value into Par 918
[Fld Const 90 Pct].
6. Decrease the value of Par 467 [Max Fld Flux Pct] until the value
displayed in Par 233 [Output Voltage] is equal to 70% of Par 175 [Rated
Motor Volt]. When you have reached this value, read the value that is
displayed in Par 234 [Fld Current Pct] and enter the value into Par 917
[Fld Const 70 Pct].
7. Decrease the value of Par 467 [Max Fld Flux Pct] until the value
displayed in Par 233 [Output Voltage] is equal to 40% of Par 175 [Rated
Motor Volt]. When you have reached this value, read the value that is
displayed in Par 234 [Fld Current Pct] and enter the value into Par 916
[Fld Const 40 Pct].
8. Stop the drive.
9. Set the desired method of field control in Par 469 [Field Mode Sel] (0
“Base Speed” or 1 “Field Weaken”)
10. Reset the value of 467 [Max Fld Flux Pct] to 100%.

If you change the value of Par 175 [Rated Motor Volt] or par 280 [Nom Mtr
Fld Amps], the field current curve must be retuned.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 359

Appendix C Application Notes

Notes:

360 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix D

Control Block Diagrams

Topic Page
PowerFlex DC Drive Overview 362
Digital Inputs/Outputs (Standard and Expansion) Mapping 363
Analog Inputs/Outputs Mapping 364
Speed Reference Selection 365
Speed Reference Generation 366
Ramp Reference Block 367
Speed Regulator 368
Torque Mode Selection 369
Droop Compensation - Inertia / Loss Compensation 370
Speed Feedback 371
Speed Regulator PI Block 372
Speed Adaptive and Speed Zero Logic 373
Current Regulator 374
Field Current Regulator 375
Motor Parameters 376
Speed Threshold / Speed Control 377
PID Control 378
Scale Blocks 379
User Defined Variables 380
Taper Current Limits 381
Unit Scaling 382
Test Generator 383
Speed Select Settings 383
Fault / Alarm Mapping 384

Diagram Conventions
Examples:
PXXX = Read / Write Parameter
ParName

PXXX
ParName = Read Only Parameter

PXXX = Parameter Number

ParName = Parameter Name

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 361

362
PowerFlex DC Drive Overview
Appendix D

Drive Reference, Feedback and Status BASIC CONFIGURATION

P44 P110 P118 P588 P466 P45 P162
Speed Ref A Ramp In Speed Reg In AC Line Freq AC Line Voltage Max Ref Speed Max Feedback Spd
P175 P179
P48 P113 P41 P233 P351 Rated Motor Volt Nom Mtr Arm Amps
Speed Ref B Ramp Out Current Reg In Output Voltage Field Current
P280 P374
P385 P1018 P122 P200 P1052 Nom Mtr Fld Amps Drv Fld Brdg Cur
Control Block Diagrams

Speed Ref Out Speed Draw Out Spd Feedback Arm Current Output Power
P2 P414
P372 P346 P393 P395 P381 Maximum Speed Fdbk Device Type
Spd Limit Active Torque Positive Speed Threshold At Zero Speed Drive Status 1
0 0 Above Threshold (0) Equal (0) 0000111000001101 P660 P662
1 1 Below Threshold (1) Not Equal (1) Accel Time 1 Decel Time 1
P349 P347 P651 P394 P1403
CurrLimit Active Torque Negative Spd Fdbk State At Speed Start Inhibits
0 0 Error (0) Not Equal (0) xx00000000000000
1 1 OK (1) Equal (1)

P199
Arm Current Pct
(2 ms) Reference Speed / Torque Regulator
Select P110 Ramp P113 P233
PowerFlex DC Drive Overview

Ramp In Ramp Out P118 Output Voltage

Speed Regulator Current Regulator
Analog In 1-3 Speed Reg In
Reference
DPI Port 1-5 Motor Control
Generation
MOP Speed Feedback
(2 ms)
Digital Inputs Status (8 ms) (2.7 ms @ 60 Hz)
(3.3 ms @ 50 Hz)
(2 ms)
Terminal Block 2 Terminal Block 4 Expansion I/O P122 P41
Spd Feedback Current Reg In
P565 P569 P573
Dig In Term 1 Dig In Term 5 Dig In Term 9

P566 P570 P574

Dig In Term 2 Dig In Term 6 Dig In Term 10 P351
Digtal and Analog

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

Functions Field Current
Input / Output
Mapping External PID – 2 ms
P567 P571 P575 Field Control
Dig In Term 3 Dig In Term 7 Dig In Term 11 Torque Winder – 8 ms
Fault / Alarm C1 D1

Mapping Scale Blocks - background P500

Flux Ref Pct
P568 P572 P576
Dig In Term 4 Dig In Term 8 Dig In Term 12
See Digital Inputs/Outputs See Fault / Alarm Mapping See PID Control on page 378 and (8 ms)
(Standard and Expansion) on page 384 Scale Blocks on page 379
Mapping on page 363 and Analog P280
Nom Mtr Fld Amps
Inputs/Outputs Mapping on
page 364 P374
Drv Fld Brdg Cur
 Digital Inputs Digital Inputs/Outputs Digital Outputs

Terminal Block 2 Terminal Block 3

Standard and Expansion I/O
P1267 26
12
P1276
(8 ms) P145 Inversion out 1
* D01
DG1+ Inversion In 1 30
P133 F
Digital Out1 Sel
F +24V DC
16 Digital In1 Sel Drive Relay Outputs
DG1-
P1268 27
13 P1392 P1393 35 Inversion out 2
Relay Out 1 Sel Inversion Relay 1 P146
* P1277 D02
DG2+ Inversion In 2 R1NO 30
P134 36 F
F Digital Out2 Sel
+24V DC
F R1COM
16 Digital In2 Sel

DG2- P1269 28
14 P147 Inversion out 3
D03
* P1278 75 30
DG3+ P629 P1275 F
Inversion In 3 Digital Out3 Sel
P135 Relay Out 2 Sel Inversion Relay 2
R2NO +24V DC
F 76
16 Digital In3 Sel F
R2COM
P1270 29
DG3-
P148 Inversion out 4
15 D04
P1279 F 30
DG4+ * Digital Out4 Sel
Inversion In 4
P136 +24V DC
F
16 Digital In4 Sel

DG4-
Digital Inputs/Outputs (Standard and Expansion) Mapping

Expansion Digital Inputs (Optional) Expansion Digital Outputs (Optional)

Terminal Block 4
11
* P1387 6
31 P1271
DG9+ Inversion In 9
* P1280 P141 P149 Inversion Out 5
DG5+ Inversion In 5 D05
P137 5
F F
15 Digital In9 Sel Digital Out5 Sel
F COM_DO
35 Digital In5 Sel
DG9-
DG5- 12
32 * P1388 7
Inversion In 10 P1272
P1281 DG10+
* P142 P150 Inversion Out 6

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

DG6+ Inversion In 6 D06
P138 5
F F
15 Digital In10 Sel Digital Out6 Sel
F COM_DO
35 Digital In6 Sel
DG10-
DG6- 13
P1389 P1273 8
33 *
DG11+ Inversion In 11 P151 Inversion Out 7
P1282 P143 D07
DG7+ *
Inversion In 7 5
P139 F F
15 Digital In11 Sel Digital Out7 Sel
COM_DO
F
35 Digital In7 Sel
DG11-
DG7- 14
P1274 9
34 P1390
P152 Inversion Out 8
Control Block Diagrams

DG12+ Inversion In 12
P144
D08
P1283
DG8+ 5
Inversion In 8 F
P140 Digital Out8 Sel
F Digital In12 Sel COM_DO
15
F Digital In8 Sel
35 DG12-
DG8-

363
Appendix D
364
Analog Inputs / Outputs Analog Outputs
Analog Inputs
Appendix D

(2 ms) Terminal Block 3

Terminal Block 1
From Digital Reference
D 21
Setting
P66 A AO1
Analog Input 1 P71 Anlg Out1 Sel C 22
Anlg In1 Config P73 P259 1
Anlg1 Tune Scale Anlg In1 Tune ACOM
Ref_1+ P62
F
P70 Anlg Out1 Scale
1 Anlg In1 Sel
HW + Volts
P295
Control Block Diagrams

input Σ Anlg In1 Target

2 23
type P1043 D
- Anlg In1 Cmp Err P67 A AO2
Ref_1- Window comparator Anlg Out2 Sel C 24
P72 P792 2
Anlg In1 Scale Anlg In1 Filter ACOM
P1404
Analog In1 Value P63
P1042 Anlg Out2 Scale
P74 Anlg In1 Cmp
Anlg In1 Offset

Expansion Analog Outputs (Optional)

P1045
Anlg In1 Cmp Eq D 1
P68 A AO3
Anlg Out3 Sel C 2
Analog Inputs/Outputs Mapping

1
ACOM
P1044 P64
Anlg In1 Cmp Dly Anlg Out3 Scale

From Digital Reference

Analog Input 2 P76 Setting
P78 P260
Anlg In2 Config
Anlg2 Tune Scale Anlg In2 Tune D 3
Ref_2+ P69 A AO4
3 Anlg Out4 Sel C 4
HW + Volts F 2
input
P75 ACOM
Σ Anlg In2 Sel
4 type
- P296 P65
Ref_2- Anlg In2 Target Anlg Out4 Scale
P77
P1405 Anlg In2 Scale P801
Analog In2 Value Anlg In2 Filter

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P79
Anlg In2 Offset

From Digital Reference

Setting
Analog Input 3 P81
P83 P261
Anlg In3 Config
Anlg3 Tune Scale Anlg In3 Tune
Ref_3+
5
HW + Volts F
P80
input Σ
6 type
Anlg In3 Sel
- P297
Ref_3- Anlg In3 Target

P1406 P802
Analog In3 Value P82 Anlg In3 Filter
Anlg In3 Scale
P84
Anlg In3 Offset
 Speed Reference Selection
(2 ms) MOP Reset
P70 (digital input)
Anlg In1 Sel Terminal Block
Digital Inputs
P75 MOP Inc Reset
Anlg In2 Sel (”0” if not defined)
(digital input) INC
P80 MOP
Anlg In3 Sel MOP Dec DEC
(digital input)

Speed Sel 3
Speed Sel 2
Speed Sel 1
P1323
DPI P1 Select P47 P1375
P2 OUT MOP Select
Speed Ref A Pct MAX
P1324 P44 000 Maximum Speed
DPI P2 Select Speed Ref A
P1
P1325 P48 001 MIN
Minimum Speed
DPI P3 Select Speed Ref B Auto / Manual
P1326 P49 (Par 381 [Drive Status 1], b15) ACCEL DECEL
P155 010
Speed Ref B Pct
Speed Reference Selection

DPI P4 Select Preset Speed 2

b15
P1327 P156 011 P22 P30
DPI P5 Select Preset Speed 3 Auto (0) MOP Accel Time MOP Decel Time
P1375 P157 100
MOP Select Preset Speed 4
P1021 P158 101 Minimum Speed Limit
Encoder Out Sel Preset Speed 5 P1
P430 P159 110 Minimum Speed Jog
Resolver Spd Sel Preset Speed 6 (Par 1328 [Drive Logic Rslt], b02)
P5
P160 111 Min Speed Fwd
b02

Preset Speed 7
Off (0)
Manual Source
P70 (Par 381 [Drive Status 1], b12...14) P384
Anlg In1 Sel Spd Ref Out Pct

b14
b13
b12
P385
P75 P6
Spd Ref Out
Anlg In2 Sel Min Speed Rev
P267 000
TB Manual Ref
To Speed Reference
P80

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

Anlg In3 Sel 001 Generation Diagram
DPI Port 1 Reference
P1375 (Speed Ramp Enabled)
MOP Select 010
DPI Port 2 Reference Manual (1)

011
DPI Port 3 Reference

DPI Port 4 Reference 100

DPI Port 5 Reference 101

To Speed Reference
Generation Diagram
(Speed Ramp Disabled)
Control Block Diagrams

P70
Anlg In1 Sel
On (1)
P75 P266
Anlg In2 Sel Jog Speed
P80
Anlg In3 Sel

365
Appendix D
366
P70 Speed Reference Generation
Anlg In1 Sel
Appendix D

P75 (2 ms)
Anlg In2 Sel
P80
Anlg In3 Sel
P1323
DPI P1 Select
P1324
DPI P2 Select
Control Block Diagrams

P1325
DPI P3 Select
P1326
DPI P4 Select
P1327
DPI P5 Select
P70
P1021 Anlg In1 Sel
Encoder Out Sel
P75
P430 Anlg In2 Sel
Resolver Spd Sel
P42 P80
Speed Reference Generation

P782 Trim Ramp Anlg In3 Sel

PID Target P378
Trim Ramp Pct 0 Jog P782
P1210 (P1328 Drive Logic Res, b2) PID Target
W Target

Off
On
P1210
W Target

P111 P114 P1019

Ramp In Pct Ramp Out Pct Spd Draw Out Pct
P110 P113 P1018
Reverse Command Ramp In Ramp Out Speed Draw Out
(P381 Drive Status 1, b2)
Speed
Speed
t

