Table of Contents

Preface

Overview

Who Should Use this Manual?. Reference Materials. Manual Conventions. Drive Frame Sizes. General Precautions. Catalog Number Explanation. P-1 P-1 P-2 P-2 P-3 P-4

Chapter 1

Installation/Wiring
Opening the Cover. 1-1 Mounting Considerations. 1-3 AC Supply Source Considerations. 1-5 General Grounding Requirements. 1-7 Fuses and Circuit Breakers. 1-8 Power Wiring. 1-10 IP66, NEMA/UL Type 4X Installations. 1-14 I/O Wiring Recommendations. 1-14 Start and Speed Reference Control. 1-23 EMC Instructions. 1-25

Chapter 2

Start Up
Prepare For Drive Start-Up. Integral Keypad. Viewing and Editing Parameters. Remote HIM Menu Structure. 2-1 2-4 2-5 2-6

Chapter 3

Programming and Parameters
About Parameters. 3-1 Parameter Organization. 3-2 Display Group. 3-3 Basic Program Group. 3-9 Advanced Program Group. 3-14 Parameter Cross Reference by Name. 3-45

Chapter 4

Troubleshooting
Drive Status. Faults. Fault Descriptions. Common Symptoms and Corrective Actions. 4-1 4-1 4-3 4-5

Appendix A

Supplemental Drive Information
Drive, Fuse & Circuit Breaker Ratings. A-1 Specifications. A-2

Appendix B

Accessories and Dimensions
Product Selection. B-1 Product Dimensions. B-7
Table of Contents RS485 (DSI) Protocol
Network Wiring. Parameter Configuration. Supported Modbus Function Codes. Writing (06) Logic Command Data. Writing (06) Reference. Reading (03) Logic Status Data. Reading (03) Feedback. Reading (03) Drive Error Codes. Reading (03) and Writing (06) Drive Parameters. Additional Information. C-1 C-3 C-3 C-4 C-5 C-5 C-6 C-6 C-7 C-7 D-1 D-2 D-3 D-3 D-4 D-4 E-2 E-3 E-4 E-6

Appendix C

Appendix D

RJ45 DSI Splitter Cable

Connectivity Guidelines. DSI Cable Accessories. Connecting One Temporary Peripheral. Connecting One Temporary Peripheral and One Permanent Peripheral. Connecting Two Permanent Peripherals. Connecting an RS-485 Network.

Appendix E

StepLogic, Basic Logic and Timer/Counter Functions
StepLogic Using Timed Steps. StepLogic Using Basic Logic Functions. Timer Function. Counter Function.

Figure 1.3 Typical Grounding

R/L1 S/L2 T/L3

U/T1 V/T2 W/T3

Ground Fault Monitoring

If a system ground fault monitor (RCD) is to be used, only Type B (adjustable) devices should be used to avoid nuisance tripping.

Safety Ground -

This is the safety ground for the drive that is required by code. One of these points must be connected to adjacent building steel (girder, joist), a floor ground rod or bus bar. Grounding points must comply with national and local industrial safety regulations and/or electrical codes.

Motor Ground

The motor ground must be connected to one of the ground terminals on the drive.
Shield Termination - SHLD
Either of the safety ground terminals located on the power terminal block provides a grounding point for the motor cable shield. The motor cable shield connected to one of these terminals (drive end) should also be connected to the motor frame (motor end). Use a shield terminating or EMI clamp to connect the shield to the safety ground terminal. The conduit box option may be used with a cable clamp for a grounding point for the cable shield. When shielded cable is used for control and signal wiring, the shield should be grounded at the source end only, not at the drive end.

RFI Filter Grounding

Using single phase drives with integral filter, or an external filter with any drive rating, may result in relatively high ground leakage currents. Therefore, the filter must only be used in installations with grounded AC supply systems and be permanently installed and solidly grounded (bonded) to the building power distribution ground. Ensure that the incoming supply neutral is solidly connected (bonded) to the same building power distribution ground. Grounding must not rely on flexible cables and should not include any form of plug or socket that would permit inadvertent disconnection. Some local codes may require redundant ground connections. The integrity of all connections should be periodically checked.
Fuses and Circuit Breakers
The PowerFlex 40 does not provide branch short circuit protection. This product should be installed with either input fuses or an input circuit breaker. National and local industrial safety regulations and/or electrical codes may determine additional requirements for these installations. ATTENTION: To guard against personal injury and/or equipment damage caused by improper fusing or circuit breaker selection, use only the recommended line fuses/circuit breakers specified in this section.

Table 1.I Allowable Cable Length Filter Type EN61800-3 First Environment Restricted Distribution or Second Environment (2) 10 meters (33 feet) 10 meters (33 feet) EN61800-3 First Environment Unrestricted Distribution (3) 1 meter (3 feet) 1 meter (3 feet) 5 meters (16 feet)
Integral External - S Type(1) External - L Type(1) 100 meters (328 feet)
(1) (2) Equivalent to EN55011 Class A. (3)
Refer to Appendix B for details on optional external filters. Equivalent to EN55011 Class B.
Figure 1.6 Connections and Grounding
Shielded Enclosure(1) IP 30/NEMA 1/UL Type 1 Option Kit

(2) EMI Filter

L1 L2 L3 L1' L2