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P384 t
Spd Ref Out Pct
P385 Ramp Reference Zero
Zero P245
Spd Ref Out Speed Ramp En
T T On P1017
From Speed Reference Σ Speed Ratio
Selection Diagram
P345 P344
Zero Ramp Input Zero Ramp Output Speed ratio To Speed
P384
Regulator
10000
Spd Ref Out Pct Diagram
P385
Spd Ref Out Speed Draw
Off
From Speed Reference
Selection Diagram
 Ramp Reference Block
(2 ms)

P111
Ramp In Pct 0 t
P110 Ramping Function
Ramp In P20
Ramp Delay P373
Ramp Reference Block

Freeze Ramp To Speed Reference

From Speed Reference Generation Diagram
Generation Diagram T
Ramp Reference Output
Ramp Reference Input

Freeze Ramp
Digital Input
P1410 Command
Jog Ramp Time

Fast Stop
P660
Accel Time 1
P24
Σ
Accel Time 2 P38
Fast Stop Time

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P662
Decel Time 1
P32 P18
Decel Time 2 Ramp Type Select

Linear
S-Shaped

Accel/Decel 1/2 Command

(digital input)
Control Block Diagrams

P665 P666
S Curve Accel 1 S Curve Decel 1
P667 P668
S Curve Accel 2 S Curve Decel 2

367
Appendix D
368
Droop Compensation
Speed Regulator
P698 +
Appendix D

Load Comp
(2 ms)
- low pass filter
P1007
P236 Droop Out Pct
Spd Reg Out Pct
P1006
Droop Out P232 P1016
P699 Inertia Comp Out SpdFuncSelect
Enable Droop
Inertia/Loss Comp 0
Speed Up
To Torque Mode
Speed Limits Select Diagram
Inertia/Loss
Control Block Diagrams

P2 0
Maximum Speed Off
P1019 P117 P1011
P3
Spd Draw Out Pct Speed Reg In Pct Spd Reg Err Pct
Max Speed Fwd P/I regulator includes
P1018 P4 P118 P1010
Speed Reg In Spd Reg Err anti-windup logic
Speed Draw Out Max Speed Rev P236
Speed Reg P / I Spd Reg Out Pct
From Speed Reference + + + kn*s+wn
Generation Diagram To Torque Mode
Σ Σ s+wn
Select Diagram
+ - Limit Lead Lag
P70
Speed Regulator

Anlg In1 Sel P6

P75 Min Speed Rev P95 P238
P99 Spd Reg Pos Lim SpdOut FiltGain
Anlg In2 Sel P5 Spd Reg Kp Outpt
P80 Min Speed Fwd P100
Anlg In3 Sel P1 Spd Reg Ki Outpt P96 P239
Minimum Speed Spd Reg Neg Lim SpdOut FiltBW
P1323
DPI P1 Select
P382
P1324 P1009 Drive Status 2
DPI P2 Select Spd Reg Fdbk Pct b10 SpdRegPosLim
P1325 P1008 b11 SpdRegNegLim
DPI P3 Select Spd Reg Fdbk
Hold Integrator with
P1326
DPI P4 Select P43 Spd Reg Pos/Neg Lim
Trim Speed
P1327
DPI P5 Select
P923
P1375 Act Spd Filter P461
MOP Select Spd Fdbk Invert
P1021 P924
Encoder Out Sel Actual Speed
P430

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

Resolver Spd Sel P121 P914
Spd Feedback Pct kn*s+wn
P782 s+wn Spd FB Filt Gain
PID Target P122
Spd Feedback
P1210 Lead Lag P915
W Target Spd FB Filt BW
32 ms sampled average

+
Σ
+
Speed up P1016
Speed Feedback SpdFuncSelect

Speed Up
P445 0
Spd Up Gain Pct
Inertia/Loss
P447 P446 0
Speed Up Filter Speed Up Base
Off
 Torque Mode Selection
(2 ms)
From Speed Regulator
Block Diagram
Inertia Compensation
Output
P382
Drive Status 2
b7 Forced Spd
1

P241
Spd Trq Mode Sel
Torque Mode Selection

P14
Zero Torque 0 Selected TorqRef P353 P17
0.00 Motor Trq Ref
+ Zero Torque
From Speed Regulator Speed Reg 1 0 + n
Σ To Current Regulator
Block Diagram Not Active Block Diagram
Torque Reg 2 + d

SLAT Min 3 P15 Active

MIN SLAT Err Stpt 0
SLAT Max 4 P40
MAX P16 Trim Torque
SLAT Dwell Time
Sum 5
++

P382
P39 Drive Status 2
P70
Anlg In1 Sel Torque Ref b7 Forced Spd P462
b8 Speed Mode Flux Divide
P75 b9 Torque Mode
Anlg In2 Sel P17 [Motor Trq Ref] is divided
0 by the flux reference when
P500 Torque Ref

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P80 P462 [Flux Divide] is set to
Anlg In3 Sel Flux Ref Pct
0 “Torque Ref”.
P1323
DPI P1 Select P463
Flux Filter BW
P1324
DPI P2 Select Inertia Comp 1
1.00
P1325
DPI P3 Select

P1326
DPI P4 Select

P1327
DPI P5 Select
Control Block Diagrams

P782
PID Target

P1210
W Target

369
Appendix D
370
Droop Compensation
Appendix D

(2 ms)
P70
Anlg In1 Sel

P75 From Digital Setting or

Anlg In2 Sel Analog Input
P80 P698 P697
Anlg In3 Sel Load Comp Droop Filter P700
Droop Limit
P782
PID Target
Control Block Diagrams

+ To Speed Regulator
P1210 P236
W Target Spd Reg Out Pct Σ Droop Compensation
- Output
low pass filter

P696
Droop Percent
Droop Compensation - Inertia / Loss Compensation

Inertia/Loss Compensation
P106
(2 ms)
Ref Zero Level

Speed
P1012
Inertia C Filter

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P1015
Friction

n
1 To Speed Regulator
P118
Speed Reg In + Inertia/Loss Compensation
P1013
d Torque Const
Output
low pass filter

P1014 0
Torque Ref
Inertia 1.00
P462
Flux Divide
Inertia Compensation is divided by
1 the flux reference when P462 [Flux Divide]
P500 Inertia Comp is set to 1 “Inertia Comp”.
Flux Ref Pct
 Speed Feedback
(2 ms)
P458 Enabled
SpdReg FB Bypass
(no filtering)
P414 = 3
P233 Fdbk Device Type
Speed Feedback Speed Feedback A Armature Voltage

Loss Fault (F91) Loss Alarm Motor

H Armature

P175
Rated Motor Volt
P478
Spd Loss Flt Cfg
P562 P414 = 2
+ Anlg Tach Gain Fdbk Device Type
% Armature Voltage Tach
DC Tach
P175 - P1408

DC Tachometer
Rated Motor Volt Tachometer Speed
(no filtering)
Speed Feedback

P563 + To Speed Regulator

S
Feedback Offset Speed Feedback Input
(no filtering)
P455 5 A+ P420
P1022
Spd FB Loss Lvl Encoder Counts Encoder Speed
6 A- Encoder
Configuration
8 B+ P414 = 1
P169 Fdbk Device Type
(2...16 ms
1 Encoder PPR
B- moving
5% % Speed P652 average) Encoder
P121 P162 Encoder Err Chk
3 Z+
Spd Feedback Pct Max Feedback Spd
P170

Digital Encoder
Encoder Config Tach follower
4
Z- P1021
Encoder Out Sel
7
COM
2

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

+V

RefH P427 P428

8 Reslvr Position Resolver Speed

7 Shld Resolver
Configuration
6 RefL
P423
+ Ref - P414 = 4
Reslvr Type Sel
SinH Fdbk Device Type
- + 5 (2...16 ms
P424
moving
Reslvr Spd Ratio average) Resolver
Shld

Co
4 P425

s
S in

Resolver
Resolver Config Tach follower
Control Block Diagrams

3
SinL P430
+ - Resolver Spd Sel
2
CosH
1
CosL

371
Appendix D
372
Speed Regulator PI Block
(2 ms)
Appendix D

Speed P / I Base
P93 P459
Spd Reg Kp Base SpdReg Kp Bypass Bypass gains are used when P458 [SpdReg FB Bypass] = “Enabled” (1)
and the Encoder or Tachometer signal is lost, causing Armature Voltage
P94 P460 Feedback to be used.
Spd Reg Ki Base SpdReg Ki Bypass

P99 P444
P181 Spd Reg Kp Out Spd Reg P Filter
Adaptive Spd En
Control Block Diagrams

P70
Anlg In1 Sel P87
Spd Reg Kp F
P75
Anlg In2 Sel

P80 P188
Anlg In3 Sel Adaptive P Gain1
P190
P782 Adaptive P Gain2
PID Target P192
Adaptive P Gain3 P643
P1210 SpdReg AntiBckup
W Target
-
Σ
Speed Regulator PI Block

+ To Speed Regulator
+
Anti-Windup Σ Block Diagram
+ PI Output
P118 +
Speed Reg In Σ
-
P183
Adaptive Ref Speed Adaptive P1009 P348
and Spd Reg Fdbk Pct Lock Speed Integ
P117 Speed Zero Logic P1008
Speed Reg In Pct Spd Reg Fdbk P1010 T
Spd Reg Err
P1011
Spd Reg Err Pct
P181
Adaptive Spd En
Anti-Windup Zero
P182 Torque Current Limits
Adaptive Reg Type P181
Adaptive Spd En

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P88
Spd Reg Ki F

P189
Adaptive I Gain1
P191 P100
Adaptive I Gain1 Spd Reg Ki Out
P193
Adaptive I Gain3
 Speed Adaptive and Speed Zero Logic
(2 ms) Speed Adaptive Function

P186 P187 P181

Adaptive Joint 1 Adaptive Joint 2 Adaptive Spd En

P182
Adaptive Reg Typ

Gain

P188 P189
Adaptive P Gain1 Adaptive I Gain1

P190 P191
Adaptive P Gain2 Adaptive I Gain2

P192 P193
Adaptive P Gain3 Adaptive I Gain3
Speed Adaptive and Speed Zero Logic

%
P183 P117
Adaptive Ref OR Spd Reg In Pct

P184 P185
Speed Zero Logic Adaptive Spd 1 Adaptive Spd 2
P126 P125
Spd Zero P Gain Spd Zero P En

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P106 T
Ref Zero Level >= Lock speed I
P124

&
Ref 0 level Spd Ref Zero En
Ramp Ref / Speed Ref
& T

P123 >=
Spd Zero I En Lock speed I

&
>
&
T =

Speed Zero
Control Block Diagrams

Speed
0 t

P108
Speed Zero Delay

373
Appendix D
374
P70
Anlg In1 Sel Current Regulator
Appendix D

P75 (3.3 ms @ 50Hz, 2.7 ms @ 60 Hz)

Anlg In2 Sel
P80
Anlg In3 Sel

P1323
DPI P1 Select

P1324
DPI P2 Select
P1325
DPI P3 Select
Control Block Diagrams

P1326
DPI P4 Select Current Limits Note that P453 and P454 are gains for the current regulator
P1327 P7
and may not match the physical characteristics of the motor.
DPI P5 Select Current Limit
P453
P782 P8 P41 Arm Resistance
PID Target Current Lim Pos Current Reg In Go to Motor
P454
P9 Arm Inductance Parameters
P1210
W Target Current Lim Neg
Predictive Regulator Modulator
Current Regulator

From Torque Mode di + DC

Selection Block Diagram Σ Motor
dt -
P10
Cur Lim Pos Out P12 Predictive Regulator Includes
Current Rate Lim Feedback
P11 Anti-Windup Logic P233 (Option)
P715 Cur Lim Neg Out Output Voltage
Torq Limit Type P199
Arm Current Pct
T Lim MtrGen P200
P782 Arm Current
T PID Target

P1210
W Target
P13
Torq Red CurLim

Torque P342
Reduction Torque Reduction
Torque Reduction

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

T Command

T Lim PosNeg

To rq ue To rq ue
Fwd Brdg Cur Lim Fwd Brdg Cur Lim
Fwd Brdg Cur Lim
Rev Brdg Cur Lim

Speed Speed

Rev Brdg Cur Lim

Rev Brdg Cur Lim Rev Brdg Cur Lim
Fwd Brdg Cur Lim

-1% of +1% of
Max Feedback Spd Max Feedback Spd

Torque Limit Mtr Gen Torque Limit Pos Neg

 Voltage Reg P / I Base
P70
Field Current Regulator
Anlg In1 Sel P495
Arm Volt Kp Base (8 ms)
P75 P496
Anlg In2 Sel Arm Volt Ki Base
P80
Anlg In3 Sel
P782
PID Target P493 Field Flux Limits
Arm Volt Kp
P1210 P467
W Target P921
P494 Max Fld Flux Pct
Out Volt Level
Arm Volt Ki Field Current Limit
P500
Base Flux Ref Pct 100%
Voltage regulator Speed I field curve

+ Field Weaken T
P175
Rated Motor Volt
Σ
_
P469
Field Mode Select
P233
Output Voltage P456 P468
Fld Weaken Ratio P916 Min Fld Curr Pct
P919 Fld Const 40 Pct Must be set correctly to
Motor Base Speed / P45 Max Ref Speed x 100
Set Fld Curve P917 allow entire Field Weaken
Field Current Regulator

P920 Fld Const 70 Pct range of operation

Reset Fld Curve P918
Fld Const 90 Pct

Field Reg P / I Base

Energy saving P91
Fld Reg Kp P97
Max field Output Voltage
Fld Reg Kp Base
current
P92 P98
Fld Reg Ki Fld Reg Ki Base
Min field
current
P280
Nom Mtr Fld Amps

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P476 Field Controller
P468 Field Curve Out
Min Fld Curr Pct Field reg P / I P497
P498 Field Reg Enable
Force Min Field +
Σ
T
_
P499
Field Economy En

P234
Field Economy P374 Fld Current Pct
Rated Field Curr C1
Max field curr

M
Control Block Diagrams

Min field curr

D1

Spd=0 Thr
P280
Nom Mtr Fld Amps
P107
Speed Zero Level

375
Appendix D
376
Motor Parameters
Appendix D

Output
Voltage / Constant Torque Field Regulator
Torque Management

P175 P469
Rated Motor Volt Field Mode Sel
Control Block Diagrams

P374
Constant Power Drv Fld Brdg Cur

P468
Min Fld Curr Pct

P467
Max Fld Curr Pct

ing
Ris wer
Po
Motor Parameters

Speed

P456 P162
Fld Weaken Ratio Max Feedback Spd
P45
Max Ref Speed

Note that P453 and P454 are gains for the current regulator and
may not match the physical characteristics of the motor.

P453 P454
Arm Resistance Arm Inductance P280
Nom Mtr Fld Amps
A C1
(A1)

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P351
P199 Field Current
Arm Current Pct
P200
P233 Arm Current
Output Voltage M
P587
I Reg Error
H
(A2) D1
 Speed Threshold / Speed Control
(2 ms)

P101
Speed Thresh Pos
P122
Spd Feedback
[Digital Outx Sel]
= 2 “Spd Thresh”

P393
Speed Threshold

P102
Speed Thresh Neg
Speed Threshold / Speed Control

P103 0 t
Threshold Delay

P118
Speed Reg In P104
At Speed Error

[Digital Outx Sel]

= 3 “At Speed”

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P122
Spd Feedback P394
At Speed
Control Block Diagrams

P105 0 t
At Speed Delay

377
Appendix D
378
P758
Appendix D

Feed Fwd PID

PID Control
(2 ms)
P786
Gain
PID Source

P695 P731
PI Steady Thresh PID Steady Delay
P787
PID Source Gain
Thr

Steady
Control Block Diagrams

P70 State
Anlg In1 Sel
P765
P75 PI Prop Gain PID
Anlg In2 Sel P793
PI Init Prop Gn
P80
Anlg In3 Sel Thr 2 P773
sign PID PID Output Scale

P418
Real FF PID
P771 P782
PID Control

PI Output Gain
P784 PID Target
P760 P762
PI Upper Limit
PID Setpoint 0 PID Setpoint Sel
Gain P769
P761 Enable PI +
Feed Fwd Sign: P774
PID Setpoint 1 + Σ PID Output
Pos Gain = -1
Neg Gain = +1 T +
ON

P785
P772
PI Lower Limit
PID Output Sign
P771
PI Output
P776
P1046 PI Central v1
PID Accel Time P764 P777
PI Integral Gain PI Central v2
P1047
PID Decel Time P734 P783
PI Init Intgl Gn PI integr freeze
P779
PI Central v sel
P800 P794
P1254 Diameter Calc St Diameter Calc
PID Error Gain
T
P778

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P763 PI Central v3
PID Feedback
P768 P770 P421
+ PD Prop Gain 1 Enable PD PD Output PID
- P788 P799
Σ PD Prop Gain 2 T + Minimum Diameter
ON
P790 P797
PD Prop Gain 3 Gear Box Ratio
P763
PID Feedback P757 Encoder Position
PID Clamp P771
Initial PI Output

P70 Diameter P795

Anlg In1 Sel P759 Calculator DncrPosSpd
PID Error P766 P70
PD Deriv Gain 1 Anlg In1 Sel P796
P75 P767 Max Deviation
P789
Anlg In2 Sel PD Deriv Gain 2 PD Deriv Filter P75 P414
P791 Anlg In2 Sel P798
P80 Fdbk Device Type Dancer Constant
PD Deriv Gain 3
Anlg In3 Sel
P80
P429 Anlg In3 Sel
Resolver Pos Sel
 Scale Blocks
(background)

Scale Block 1
P488
Scale1 In Max
Scale Blocks

P484
+ + P485
Scale1 Input Σ X Σ Scale1 Output
+ +

P491
P489 Scale1 Out Off
Scale1 In Min
P492 P486 P487
Scale1 In Abs Scale1 Mul Scale1 Div
P490
Scale1 In Off

Scale Block 2 P557

Scale2 In Max

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P553
+ + P554
Scale2 Input Σ X Σ Scale2 Output
+ +

P560
P558 Scale2 Out Off
Scale2 In Min
P561 P555 P556
Scale2 In Abs Scale2 Mul Scale2 Div
Control Block Diagrams

P559
Scale2 In Off

Note: Up to six scale blocks are available. Scale blocks 3-6 follow the same flow as scale blocks 1 and 2, shown here.

379
Appendix D
380
Appendix D

User-Defined Parameters
P70
Anlg In1 Sel

P75 P782
Control Block Diagrams

Anlg In2 Sel PID Target

P80 P1210 Digital Inputs 1...12 can write to

Anlg In3 Sel W Target any User-Defined bit A0...A7
Digital Input

Analog Input
Analog Input

Target Param
Target Param
Target Param
P503 P504 P505 P506 P507 P508 P509 P519 P536
User Defined Variables

UserDefined0 UserDefined1 UserDefined2 UserDefined3 UserDefined4 UserDefined5 UserDefined6 UsrDefBitWrdA UsrDefBitWrdB

Source Param
Source Param
Source Param
Digital Output
Digital Output

Analog Output
Analog Output
P66 P786
Anlg Out1 Sel PID Source Digital Outputs 1...8 indicate the status of the User-Defined
bit corresponding to its number (D.O.1 is bit 0, D.O.8 is bit 7).
P67 P1204
Anlg Out2 Sel Line Spd Src
Relay Output1 indicates User-Defined bit 14
P68 P1284 Relay Output2 indicates User-Defined bit 15
Anlg Out3 Sel Ref Spd Src

P69
Anlg Out4 Sel

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

General Parameters Target Param

P510 P511 P512 P513 P514 P515 P516 P517 P518

UserDefined7 UserDefined8 UserDefined9 UserDefined10 UserDefined11 UserDefined12 UserDefined13 UserDefined14 UserDefined15
Source Param
 P750 Taper Current Limits
TrqTpr Enable

Cur Lim Pos Out

or
Cur Lim Neg Out

P751
Taper Current Limits

TrqTpr Lim0

P752
TrqTpr Lim1

P753
TrqTpr Lim2

P754
TrqTpr Lim3

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

P755
TrqTpr Lim4
Control Block Diagrams

Motor Max Speed

P756
TrqTpr Spd

381
Appendix D
382
Unit Scaling
Appendix D
Control Block Diagrams

Unit Scale Factor User Value Factor

User P50 P54

Unit Scaling

UsrDsplyMult0 UsrValDiv1 Control Variable

Defined Variable
X X
P51 P53
UsrDsplyDiv0 UsrValMult1

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Control Block Diagrams Appendix D

Test Generator
Speed Select Settings

Test Generator

P58
TstGen Output

Generator Output

P60
TstGen Amplitude

P61
TstGen Offset

Time

P59
TstGen Frequency

Speed Select Settings

P402 P401 P400

Spd Select 2 Spd Select 1 Spd Select 0 Reference

0 0 0 P44
Speed Ref A

0 0 1 P48
Speed Ref B

0 1 0 P155
Preset Speed 2

0 1 1 P156
Preset Speed 3

P157
1 0 0 Preset Speed 4

1 0 1 P158
Preset Speed 5

P159
1 1 0 Preset Speed 6

1 1 1 P160
Preset Speed 7

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 383

Appendix D Control Block Diagrams

Fault / Alarm Mapping

Fault/Alarm Mapping

“Arm Overvoltage” (F5) “Fld Current Loss” (F6)

P203 P473
OverVolt Flt Cfg FldLoss Flt Cfg
0 = “Ignore” 0 = “Ignore”
1 = “Alarm” 1 = “Alarm”
2 = “Fault” 2 = “Fault”

“Auxiliary Input” (F2) “Speed Fdbk Loss” (F91)

P354 P478
Aux Inp Flt Cfg Spd Loss Flt Cfg
1 = “Alarm”
2 = “Fault” 1 = “Alarm”
3 = “Fast Stop” 2 = “Fault”
4 = “Normal Stop”
5 = “CurrLim Stop”

“Motor Over Temp” (F16) “Motor Overload” (F7)

P365 P479
OverTemp Flt Cfg MtrOvrld Flt Cfg
0 = “Ignore” 0 = “Ignore”
1 = “Alarm” 1 = “Alarm”
2 = “Fault” 2 = “Fault”
3 = “Fast Stop”
4 = “Normal Stop”
5 = “CurrLim Stop”

384 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix E

Installing a Communication Adapter

Communication Adapter Kits The following Communication Adapter kits are available for use with the
PowerFlex® DC drive:
Comm Option Catalog Number
BACnet® MS/TP RS-485 Communication Adapter 20-COMM-B
ControlNet™ Communication Adapter (Coax) 20-COMM-C
DeviceNet™ Communication Adapter 20-COMM-D
EtherNet/IP™ Communication Adapter 20-COMM-E
HVAC Communication Adapter 20-COMM-H
PROFIBUS™ DP Communication Adapter 20-COMM-P
ControlNet™ Communication Adapter (Fiber) 20-COMM-Q
Remote I/O Communication Adapter (1) 20-COMM-R
RS-485 DF1 Communication Adapter 20-COMM-S
External Comms Power Supply 20-XCOMMAC-PS1
DPI External Communication Kit 20-XCOMMDC-BASE
External DPI I/O Option Board(2) 20-XCOMMIO-OPT1
Compact I/O to DPI/SCANport Module 1769-SM1
Serial Null Modem Adapter 1203-SNM
Smart Self-powered Serial Converter (RS-232) 1203-SSS
includes 1203-SFC and 1202-C10 Cables
Universal Serial Bus™ (USB) Converter 1203-USB
includes 2m USB, 20-HIM-H10 & 22-HIM-H10 Cables
(1) This item has Silver Series status. For information, refer to http://www.ab.com/silver.
(2) For use only with External DPI Communication Kits 20-XCOMM-DC-BASE.

What The Communication • Communication Adapter module w/captive screws

Adapter Kit Includes • Internal Interface cable
• Communication Adapter User Manual
• Additional components, based on the option selected

Tools That You Need • Phillips screwdriver

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 385

Appendix E Installing a Communication Adapter

Safety Precautions
ATTENTION: Allow only qualified personnel familiar with drives, power
products and associated machinery to plan or implement the installation, start-
up, configuration and subsequent maintenance of the system. Failure to comply
may result in personal injury and/or equipment damage.

ATTENTION: To avoid an electric shock hazard, verify that all power to the drive
has been removed before performing the following.

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 A-B publication 8000-4.5.2, “Guarding Against
Electrostatic Damage” or any other applicable ESD protection handbook.

Installing the Follow these steps to install a communication adapter module:

Communication Adapter
Module in the Drive WARNING: Remove power before making or breaking cable connections. When
you remove or insert a cable connector with power applied, an electrical arc may
occur. An electrical arc can cause personal injury or property damage by:
• sending an erroneous signal to your system’s field devices, causing unintended
machine motion
• causing an explosion in a hazardous environment
Electrical arcing causes excessive wear to contacts on both the module and its
mating connector. Worn contacts may create electrical resistance.

1. Remove and lock-out all incoming power to the drive.

L1 L2 L3
I

2. Disconnect the DPI cable from the HIM on the drive.

386 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installing a Communication Adapter Appendix E

3. Remove the cover(s) from the drive:

Frame A
a. Remove the screws that secure the bottom cover to the drive, then slide
the cover down and off the drive chassis.

=
PORT

MOD

NET A

NET B

STS

Disconnect DPI cable.

b. Press in on the sides at the bottom edge of the top cover and at the same
time pull the cover toward you to pull it partially off the drive chassis.
Next, at the top of the drive, pull the cover forward, away from the drive,
until the pins fit in the keyhole in the top of the cover, then carefully lift
the cover off of the drive chassis.

IMPORTANT The HIM assembly is connected to the control board by a cable and
therefore will not pull free from the drive until disconnected. See step 4
page 389 for instructions.

When metal pin fits in keyhole,

lift cover off drive chassis.

PORT

MOD

NET A

NET B

STS

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 387

Appendix E Installing a Communication Adapter

Frames B and C
a. Loosen, but do not remove, the screws that secure the bottom cover to
the drive, then slide the cover down and off the drive chassis.

Frame B shown
=

Disconnect DPI cable.

b. Loosen, but do not remove, the screws that secure the top cover to the
drive, then slide the cover up and off the drive chassis.

IMPORTANT The HIM assembly is connected via a cable to the control board and
therefore will not pull free from the drive until disconnected. See step 4
on page 389 for instructions.

Frame B shown

U C V D W

388 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Installing a Communication Adapter Appendix E

Frame D
a. Loosen, but do not remove, the Hexalobular head screws that secure the
cover, containing the HIM cradle, to the drive frame. Then, slide the
cover up until the screw heads line up with the key holes and lift the
cover off the chassis.

IMPORTANT The HIM assembly is connected to the control board by a cable and
therefore will not pull free from the drive until disconnected. See step 4
below for instructions.

Disconnect DPI cable.

4. Disconnect the HIM Communication cable from the connector on the

upper right corner of the control board and set the cover aside.

All Frames (Frame A shown) =

Pull tabs out to

disconnect cable.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 389

Appendix E Installing a Communication Adapter

5. Secure and ground the Communication Adapter to the EMI Shield on the
drive using the four captive screws.

IMPORTANT All screws must be tightened, because the adapter is grounded

through a screw to the EMI shield. Recommended tightening torque is
0.9 N•m (8 lb•in).

6. Connect the Internal Interface cable to the DPI connectors on the control
board and the communication Adapter board.

Secure adapter to
EMI Shield with four
(4) screws.

Connect cable to DPI

connectors on adapter
and control board.

7. Refer to the Adapter’s User Manual for network connection,

commissioning, and configuration information.
8. Install the HIM Communication cable in reverse order or removal.
9. Install the drive covers in reverse order of removal.

390 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix F

Optional Analog and Digital I/O Expansion

Circuit Board
What This Option Board The optional I/O expansion circuit board(1) is mounted on the control circuit
Provides board of the drive and provides these additional I/O signals:
• Four Digital Inputs
• Four Digital Outputs
• Two Analog Outputs

This circuit board is catalog number 20P-S5V62.

Figure 106 - I/O Expansion Board Mounting Location

I/O Expansion Board I/O Expansion Board Control Board Standard Drive I/O
Terminal Blocks Terminal Blocks

I/O Expansion Board Wiring Table 94 - Recommended Signal Wire Size

Wire Type and Size Tightening Torque
N•m (lb•in)
Flexible (mm2 ) multi-core (mm ) 2
AWG
0.14…1.5 0.14…1.5 28…16 0.4 (3.5)

(1) The Analog and Digital I/O Expansion circuit board is not factory installed.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 391

Appendix F Optional Analog and Digital I/O Expansion Circuit Board

A 75 x 2.5 x 0.4 mm (3.0 x 0.1 x 0.02 in.) flathead screwdriver is recommended

for connecting wire to the terminal block inputs. Strip the ends of the cables to
a length of 6.5 mm (0.26 in.).

IMPORTANT To improve the noise immunity it is recommended that you connect the
common of the outputs (terminals 2, 4, 5 and 15 of the I/O Expansion board)
with the ground (terminal 10 or 20) on the standard I/O terminal blocks on
the control board. If this is not possible, these terminals must be grounded
by means of a 0.1 mf/250V capacitor.

Table 95 - I/O Expansion Board Terminal Block 1 Designations

No. Signal Description Factory Default Config. Parameter
1 Analog Output 3 (+) ±10V, 5 mA maximum 18 “Fld Current” 68 [Anlg Out3 Sel]
2 Analog Output 3 (–)
1
2 3 Analog Output 4 (+) ±10V, 5 mA maximum 14 “Motor Volts” 69 [Anlg Out4 Sel]
3
4 4 Analog Output 4 (–)
5
6
7
8
5 Digital Output Common – –
9
10 6 Digital Output 5 (+) Max volt. +30V, max cur. 50 mA 26 “Alarm” 149 [Digital Out5 Sel]
7 Digital Output 6 (+) – –
8 Digital Output 7 (+) – –
9 Digital Output 8 (+) – –
10 +24VDC Drive supplied power for Digital Outputs. – –
Max volt. +30V, max. cur. 80 mA.

Table 96 - I/O Expansion Board Terminal Block 2 Designations

No. Signal Description Factory Default Config. Parameter
11 Digital Input 9 Max volt. +30V, max cur. 15V/3.2 mA, 24V/5 mA, and 30V/6.4 – –
12 Digital Input 10 mA.
11
12 13 Digital Input 11
13
14 14 Digital Input 12
15
15 Digital Input Common – –

Figure 107 - I/O Expansion Board Wiring Diagram

Control Board

Analog Outputs Digital Outputs Digital Inputs

I/O Expansion Board

0 V 24
+ 24 V

3 4 5 6 7 8 9 10 11 12
S u p p ly

19 18

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

+ 24 V

0V

392 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix G

Optional 115V AC to 24V DC I/O Converter

Circuit Board

What This Option Board The 115V AC to 24V DC I/O converter circuit board(1) allows you to convert
Provides 115V AC digital input signals to 24V DC digital input signals to provide an
interface with the standard digital I/O terminal blocks on the PowerFlex® DC
drive control circuit board. The circuit board contains the following I/O:
• Eight opto isolated 115V AC digital inputs
• Eight interface outputs for the digital inputs on control board of the
drive(2)
• Two input terminals for the 24V DC power supply voltage

This circuit board is catalog number 20P-S520L.

Figure 108 - 115V AC to 24V DC I/O Converter Circuit Board Mounting Location

Control Board I/O Converter Board I/O Converter Board

Terminal Blocks

Standard Drive I/O Terminal Blocks on Control Board

(1) The 115V AC to 24V DC I/O Converter circuit board is not factory installed.
(2) If more than eight 115V AC digital input signals require conversion to 24V DC (i.e., the optional PowerFlex DC drive I/O Expansion
circuit board is used - see Appendix F), a second Converter board is required and must be sourced and wired independently from
the 115V AC to 24V DC I/O Converter board mounted on the control board and be mounted in an appropriate enclosure external
to the PowerFlex DC drive enclosure.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 393

Appendix G Optional 115V AC to 24V DC I/O Converter Circuit Board

I/O Converter Board Wiring Table 97 - Recommended Signal Wire Size

Wire Type and Size Tightening Torque
Flexible (mm2) multi-core (mm2) AWG N•m (lb•in)
0.14…1.5 0.14…1.5 28…16 0.4 (3.5)

A 75 x 2.5 x 0.4 mm (3.0 x 0.1 x 0.02 in.) flathead screwdriver is recommended

for connecting wire to the terminal block inputs. Strip the ends of the cables to
a length of 6.5 mm (0.26 in.).

Table 98 - I/O Converter Board M_IN Terminal Block Designations

No. Signal Description
1 Digital Input 1 Rated input voltage:115V AC ±10%
2 Digital Input 2 50…60Hz.
1 3 Digital Input 3 ON input voltage: 115V AC ±10%
2
3 OFF input voltage: 0 - 70V AC
4 4 Digital Input 4
5 ON input current: 4…5.5 mA
6
7
5 Digital Input 5
8C
OM 6 Digital Input 6
7 Digital Input 7
8 Digital Input 8
Com Digital Input Common

Table 99 - I/O Converter Board M_OUT Terminal Block Designations

No. Signal Description
24V +24VDC Supply 24V DC ±10%, 40 mA power supply. Max. load
120 mA.
24V
1 Supply power can be provided by the +24V DC
2 supply on the control board I/O (terminal 19 -
3
4 see Figure 109 on page 395) or an external
5
6
7 source (see Figure 110 on page 395).
8
0V 1 Digital Output 1 Output type: Open collector, PNP type with 15
2 Digital Output 2 kΩ pull-down
3 Digital Output 3 Output current: 10 mA max.
Delay time hw OFF to ON: 5 ms (typ.)
4 Digital Output 4
Delay time hw ON to OFF: 50 ms (typ.)
5 Digital Output 5
6 Digital Output 6
7 Digital Output 7
8 Digital Output 8
0V 24V Common Common for the power supply.
· If an internal supply is used, this terminal
must be wired to the digital input
common (terminal 16 or 35) on the
control board I/O. See Figure 109 on page
395.
· If an external supply is used, this terminal
must be wired to the external 24V DC
supply common and the digital input
common (terminal 16 or 35) on the
control board I/O. See Figure 110 on page
395.

394 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Optional 115V AC to 24V DC I/O Converter Circuit Board Appendix G

Figure 109 - I/O Converter Board with Internal Supply Wiring Diagram

Main Control Board

115V AC to 24V DC I/O Board

OPTO OPTO

15k 15k
DC OUTPUT AC INPUT

24V 1 2 3 4 5 6 7 8 0V 1 2 3 4 5 6 7 8 COM
M_OUT M_IN

To Digital Inputs
(Terminals 12-15, 31-34)
on Control Board

To Drive To Digital Input Common

Supplied (Terminal 16 or 35) External 115V AC
+24V DC and 24V Supply Common
(Terminal 19) (Terminal 18)
on Control Board on Control Board
Internal Wiring Customer Wiring

Figure 110 - I/O Converter Board with External Supply Wiring Diagram
Main Control Board

115V AC to 24V DC I/O Board

OPTO OPTO

15k 15k
DC OUTPUT AC INPUT

24V 1 2 3 4 5 6 7 8 0V 1 2 3 4 5 6 7 8 COM
M_OUT M_IN

To Drive Digital Inputs

(Terminals 12-15, 31-34)

To Digital
From Input Common To External External 115V AC
External (Terminal 16 or 35) 24V DC
+24V DC Supply
Supply Internal Wiring Common Customer Wiring

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 395

Appendix G Optional 115V AC to 24V DC I/O Converter Circuit Board

Notes:

396 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Appendix H

PowerFlex DC Standalone Regulator

Installation

This appendix contains installation information specific to the PowerFlex® DC

Standalone Regulator (SAR). The PowerFlex DC SAR and Gate Amplifier are
currently sold through Rockwell Automation Drive Systems only. Consult the
factory for availability.

Installation and Wiring Complete the following for SAR installation and configuration:
Instructions 1. Read and complete all installation and configuration instructions for the
SAR and Gate Amplifier contained in the PowerFlex DC Standalone
Regulator and Gate Amplifier User Manual, publication number 23P-
UM001.
2. Read and complete all additional power, control and I/O wiring,
grounding, and configuration instructions in Chapter 1 Installation and
Wiring of this manual pertaining to the frame A PowerFlex DC drive.

IMPORTANT Do not change (undo) any of the installation or configuration settings made
to the SAR (as instructed in the PowerFlex DC Standalone Regulator and
Gate Amplifier User Manual) when completing the instructions from
Chapter 1 of this manual.

3. Continue with the instructions in Chapter 2 Drive Start Up of this

manual.

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 397

Appendix H PowerFlex DC Standalone Regulator Installation

Notes:

398 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

Numerics alarm
Arm Voltage 228
115V AC to 24V DC I/O converter board
Auxiliary Input 228
catalog number 393 BipolarCflct 228
2-wire control BrakeSlipped 228
non-reversing 86 CntactrCflct 228
reversing 86 DigInCflcA 228
3-wire control 86, 87 DigInCflctB 229
DigInCflctC 229
FB Cfg Cflct 229
A Fld Current Loss 229
FldCfg Cflct 229
AC input contactor
Motor Over Temp 229
configure 31 Motor Overload 229
recommended 264 Open SCR 229
AC input line reactor Ref Cflct 229
recommended 264 Spd Fdbk Err 230
AC input voltage 45 Spd Fdbk Loss 230
AC Line Freq (Par. No. 588) 130 Start At PowerUp 230
AC Line Voltage (Par. No. 466) 130 Torq Prov Cflct 230
visual notification 221
AC Undervoltage fault 222 alarm type
Acc Dec Filter (Par. No. 1212) 171 non-configurable 219
Accel Mask (Par. No. 596) 192 user configurable 219
Accel Owner (Par. No. 605) 192 Alarms group 185 … 188
Accel Status (Par. No. 1188) 169 Alpha Test (Par. No. 166) 146
Accel Time 1 (Par. No. 660) 157 ALT key
Accel Time 2 (Par. No. 24) 156 functions 282
access analog and digital I/O expansion board
S.M.A.R.T. screen 282 catalog number 391
Act Spd Filter (Par. No. 923) 143 Analog In1 Value (Par. No. 1404) 197
Act Spd Reg BW (Par. No. 435) 153 Analog In2 Value (Par. No. 1405) 197
Act Ten Ref Pct (Par. No. 1194) 170 Analog In3 Value (Par. No. 1406) 197
Actual Comp (Par. No. 1213) 171 analog input
Actual Speed (Par. No. 924) 127 configure 292
Actuator Delay (Par. No. 1266) 158 wiring 85
analog inputs
Adaptive I Gain1 (Par. No. 189) 160
signal comparison 293
Adaptive I Gain2 (Par. No. 191) 160 wiring 85
Adaptive I Gain3 (Par. No. 193) 160 Analog Inputs group 195 … 197
Adaptive Joint 1 (Par. No. 186) 159 analog output
Adaptive Joint 2 (Par. No. 187) 160 wiring 85
Adaptive P Gain1 (Par. No. 188) 160 Analog Outputs group 197 … 198
Adaptive P Gain2 (Par. No. 190) 160 analog tachometer
Adaptive P Gain3 (Par. No. 192) 160 DIP switch 79
Adaptive Ref (Par. No. 183) 159 ground 34
Adaptive Reg Typ (Par. No. 182) 159 terminal block 90
Anlg In1 Cmp (Par. No. 1042) 196
Adaptive Spd 1 (Par. No. 184) 159
Anlg In1 Cmp Dly (Par. No. 1044) 196
Adaptive Spd 2 (Par. No. 185) 159
Anlg In1 Cmp Eq (Par. No. 1045) 197
Adaptive Spd En (Par. No. 181) 159
Anlg In1 Cmp Err (Par. No. 1043) 196
adaptive speed regulator
Anlg In1 Config (Par. No. 71) 195
function 335
Adaptv Regulator group 159 … 160 Anlg In1 Filter (Par. No. 792) 196
adjust Anlg In1 Offset (Par. No. 74) 196
current regulator 350 Anlg In1 Scale (Par. No. 72) 195
advanced parameter view 121 Anlg In1 Sel (Par. No. 70) 195
Anlg In1 Target (Par. No. 295) 196
Anlg In1 Tune (Par. No. 259) 196
Anlg In2 Config (Par. No. 76) 195

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 399

Index

Anlg In2 Filter (Par. No. 801) 196 Auxiliary Input fault 222
Anlg In2 Offset (Par. No. 79) 196
Anlg In2 Scale (Par. No. 77) 195
Anlg In2 Sel (Par. No. 75) 195 B
Anlg In2 Target (Par. No. 296) 196 Base Omega (Par. No. 1163) 167
Anlg In2 Tune (Par. No. 260) 196 basic parameter view 119
Anlg In3 Config (Par. No. 81) 195 Bipolar Conflict alarm 228
Anlg In3 Filter (Par. No. 802) 196 bipolar input
Anlg In3 Offset (Par. No. 84) 196 warning 82
Anlg In3 Scale (Par. No. 82) 195 bipolar signal
Anlg In3 Sel (Par. No. 80) 195 analog output 85
bipolar speed reference
Anlg In3 Target (Par. No. 297) 196
analog input 85
Anlg In3 Tune (Par. No. 261) 196 block diagrams 361
Anlg Out1 Scale (Par. No. 62) 197 brake resistor 269
Anlg Out1 Sel (Par. No. 66) 198 Brake Test Torq (Par. No. 1114) 175
Anlg Out2 Scale (Par. No. 63) 197 BrakeSlipped alarm 228
Anlg Out2 Sel (Par. No. 67) 198 Brk Alarm Travel (Par. No. 1109) 174
Anlg Out3 Scale (Par. No. 64) 197 Brk Release Time (Par. No. 1107) 174
Anlg Out3 Sel (Par. No. 68) 198 Brk Set Time (Par. No. 1108) 174
Anlg Out4 Scale (Par. No. 65) 197 Brk Slip Count (Par. No. 1110) 174
Anlg Out4 Sel (Par. No. 69) 198
Anlg Tach Gain (Par. No. 562) 142
Anlg1 Tune Scale (Par. No. 73) 195 C
Anlg2 Tune Scale (Par. No. 78) 195 cable
Anlg3 Tune Scale (Par. No. 83) 195 recommendations 44
Applications file 161 … 176 spacing 44
Arm Current (Par. No. 200) 128 spacing example 44
Arm Current Pct (Par. No. 199) 128 spacing notes 45
can’t start drive 231
Arm Inductance (Par. No. 454) 143
catalog number
Arm Resistance (Par. No. 453) 143
115V AC to 24V DC I/O converter board 393
Arm Test Angle (Par. No. 167) 146 analog and digital I/O expansion board 391
Arm Volt Ki (Par. No. 494) 134 Standalone Regulator 14
Arm Volt Ki Base (Par. No. 496) 135 standard drive 13
Arm Volt Kp (Par. No. 493) 134 CE Compliance
Arm Volt Kp Base (Par. No. 495) 135 General Considerations 40
Armature Overvoltage fault 222 CE Conformity 40
armature terminals change
wire size 51 speed source 326
Armature Voltage alarm 228 changed parameters
armature voltage feedback view 285
circuit breaker
terminal block, frame A 55
terminal block, frame B 55 control circuit 43
terminal block, frame C 56 clear
terminal block, frame D 56 faults 221
terminals 54 Clear Fault Que (Par. No. 263) 184
wire size 54 Close Loop Comp (Par. No. 1208) 170
At Speed (Par. No. 394) 180 Closed Loop En (Par. No. 1214) 171
At Speed Delay (Par. No. 105) 150 Closing Speed (Par. No. 1262) 158
At Speed Error (Par. No. 104) 150 Comm Control group 191
At Zero Speed (Par. No. 395) 180 common mode interference 82
auto speed sources 325 communication
Auto/Manual examples 326 logic command word 241
Autotune Cur Lim (Par. No. 1048) 145 logic status word 242
Autotune group 143 … 145 programmable controller 240
Aux Inp Flt Cfg (Par. No. 354) 185 communication adapter
Auxiliary Input alarm 228 install 385
kits 385

400 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

Communications file 191 … 194 D

compare Dancer Constant (Par. No. 798) 166
analog input signals 293 data
compensation
save 285
droop 302 Data In A1 (Par. No. 610) 193
configure
AC input contactor 31 Data In A2 (Par. No. 611) 193
analog input 292 Data In B1 (Par. No. 612) 193
DC output contactor 31 Data In B2 (Par. No. 613) 193
dynamic brake resistor 31 Data In C1 (Par. No. 614) 193
feedback signal 323 Data In C2 (Par. No. 615) 193
Klixon 64
line speed signal 321 Data In D1 (Par. No. 616) 193
minimum firing angle 320 Data In D2 (Par. No. 617) 193
programmable controller 240 Data In SelData (Par. No. 1320) 193
PTC 64 Data In Val Sel (Par. No. 1319) 193
start at powerup 348 data nameplate 12
tension set point signal 324
thermal switch 64 Data Out A1 (Par. No. 618) 193
thermistor 64 Data Out A2 (Par. No. 619) 193
Connected Components Workbench 95 Data Out B1 (Par. No. 621) 193
Connected Components Workbench Data Out B2 (Par. No. 621) 193
software 115 Data Out C1 (Par. No. 622 193
Constant J Comp (Par. No. 1172) 168 Data Out C2 (Par. No. 623) 193
contactor Data Out D1 (Par. No. 624) 193
AC input 264 Data Out D2 (Par. No. 625) 193
configure 31 DataLinks group 193
Contactor Conflict alarm 228 DC contactor crimp lugs
ContactorControl (Par. No. 1391) 202 kits 271
contactors DC output contactor 269
DC output 269 configure 31
control block diagrams 361 recommended 269
control circuit DC output voltage 46
input power 67 Decel Mask (Par. No. 631) 193
Control Config group 155 Decel Owner (Par. No. 609) 192
Copycat 285 Decel Status (Par. No. 1189) 169
corrective actions Decel Time 1 (Par. No. 662) 157
for drive problems 231 Decel Time 2 (Par. No. 32) 156
cross reference defaults
parameter name 207 reset 285
parameter number 213 definitions
Cur Lim Neg Out (Par. No. 11) 128
digital input option selections 200
Cur Lim Pos Out (Par. No. 10) 128 digital output option selections 204
current configuration relay output option selections 204
field 61 diagnostic data
Current Lim Neg (Par. No. 9) 136 viewing 284
Current Lim Pos (Par. No. 8) 136 Diagnostics group 178 … 184
Current Limit (Par. No. 7) 136 diagrams
Current Meters group 128 … 129 control block 361
Current Rate Lim (Par. No. 12) 136 power wiring 46
Diam Calc Dis (Par. No. 1161) 166
Current Reg In (Par. No. 41) 128
Diam Inc Dec En (Par. No. 1205) 168
current regulator
Diam Init Filter (Par. No. 1206) 168
adjust 350
tune settings 350 Diam Preset 0 (Par. No. 1164) 167
current/speed curve Diam Preset 1 (Par. No. 1165) 167
function 294 Diam Preset 2 (Par. No. 1166) 167
CurrLimit Active (Par. No. 349) 178 Diam Preset 3 (Par. No. 1167) 167
CurrReg Autotune (Par. No. 452) 143 Diam Preset Sel (Par. No. 1168) 167
Diam Stdy Delay (Par. No. 1207) 168
Diam Threshold (Par. No. 1158) 166

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 401

Index

Diameter Calc (Par. No. 794) 165 DIP switch

Diameter Calc group 166 … 168 S0 77, 78
Diameter Calc St (Par. No. 800) 166 S1 77, 78
Diameter Filter (Par. No. 1162) 167 S10 77, 78
S11 77, 78
Diameter Reached (Par. No. 1159) 166 S12 77, 78
Diameter Reset (Par. No. 1157) 166 S14 61, 77, 78
Dig In Status (Par. No. 564) 202 S15 77, 78, 79
Dig In Term 1 (Par. No. 565) 202 S18 77, 78
Dig In Term 10 (Par. No. 574) 202 S2 77, 78
S20 77, 78
Dig In Term 11 (Par. No. 575) 202 S21 77, 78
Dig In Term 12 (Par. No. 576) 202 S3 77, 78
Dig In Term 2 (Par. No. 566) 202 S4 77, 78, 79
Dig In Term 3 (Par. No. 567) 202 S9 77, 78
Dig In Term 4 (Par. No. 568) 202 Direction Mask (Par. No. 594) 192
Dig In Term 5 (Par. No. 569) 202 Direction Mode (Par. No. 1322) 177
Dig In Term 6 (Par. No. 570) 202 Direction Owner (Par. No. 603) 192
Dig In Term 7 (Par. No. 571) 202 Discrete Speeds group 148 … 149
Dig In Term 8 (Par. No. 572) 202 DncrPosSpd (Par. No. 795) 165
Dig In Term 9 (Par. No. 573) 202 DPI Baud Rate (Par. No. 589) 191
Dig Out Status (Par. No. 581) 205 DPI Fdbk Select (Par. No. 1321) 191
Digital In1 Sel (Par. No. 133) 199 DPI Inputs group 206
Digital In10 Sel (Par. No. 142) 199 DPI P1 Select (Par. No. 1323) 206
Digital In11 Sel (Par. No. 143) 199 DPI P2 Select (Par. No. 1324) 206
Digital In12 Sel (Par. No. 144) 199 DPI P3 Select (Par. No. 1325) 206
Digital In2 Sel (Par. No. 134) 199 DPI P4 Select (Par. No. 1326) 206
Digital In3 Sel (Par. No. 135) 199 DPI P5 Select (Par. No. 1327) 206
Digital In4 Sel (Par. No. 136) 199 DPI Port Sel (Par. No. 590) 191
Digital In5 Sel (Par. No. 137) 199 DPI Port Value (Par. No. 1343) 191
Digital In6 Sel (Par. No. 138) 199 drive
Digital In7 Sel (Par. No. 139) 199 clearance 19
data nameplate 12
Digital In8 Sel (Par. No. 140) 199 enclosure 19
Digital In9 Sel (Par. No. 141) 199 firmware version 12
Digital Input Conflict A alarm 228 frame size 12
Digital Input Conflict B alarm 229 mount 19
Digital Input Conflict C alarm 229 mounting 19, 20
power wiring 45
Digital Inputs group 199 … 202 problems 231
Digital Out1 Sel (Par. No. 145) 203 series number 12
Digital Out2 Sel (Par. No. 146) 203 start-up 93
Digital Out3 Sel (Par. No. 147) 203 status 220
Digital Out4 Sel (Par. No. 148) 203 storage 11
temperature 19
Digital Out5 Sel (Par. No. 149) 203 weights 20
Digital Out6 Sel (Par. No. 150) 203 Drive Alarm 1 (Par. No. 1380) 187
Digital Out7 Sel (Par. No. 151) 203 Drive Alarm 2 (Par. No. 1394) 188
Digital Out8 Sel (Par. No. 152) 203 Drive Checksum (Par. No. 332) 130
digital outputs Drive Data group 129 … 130
option definitions 204 Drive Logic Rslt (Par. No. 1328) 182
Digital Outputs group 203 … 206 Drive Memory group 177
dimensions Drive Overload fault 222
frame A 20 drive problems
frame B 21
frame C 22 drive starts, motor does not turn 232
frame D 23, 24 drive will not start 231
motor does not reach commanded speed
232
motor reaches maximum speed
immediately 233
motor turning wrong direction 232

402 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

Drive Size (Par. No. 465) 130 Encoder PPR (Par. No. 169) 138
drive starts, motor does not turn 232 Encoder Speed (Par. No. 420) 127
Drive Status 1 (Par. No. 381) 179 Ext FC Curr Hyst (Par. No. 410) 133
Drive Status 2 (Par. No. 382) 180
Drive Type (Par. No. 300) 129
Drive Type Sel (Par. No. 201) 131 F
drive will not start 231 factory defaults
DriveTools SP 95 reset 285
DriveTools SP software 115 Fast Stop Status (Par. No. 1190) 169
droop compensation 302 Fast Stop Time (Par. No. 38) 158
Droop Filter (Par. No. 697) 157 Fault 1 Code (Par. No. 1351) 184
Droop Limit (Par. No. 700) 158 Fault 1 Time (Par. No. 1361) 185
Droop Out (Par. No. 1006) 127 Fault 10 Code (Par. No. 1360) 184
Droop Out Pct (Par. No. 1007) 127 Fault 10 Time (Par. No. 1370) 185
Droop Percent (Par. No. 696) 157 Fault 2 Code (Par. No. 1352) 184
Drv Fld Brdg Cur (Par. No. 374) 132 Fault 2 Time (Par. No. 1362) 185
Dsp Error fault 222 Fault 3 Code (Par. No. 1353) 184
dynamic brake resistor Fault 3 Time (Par. No. 1363) 185
configure 31 Fault 4 Code (Par. No. 1354) 184
recommended 269 Fault 4 Time (Par. No. 1364) 185
using 32 Fault 5 Code (Par. No. 1355) 184
Dynamic Control file 155 … 160 Fault 5 Time (Par. No. 1365) 185
Dynamic Friction (Par. No. 1175) 168 Fault 6 Code (Par. No. 1356) 184
Fault 6 Time (Par. No. 1366) 185
Fault 7 Code (Par. No. 1357) 184
E Fault 7 Time (Par. No. 1367) 185
edit Fault 8 Code (Par. No. 1358) 184
parameters 286 Fault 8 Time (Par. No. 1368) 185
EEPROM Error fault 222
Fault 9 Code (Par. No. 1359) 184
Elapsed Lifetime (Par. No. 235) 129
Fault 9 Time (Par. No. 1369) 185
electrostatic discharge
Fault Arm Amps (Par. No. 1371) 185
precaution 18
EMC Directive Fault Clear (Par. No. 1347) 184
Installation Requirements 41 Fault Clr Mask (Par. No. 597) 192
EMC Filters Fault Clr Mode (Par. No. 1348) 184
Alternates 273 Fault Clr Owner (Par. No. 606) 192
Alternates, EPCOS 278 Fault Field Amps (Par. No. 1373) 185
Alternates, Rasmi 273 fault queue 284
Alternates, Schaffner 275 Fault Speed (Par. No. 1372) 185
EN 61800-3
fault type
Installation Requirements 41
Enable Droop (Par. No. 699) 158 non-configurable 219
user configurable 219
enable input Fault Voltage (Par. No. 1374) 185
wiring 86 FaultCode (Par. No. 57) 129
Enable PD (Par. No. 770) 163
Enable PI (Par. No. 769) 161
Enable PI PD (Par. No. 1258) 165
enclosure
rating 19
encoder
ground 34
terminal block 88
wiring 89
Encoder Config (Par. No. 170) 138
Encoder Counts (Par. No. 1022) 143
Encoder Err Chk (Par. No. 652) 142
Encoder Error fault 222
Encoder Out Sel (Par. No. 1021) 143

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 403

Index

faults field
AC Undervoltage 222 current configuration 61
Arm Overvoltage 222 DC output voltage 46
Auxiliary Input 222 input terminals 57
clear 221 output terminals 57
Drive Overload 222 terminal block, frame A 58
Dsp Error 222 terminal block, frame B 59
EEPROM Error 222 terminal block, frame C 59, 60
Encoder Error 222 terminal block, frame D 60
Fld Current Loss 222 wire size 57
Fwd End Limit 222 Field Config group 133 … 136
Fwd Over Travel 222 Field Configuration Conflict alarm 229
Hardware Fault 222 field converter
Heatsink OvrTemp 223
Interrupt Error 223 tune voltage regulator 356
Inverting Fault 223 Field Current (Par. No. 351) 129
Main Contactor 223 field current curve
Motor Over Temp 223 tune 358
Motor Overload 223 Field Current Loss alarm 229
No Fault 223 Field Current Loss fault 222
Open SCR 223 field current regulator
Overcurrent 224
Overspeed 224 tune 352
Params Defaulted 224 Field Curve Out (Par. No. 476) 129
Port 1 Adapter 224 Field Econ Delay (Par. No. 1407) 136
Port 1 DPI Loss 224 Field Economy En (Par. No. 499) 135
Port 2 Adapter 224 Field Mode Sel (Par. No. 469) 134
Port 2 DPI Loss 224 Field Reg Enable (Par. No. 497) 135
Port 3 Adapter 224
Port 3 DPI Loss 224 File-Group-Parameter list 285
Port 4 Adapter 224 Filt TorqCur Pct (Par. No. 928) 129
Port 4 DPI Loss 224 Final Diameter (Par. No. 1178) 169
Port 5 Adapter 224 fine tune
Port 5 DPI Loss 224 regulators 349
Power Failure 224 Firing Angle (Par. No. 165) 129
Resolver Error 224
Rev End Limit 224 firmware version 12
Rev Over Travel 224 Fld Const 40 Pct (Par. No. 916) 135
Shorted SCR 224 Fld Const 70 Pct (Par. No. 917) 135
Spd Fdbk Loss 225 Fld Const 90 Pct (Par. No. 918) 135
SSC Error 225 Fld Current Pct (Par. No. 234) 129
STune Aborted 225
STune CurLimit 225 Fld Reg Ki (Par. No. 92) 133
STune FrictionLo 225 Fld Reg Ki Base (Par. No. 98) 133
STune LoadHi 225 Fld Reg Kp (Par. No. 91) 133
STune Overspeed 225 Fld Reg Kp Base (Par. No. 97) 133
STune Stalled 225 Fld Test Angle (Par. No. 168) 146
STune Timeout 225
Sustained Curr 225 Fld Weaken Ratio (Par. No. 456) 133
visual notification 221 FldLoss Flt Cfg (Par. No. 473) 186
Faults group 184 … 185 FldLoss Flt Dly (Par. No. 475) 186
Fdbk Device Type (Par. No. 414) 138 Float Tolerance (Par. No. 1111) 174
Fdbk Option ID (Par. No. 422) 138 Flux Divide (Par. No. 462) 133
Feed Fwd PID (Par. No. 758) 163 Flux Filter BW (Par. No. 463) 133
Feedback Configuration Conflict alarm 229 Flux Ref Pct (Par. No. 500) 129
Feedback Offset (Par. No. 563) 142 Flying Start En (Par. No. 388) 152
feedback signal Force Min Field (Par. No. 498) 135
configure 323 frame A
armature converter terminals 51
dimensions 20
PE ground terminal 51
weights 20

404 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

frame B HIM
armature converter terminals 52 ALT key 282
dimensions 21 connection 281
PE ground terminal 52 display 282
weights 21 DPI Port 1 281
frame C DPI Port 2 281
armature converter terminals 52 DPI Port 3 281
dimensions 22 DPI Port 5 281
PE ground terminal 52 edit parameters 286
weights 22 indicators 221
frame D install 287
armature converter terminals 53 menu structure 284
dimensions 23, 24 menus 284
PE ground terminal 53 remove 287
terminal adapter kits 279 status indicator 220
weights 25 view parameters 286
frame size 12 HIM menus
Freeze Ramp (Par. No. 373) 156 Device Select 285
Diagnostics 284
Friction (Par. No. 1015) 144 Memory Storage 285
functions Parameter 285
adaptive speed regulator 335 Preferences 285
ALT key 282
current/speed curve 294
droop 302 I
PID 324 I Reg Error (Par. No. 587) 143
speed draw 341
speed regulation 335 I/O converter circuit board
speed threshold indicators 339 catalog number 393
speed up 338 install 393
speed zero 340 terminal block 394
fuses wire size 394
control power circuit 43 wiring diagrams 395
frame A 243 I/O expansion circuit board
frame B 243 catalog number 391
frame C 251 install 391
frame D 251 terminal block 392
input power circuit 43, 243 wire 391
overvoltage clipping circuit board, frame D wire size 391
263 wiring diagram 392
pulse transformer circuit board, frame B 261 Inertia (Par. No. 1014) 144
switching power supply circuit board 259 Inertia C Filter (Par. No. 1012) 143
transient noise filter circuit board, frame C Inertia Comp Out (Par. No. 232) 129
262 InertiaCompCnst (Par. No. 1191) 170
Fwd End Limit fault 222
InertiaCompVar (Par. No. 1192) 170
Fwd Over Travel fault 222
Init Diam Calc group 165 … 166
Initial Diameter (Par. No. 1177) 169
G input
Gear Box Ratio (Par. No. 797) 165 contactor 264
line reactor 264
ground potentiometer 85
encoder 34 voltage 45
PE 34 input current
power feeder 34 control circuit 43
requirements 33 input power
safety 34
tachometer 34 circuit protection 243
typical scheme 33 control circuit 67
fuses 251
input voltage
H AC 45
Input/Output file 195 … 206
Hardware Fault 222
Heatsink Over Temperature fault 223

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 405

Index

install L
communication adapter 385 Language (Par. No. 302) 177
HIM 287
I/O converter circuit board 393 Last Stop Source (Par. No. 1402) 183
I/O expansion circuit board 391 LED status
Int Acc Calc En (Par. No. 1183) 169 green, flashing 220
interference green, steady 220
common mode 82 red, flashing 220
Interrupt Error fault 223 red, steady 220
yellow, flashing 220
Inversion In 1 (Par. No. 1276) 202
yellow, steady 220
Inversion In 10 (Par. No. 1388) 202 LEDs 220
Inversion In 11 (Par. No. 1389) 202 MOD 220
Inversion In 12 (Par. No. 1390) 202 NET A 220
Inversion In 2 (Par. No. 1277) 202 NET B 220
Inversion In 3 (Par. No. 1278) 202 PORT 220
STS 220
Inversion In 4 (Par. No. 1279) 202
lift
Inversion In 5 (Par. No. 1280) 202
drives 26
Inversion In 6 (Par. No. 1281) 202 Limits group 148
Inversion In 7 (Par. No. 1282) 202 Line Accel Pct (Par. No. 1184) 169
Inversion In 8 (Par. No. 1283) 202 Line Decel Pct (Par. No. 1185) 169
Inversion In 9 (Par. No. 1387) 202 Line FastStp Pct (Par. No. 1186) 169
Inversion Out 1 (Par. No. 1267) 205 line reactor
Inversion Out 2 (Par. No. 1268) 205 configuration 30
Inversion Out 3 (Par. No. 1269) 205 recommended 264
Inversion Out 4 (Par. No. 1270) 205 using 30
Inversion Out 5 (Par. No. 1271) 205 Line Spd Gain (Par. No. 1156) 166
Inversion Out 6 (Par. No. 1272) 205 Line Spd Source (Par. No. 1204) 168
Inversion Out 7 (Par. No. 1273) 205 Line Spd Thresh (Par. No. 1155) 166
Inversion Out 8 (Par. No. 1274) 205 Line Speed Pct (Par. No. 1160) 166
Inversion Relay1 (Par. No. 1393) 206 line speed signal
Inversion Relay2 (Par. No. 1275) 205 PID 321
link
Inverting Fault 223
parameters 331
isolation transformer
Load Comp (Par. No. 698) 157
configuration 30
recommended 267 Load Limits group 157 … 158
using 30 Local Mask (Par. No. 599) 192
Local Owner (Par. No. 608) 192
Lock Speed Integ (Par. No. 348) 152
J logic command word 241
Jog Mask (Par. No. 593) 192 Logic Mask (Par. No. 591) 191, 193
Jog Off Delay (Par. No. 1409) 149 Logic Mask Act (Par. No. 1376) 193
Jog Owner (Par. No. 602) 192 logic status word 242
Jog Ramp Time (Par. No. 1410) 157 Low Voltage Directive
Jog Speed (Par. No. 266) 148 Installation Requirements 41
Jog TW Enable (Par. No. 1256) 171 Low Voltage Directive and Electromagnetic
Jog TW Speed (Par. No. 1255) 171 Compatibility Directive 40
joystick
wiring 85
jumper M
SA-SB 67 Main Contactor fault 223
Man Ref Preload (Par. No. 210) 177
manual speed sources 325
K Masks & Owners group 191 … 193
kits Materl Width Pct (Par. No. 1173) 168
communication adapter 385 Max Deviation (Par. No. 796) 165
Klixon
Max Diameter (Par. No. 1153) 166
configure 64
Max Feedback Spd (Par. No. 162) 131

406 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

Max Fld Curr Pct (Par. No. 467) 134 numbered parameter list 285
Max Ref Speed (Par. No. 45) 131
Max Speed Fwd (Par. No. 3) 148
Max Speed Rev (Par. No. 4) 148 O
Maximum Speed (Par. No. 2) 148 Offs Accel Time (Par. No. 1198) 170
menu Open SCR alarm 229
HIM 284 Open SCR fault 223
MicroPsnScalePct (Par. No. 1112) 174 Opening Delay (Par. No. 1263) 158
Min Firing Angle (Par. No. 21) 131 OpenSCR Flt Cfg (Par. No. 216) 147
Min Fld Curr Pct (Par. No. 468) 134 OpenSCR Threshld (Par. No. 217) 147
Min Speed Fwd (Par. No. 5) 148 OpenSCR Trip Lvl (Par. No. 218) 147
Min Speed Rev (Par. No. 6) 148 OpenSCR WarnLvl (Par. No. 215) 147
Minimum Diameter (Par. No. 799) 166 Out Volt Level (Par. No. 921) 136
minimum firing angle Output Power (Par. No. 1052) 130
configure 320 Output Voltage (Par. No. 233) 129
Minimum Speed (Par. No. 1) 148 Overcurrent fault 224
MOD LED 220 OverCurrent Thr (Par. No. 584) 187
Monitor file 126 … 130 Overspeed fault 224
MOP Accel Time (Par. No. 22) 156 Overspeed Val (Par. No. 585) 187
MOP Dec Active (Par. No. 397) 181 OverTemp Flt Cfg (Par. No. 365) 185
MOP Decel Time (Par. No. 30) 156 OverVolt Flt Cfg (Par. No. 203) 185
MOP Inc Active (Par. No. 396) 180 overvoltage clipping circuit board, frame D
MOP Mask (Par. No. 598) 192 fuses 263
MOP Owner (Par. No. 607) 192
MOP Ref Config (Par. No. 249) 177
MOP Select (Par. No. 1375) 177 P
Motor Control file 131 … 147 Param Access Lvl (Par. No. 211) 177
Motor Data group 131 … 133 parameter access level
motor not reaching commanded speed 232 change 285
motor not turning 232 parameter files
Motor Over Temperature alarm 229 Applications 161 … 176
Communications 191 … 194
Motor Over Temperature fault 223 Dynamic Control 155 … 160
Motor Overload alarm 229 Input/Output 195 … 206
Motor Overload fault 223 Monitor 126 … 130
motor reaches maximum speed Motor Control 131 … 147
immediately 233 Speed Command 148 … 154
Utility 177 … 191
Motor Trq Ref (Par. No. 17) 128
motor turning wrong direction 232
mount
drive 19
lift 26
mounting
dimensions 20
weights 20
MtrOvrld Factor (Par. No. 333) 132
MtrOvrld Flt Cfg (Par. No. 479) 186
MtrOvrld Speed (Par. No. 334) 132
MtrOvrld Status (Par. No. 1290) 181
MtrOvrld Type (Par. No. 376) 132

N
NET A LED 220
NET B LED 220
Nom Mtr Arm Amps (Par. No. 179) 131
Nom Mtr Fld Amps (Par. No. 280) 132

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 407

Index

parameter groups PI Central v sel (Par. No. 779) 162

Adaptv Regulator 159 … 160 PI Central v1 (Par. No. 776) 161
Alarms 185 … 188 PI Central v2 (Par. No. 777) 161
Analog Inputs 195 … 197 PI Central v3 (Par. No. 778) 161
Analog Outputs 197 … 198
Autotune 143 … 145 PI Central vs0 (Par. No. 780) 162
Comm Control 191 PI Central vs1 (Par. No. 781) 162
Control Config 155 PI Control group 161 … 162
Current Meters 128 … 129 PI Init Intgl Gn (Par. No. 734) 161
DataLinks 193 PI Init Prop Gn (Par. No. 793) 162
Diagnostics 178 … 184
Diameter Calc 166 … 168 PI integr freeze (Par. No. 783) 162
Digital Inputs 199 … 202 PI Integral Gain (Par. No. 764) 161
Digital Outputs 203 … 206 PI Lower Limit (Par. No. 785) 162
Discrete Speeds 148 … 149 PI Output (Par. No. 771) 161
DPI Inputs 206 PI Prop Gain PID (Par. No. 765) 161
Drive Data 129 … 130
Drive Memory 177 PI Steady Thrsh (Par. No. 695) 161
Faults 184 … 185 PI Upper Limit (Par. No. 784) 162
Field Config 133 … 136 PID
Init Diam Calc 165 … 166 feedback signal 323
Limits 148 function 321, 323, 324
Load Limits 157 … 158 line speed signal 321
Masks & Owners 191 … 193 PID Accel Time (Par. No. 1046) 165
Motor Data 131 … 133 PID Clamp (Par. No. 757) 163
PD Control 162 … 163
PI Control 161 … 162 PID Control group 163 … 165
PID Control 163 … 165 PID Decel Time (Par. No. 1047) 165
Ramp Rates 155 … 157 PID Error (Par. No. 759) 163
Reference Config 177 PID Error Gain (Par. No. 1254) 165
Restart Modes 159 PID Feedback (Par. No. 763) 164
Scale Blocks 175 … 176
Security 193 … 194 PID Output (Par. No. 774) 164
Speed Feedback 138 … 143 PID Output Scale (Par. No. 773) 164
Speed Meters 126 … 128 PID Output Sign (Par. No. 772) 164
Speed References 149 PID Setpoint 0 (Par. No. 760) 163
Speed Regulator 149 … 154 PID Setpoint 1 (Par. No. 761) 163
Stop Modes 158
Test Generator 145 … 147 PID Setpoint Sel (Par. No. 762) 163
Torq Attributes 136 … 138 PID Source (Par. No. 786) 165
Torque Prove 173 … 175 PID Source Gain (Par. No. 787) 165
User Defined 188 … 191 PID Steady Delay (Par. No. 731) 161
Winder Functions 168 … 172 PID Target (Par. No. 782) 164
parameter views
Pollution Degree Ratings 42
advanced 121
basic 119 Port 1 Adapter fault 224
parameters Port 1 DPI Loss fault 224
edit 286 Port 2 Adapter fault 224
organization 118 Port 2 DPI Loss fault 224
view 286 Port 3 Adapter fault 224
PD Control group 162 … 163 Port 3 DPI Loss fault 224
PD Deriv Filter (Par. No. 767) 162 Port 4 Adapter fault 224
PD Deriv Gain 1 (Par. No. 766) 162 Port 4 DPI Loss fault 224
PD Deriv Gain 2 (Par. No. 789) 163 Port 5 Adapter fault 224
PD Deriv Gain 3 (Par. No. 791) 163 Port 5 DPI Loss fault 224
PD Output PID (Par. No. 421) 162 PORT LED 220
PD Prop Gain 1 (Par. No. 768) 163 Port Mask Act (Par. No. 1379) 194
PD Prop Gain 2 (Par. No. 788) 163 potentiometer
PD Prop Gain 3 (Par. No. 790) 163 wiring 85
PE ground power circuit
wire size 51 fuses 43
peripheral devices protection 43
view 285 Power Failure fault 224

408 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

power feeder Relay Out 1 Sel (Par. No. 1392) 206

ground 34 Relay Out 2 Sel (Par. No. 629) 205
power terminals relay outputs
armature converter 51 option definitions 204
power wiring 45 terminals 64
AC input contactor 47 remove
armature output terminals 51 HIM 287
armature voltage feedback terminals 54 Reset Defaults (Par. No. 258) 177
contact terminals 64 Reset Fld Curve (Par. No. 920) 136
DC output contactor 48
diagrams 46 Reset to Defaults 285
dynamic brake 49 Reslvr Cable Bal (Par. No. 431) 141
field input terminals 57 Reslvr Error Cnt (Par. No. 432) 181
field output terminals 57 Reslvr Position (Par. No. 427) 141
motor thermistor terminals 64 Reslvr Spd Ratio (Par. No. 424) 139
normally open contact terminals 64
PE (earth ground) terminal 51 Reslvr Type Sel (Par. No. 423) 139
Powerup Delay (Par. No. 1345) 159 Resolver Config (Par. No. 425) 140
preferences Resolver Error fault 224
HIM 285 Resolver Pos Sel (Par. No. 429) 141
Preset Speed 1 (Par. No. 154) 148 Resolver Spd Sel (Par. No. 430) 141
Preset Speed 2 (Par. No. 155) 148 Resolver Speed (Par. No. 428) 127
Preset Speed 3 (Par. No. 156) 148 Resolver Status (Par. No. 426) 141
Preset Speed 4 (Par. No. 157) 148 Restart Modes group 159
Preset Speed 5 (Par. No. 158) 148 Rev End Limit fault 224
Preset Speed 6 (Par. No. 159) 148 Rev Over Travel fault 224
Preset Speed 7 (Par. No. 160) 148 Roll Diameter (Par. No. 1154) 166
programmable controller
communication 240
configure 240 S
PTC S Curve Accel 1 (Par. No. 665) 157
configure 64 S Curve Accel 2 (Par. No. 667) 157
pulse transformer circuit board, frame B S Curve Decel 1 (Par. No. 666) 157
fuses 261 S Curve Decel 2 (Par. No. 668) 157
S Curve Time (Par. No. 19) 155
R S.M.A.R.T. list screen
Ramp Delay (Par. No. 20) 156 access 282
use 283
Ramp In (Par. No. 110) 126 safety
Ramp In Pct (Par. No. 111) 126 ground 34
Ramp In Zero En (Par. No. 1265) 158 SAR Volts Scale (Par. No. 464) 133
Ramp Out (Par. No. 113) 126 SA-SB jumper 67
Ramp Out Pct (Par. No. 114) 126 save
Ramp Rates group 155 … 157 data 285
Ramp Select 0 (Par. No. 403) 181 Save HIM Ref (Par. No. 209) 177
Ramp Select 1 (Par. No. 404) 181 scale blocks
Ramp Type Select (Par. No. 18) 155 link parameters 331
Rated Motor Volt (Par. No. 175) 131 Scale Blocks group 175 … 176
Real FF PID (Par. No. 418) 163 Scale1 Div (Par. No. 487) 175
Ref Line Spd (Par. No. 1286) 172 Scale1 In Abs (Par. No. 492) 176
Ref Spd Source (Par. No. 1284) 172 Scale1 In Max (Par. No. 488) 175
Ref Speed Gain (Par. No. 1285) 172 Scale1 In Min (Par. No. 489) 175
Ref Zero Level (Par. No. 106) 150 Scale1 In Off (Par. No. 490) 176
Reference Config group 177 Scale1 Input (Par. No. 484) 175
Reference Conflict alarm 229 Scale1 Mul (Par. No. 486) 175
Reference Mask (Par. No. 595) 192 Scale1 Out Off (Par. No. 491) 176
Reference Owner (Par. No. 604) 192 Scale1 Output (Par. No. 485) 175
regulators Scale2 Div (Par. No. 556) 175
fine tune 349 Scale2 In Abs (Par. No. 561) 176

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 409

Index

Scale2 In Max (Par. No. 557) 175 Shorted SCR fault 224
Scale2 In Min (Par. No. 558) 175 SLAT Dwell Time (Par. No. 16) 155
Scale2 In Off (Par. No. 559) 176 SLAT Err Stpt (Par. No. 15) 155
Scale2 Input (Par. No. 553) 175 Software Version (Par. No. 331) 130
Scale2 Mul (Par. No. 555) 175 sourcing digital output
Scale2 Out Off (Par. No. 560) 176 wiring 87
Scale2 Output (Par. No. 554) 175 Spd 0 Trip Delay (Par. No. 627) 158
Scale3 Div (Par. No. 1221) 175 Spd Band Intgrtr (Par. No. 1106) 174
Scale3 In Abs (Par. No. 1226) 176 Spd Draw Out Pct (Par. No. 1019) 128
Scale3 In Max (Par. No. 1222) 175 Spd FB Filt BW (Par. No. 915) 143
Scale3 In Min (Par. No. 1223) 175 Spd FB Filt Gain (Par. No. 914) 143
Scale3 In Off (Par. No. 1224) 176 Spd FB Loss Lvl (Par. No. 455) 141
Scale3 Input (Par. No. 1218) 175 Spd Fdbk Control (Par. No. 457) 142
Scale3 Mul (Par. No. 1220) 175 Spd Fdbk Invert (Par. No. 461) 142
Scale3 Out Off (Par. No. 1225) 176 Spd Fdbk Loss fault 225
Scale3 Output (Par. No. 1219) 175 Spd Fdbk State (Par. No. 651) 181
Scale4 Div (Par. No. 1230) 175 Spd Limit Active (Par. No. 372) 178
Scale4 In Abs (Par. No. 1235) 176 Spd Loss Flt Cfg (Par. No. 478) 186
Scale4 In Max (Par. No. 1231) 175 Spd Match Acc (Par. No. 1196) 170
Scale4 In Min (Par. No. 1232) 175 Spd Match Compl (Par. No. 1203) 170
Scale4 In Off (Par. No. 1233) 176 Spd Match Dec (Par. No. 1197) 170
Scale4 Input (Par. No. 1227) 175 Spd Match Gain (Par. No. 1200) 170
Scale4 Mul (Par. No. 1229) 175 Spd Match Torque (Par. No. 1216) 171
Scale4 Out Off (Par. No. 1234) 176 Spd Ref Sel Sts (Par. No. 1330) 183
Scale4 Output (Par. No. 1228) 175 Spd Ref Zero En (Par. No. 124) 151
Scale5 Div (Par. No. 1239) 175 Spd Reg Autotune (Par. No. 1027) 144
Scale5 In Abs (Par. No. 1244) 176 Spd Reg BW (Par. No. 434) 152
Scale5 In Max (Par. No. 1240) 175 Spd Reg Damping (Par. No. 436) 153
Scale5 In Min (Par. No. 1241) 175 Spd Reg Ki (Par. No. 88) 149
Scale5 In Off (Par. No. 1242) 176 Spd Reg Ki Base (Par. No. 94) 143
Scale5 Input (Par. No. 1236) 175 Spd Reg Ki Outpt (Par. No. 100) 150
Scale5 Mul (Par. No. 1238) 175 Spd Reg Kp (Par. No. 87) 149
Scale5 Out Off (Par. No. 1243) 176 Spd Reg Kp Base (Par. No. 93) 143
Scale5 Output (Par. No. 1237) 175 Spd Reg Kp Outpt (Par. No. 99) 149
Scale6 Div (Par. No. 1248) 175 Spd Reg Neg Lim (Par. No. 96) 149
Scale6 In Abs (Par. No. 1253) 176 Spd Reg Out Pct (Par. No. 236) 129
Scale6 In Max (Par. No. 1249) 175 Spd Reg P Filter (Par. No. 444) 153
Scale6 In Min (Par. No. 1250) 175 Spd Reg Pos Lim (Par. No. 95) 149
Scale6 In Off (Par. No. 1251) 176 Spd Select 0 (Par. No. 400) 181
Scale6 Input (Par. No. 1245) 175 Spd Select 1 (Par. No. 401) 181
Scale6 Mul (Par. No. 1247) 175 Spd Select 2 (Par. No. 402) 181
Scale6 Out Off (Par. No. 1252) 176 Spd Trq Mode Sel (Par. No. 241) 155
Scale6 Output (Par. No. 1246) 175 Spd Tune Inertia (Par. No. 1030) 144
SCR Diag Status (Par. No. 214) 147 Spd Up Gain Pct (Par. No. 445) 153
SCR Diag Test En (Par. No. 213) 146 Spd Zero I En (Par. No. 123) 151
Secondary, Ungrounded 35 Spd Zero P En (Par. No. 125) 151
Security group 193 … 194 Spd Zero P Gain (Par. No. 126) 152
Selected TorqRef (Par. No. 14) 128 SpdFuncSelect (Par. No. 1016) 154
series number 12 SpdOut FiltBW (Par. No. 239) 152
set SpdOut FiltGain (Par. No. 238) 152
DIP switch S14 61 SpdReg AntiBckup (Par. No. 643) 154
DIP switch S15 79 SpdReg BW Bypass (Par. No. 448) 153
DIP switch S4 79 SpdReg FB Bypass (Par. No. 458) 142
Set Fld Curve (Par. No. 919) 135 SpdReg Ki Bypass (Par. No. 460) 154
set preferences SpdReg Ki Pct (Par. No. 1035) 144
HIM 285

410 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

SpdReg Kp Bypass (Par. No. 459) 153 speed up

SpdReg Kp Pct (Par. No. 1034) 144 function 338
SpdReg NegLmOut (Par. No. 90) 128 Speed Up Base (Par. No. 446) 153
SpdReg PosLmOut (Par. No. 89) 128 Speed Up Filter (Par. No. 447) 153
SpdTune Friction (Par. No. 1031) 144 speed zero
specifications function 340
DC contactor crimp lug kits 271 Speed Zero Delay (Par. No. 108) 151
Speed Command file 148 … 154 Speed Zero Level (Par. No. 107) 151
Speed Demand En (Par. No. 1215) 171 SSC Error fault 225
Speed Dev Band (Par. No. 1105) 174 SSC Threshold (Par. No. 409) 186
speed draw Standalone Regulator
function 341 catalog number 14
Speed Draw Out (Par. No. 1018) 128 standard drive
Speed Feedback (Par. No. 122) 127 catalog number 13
Speed Feedback Error alarm 230 standard I/O
Speed Feedback group 138 … 143 terminal blocks 83
wire size 83
Speed Feedback Loss alarm 230 wiring examples 85
Speed Feedback Pct (Par. No. 121) 127 Start At Power Up alarm 230
Speed Match (Par. No. 1195) 170 start at powerup
Speed Meters group 126 … 128 configure 348
speed pot 85 Start At Powerup (Par. No. 1344) 159
Speed Ramp En (Par. No. 245) 156 Start Inhibits (Par. No. 1403) 184
Speed Ratio (Par. No. 1017) 149 Start Mask (Par. No. 592) 191
Speed Ref A (Par. No. 44) 126 Start Owner (Par. No. 601) 192
Speed Ref A Pct (Par. No. 47) 126 start up
Speed Ref B (Par. No. 48) 126 drive 93
Speed Ref B Pct (Par. No. 49) 126 Static F Zero (Par. No. 1287) 172
Speed Ref Out (Par. No. 385) 127 Static Friction (Par. No. 1174) 168
Speed Ref Out Pct (Par. No. 384) 127 status indicator
Speed Ref Source (Par. No. 1329) 182 HIM 220
speed reference sources status indicators 220
auto 325 Status1 at Fault (Par. No. 1349) 184
manual 325 Status2 at Fault (Par. No. 1350) 184
Speed References group 149 Stop Modes group 158
Speed Reg En (Par. No. 242) 152 Stop Owner (Par. No. 600) 192
Speed Reg In (Par. No. 118) 127 storage (drive)
Speed Reg In Pct (Par. No. 117) 126 altitude 11
speed regulation humidity 11
function 335, 338, 339, 340, 341 temperature 11
speed regulator STS LED
tune 354 green, flashing 220
Speed Regulator group 149 … 154 green, steady 220
red, flashing 220
speed source red, steady 220
change 326 yellow, flashing 220
Speed Thresh Neg (Par. No. 102) 150 yellow, steady 220
Speed Thresh Pos (Par. No. 101) 150 STune Overspeed fault 225
Speed Threshold (Par. No. 393) 180 STune Stalled fault 225
speed threshold indicators STune Timeout fault 225
function 339 Sustained Curr fault 225
Speed Tune Aborted fault 225 switching power supply circuit board
Speed Tune Current Limit fault 225 fuses 259
Speed Tune Dir (Par. No. 1029) 144
Speed Tune Friction Low fault 225
Speed Tune Ki (Par. No. 1033) 144
Speed Tune Kp (Par. No. 1032) 144
Speed Tune Load High fault 225

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 411

Index

T Torq Prove Cfg (Par. No. 1100) 173

tachometer Torq Prove Setup (Par. No. 1101) 173
Torq Prove Sts (Par. No. 1103) 174
DIP switch 79
ground 34 Torq Red CurLim (Par. No. 13) 157
terminal block 90 Torque Const (Par. No. 1013) 144
Tachometer Speed (Par. No. 1408) 128 Torque Negative (Par. No. 347) 178
Taper Enable (Par. No. 1176) 169 Torque Positive (Par. No. 346) 178
TaskLoad 1 ms (Par. No. 1384) 183 Torque Prove group 173 … 175
TaskLoad 2 ms (Par. No. 1385) 183 Torque Reduction (Par. No. 342) 137
TaskLoad 8 ms (Par. No. 1386) 183 Torque Ref (Par. No. 39) 136
TB Manual Ref (Par. No. 267) 149 torque reference source 326
temperature Torque Winder En (Par. No. 1209) 170
drive 19 Total Inertia (Par. No. 433) 152
Tension Reduct (Par. No. 1179) 169 TP Encls Config alarm
Tension Ref (Par. No. 1180) 169 alarms
Tension Scale (Par. No. 1181) 169 TP Encls Config 230
tension set point signal transient noise filter circuit board, frame C
configure 324 fuses 262
terminal adapter kits Trim Ramp (Par. No. 42) 149
frame D 279 Trim Ramp Pct (Par. No. 378) 149
terminal blocks Trim Speed (Par. No. 43) 149
analog tachometer 90 Trim Speed Pct (Par. No. 379) 149
armature converter, frame A 51 Trim Torque (Par. No. 40) 137
armature converter, frame B 52
armature converter, frame C 52 Troubleshooting
armature converter, frame D 53 Crane Setup Encoderless 317
armature voltage feedback, frame A 55 Crane Setup with Encoder 313
armature voltage feedback, frame B 55 troubleshooting 219
armature voltage feedback, frame C 56 TrqTpr Enable (Par. No. 750) 137
armature voltage feedback, frame D 56 TrqTpr Lim0 (Par. No. 751) 137
control circuit power 67 TrqTpr Lim1 (Par. No. 752) 137
encoder 88
TrqTpr Lim2 (Par. No. 753) 137
field, frame A 58
field, frame B 59 TrqTpr Lim3 (Par. No. 754) 137
field, frame C 59, 60 TrqTpr Lim4 (Par. No. 755) 137
field, frame D 60 TrqTpr Spd (Par. No. 756) 138
I/O converter circuit board 394 TstGen Amplitude (Par. No. 60) 145
I/O expansion circuit board 392
TstGen Frequency (Par. No. 59) 145
motor thermistor 64
relay output 64 TstGen Offset (Par. No. 61) 145
SA-SB 70 TstGen Output (Par. No. 58) 145
standard I/O 83 tune
test generator current regulator 350
use 349 field current curve 358
Test Generator group 145 … 147 field current regulator 352
TestPoint Data (Par. No. 1382) 183 speed regulator 354
TestPoint Sel (Par. No. 1381) 183 voltage regulator 356
testpoints 233
thermal switch U
configure 64
thermistor UnderVlt Flt Dly (Par. No. 470) 186
configure 64 UnderVolt Thresh (Par. No. 481) 186
Threshold Delay (Par. No. 103) 150 Ungrounded Secondary 35
Time AccDec Min (Par. No. 1182) 169 unipolar speed reference
Torq Attributes group 136 … 138 analog input 85
User Defined group 188 … 191
Torq Cur Filter (Par. No. 926) 138
user sets 285
Torq Current Pct (Par. No. 1193) 170
UserDefined0 (Par. No. 503) 189
Torq Limit Slew (Par. No. 1104) 174
UserDefined1 (Par. No. 504) 189
Torq Limit Type (Par. No. 715) 158
UserDefined10 (Par. No. 513) 189
Torq Prov Cflct alarm 230

412 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

 Index

UserDefined11 (Par. No. 514) 189 V

UserDefined12 (Par. No. 515) 189 Variable J Comp (Par. No. 1171) 168
UserDefined13 (Par. No. 516) 189
view
UserDefined14 (Par. No. 517) 189
changed parameters 285
UserDefined15 (Par. No. 518) 189 parameters 286
UserDefined2 (Par. No. 505) 189 peripheral device parameters 285
UserDefined3 (Par. No. 506) 189 voltage regulator
UserDefined4 (Par. No. 507) 189 tune 356
UserDefined5 (Par. No. 508) 189
UserDefined6 (Par. No. 509) 189 W
UserDefined7 (Par. No. 510) 189 W Gain (Par. No. 1202) 170
UserDefined8 (Par. No. 511) 189 W Offset (Par. No. 1199) 170
UserDefined9 (Par. No. 512) 189 W Reference (Par. No. 1217) 171
UsrDefBitWrdA (Par. No. 519) 189 W Target (Par. No. 1210) 171
UsrDefBitWrdA0 (Par. No. 520) 190 warning
UsrDefBitWrdA1 (Par. No. 521) 190 bipolar input 82
UsrDefBitWrdA10 (Par. No. 530) 190 watts loss
UsrDefBitWrdA11 (Par. No. 531) 190 data 236
UsrDefBitWrdA12 (Par. No. 532) 190 weights
UsrDefBitWrdA13 (Par. No. 533) 190 frame A 20
frame B 21
UsrDefBitWrdA14 (Par. No. 534) 190 frame C 22
UsrDefBitWrdA15 (Par. No. 535) 190 frame D 25
UsrDefBitWrdA2 (Par. No. 522) 190 Winder Functions group 168 … 172
UsrDefBitWrdA3 (Par. No. 523) 190 Winder Side (Par. No. 1201) 170
UsrDefBitWrdA4 (Par. No. 524) 190 Winder Type (Par. No. 1187) 167
UsrDefBitWrdA5 (Par. No. 525) 190 wire size
UsrDefBitWrdA6 (Par. No. 526) 190 armature terminals 51
UsrDefBitWrdA7 (Par. No. 527) 190 armature voltage feedback 54
UsrDefBitWrdA8 (Par. No. 528) 190 field 57
I/O converter circuit board 394
UsrDefBitWrdA9 (Par. No. 529) 190 I/O expansion circuit board 391
UsrDefBitWrdB (Par. No. 536) 190 PE ground 51
UsrDefBitWrdB0 (Par. No. 537) 191 standard I/O 83
UsrDefBitWrdB1 (Par. No. 538) 191 wiring
UsrDefBitWrdB10 (Par. No. 547) 191 2-wire control non-reversing 86
UsrDefBitWrdB11 (Par. No. 548) 191 2-wire control reversing 86
3-wire control 86, 87
UsrDefBitWrdB12 (Par. No. 549) 191 bipolar signal 85
UsrDefBitWrdB13 (Par. No. 550) 191 bipolar speed reference 85
UsrDefBitWrdB14 (Par. No. 551) 191 enable input 86
UsrDefBitWrdB15 (Par. No. 552) 191 encoder 89
UsrDefBitWrdB2 (Par. No. 539) 191 I/O expansion circuit board 392
joystick 85
UsrDefBitWrdB3 (Par. No. 540) 191 potentiometer 85
UsrDefBitWrdB4 (Par. No. 541) 191 power 45
UsrDefBitWrdB5 (Par. No. 542) 191 sourcing digital output 87
UsrDefBitWrdB6 (Par. No. 543) 191 unipolar speed reference 85
UsrDefBitWrdB7 (Par. No. 544) 191 wiring diagrams
UsrDefBitWrdB8 (Par. No. 545) 191 I/O converter circuit board 395
wiring examples
UsrDefBitWrdB9 (Par. No. 546) 191
standard I/O 85
UsrDsplyDiv0 (Par. No. 51) 188 Write Mask Act (Par. No. 1377) 194
UsrDsplyMult0 (Par. No. 50) 188 Write Mask Cfg (Par. No. 1378) 194
UsrValDiv1 (Par. No. 54) 188
UsrValMult1 (Par. No. 53) 188 Z
Utility file 177 … 191
Zero Ramp Input (Par. No. 345) 156
Zero Ramp Output (Par. No. 344) 156
Zero Torque (Par. No. 353) 137
ZeroSpdFloatTime (Par. No. 1113) 175

Rockwell Automation Publication 20P-UM001M-EN-P - November 2017 413

Index

Notes:

414 Rockwell Automation Publication 20P-UM001M-EN-P - November 2017

.

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Publication 20P-UM001M-EN-P - November 2017

Supersedes Publication 20P-UM001L-EN-P - July 2015 Copyright © 2017 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.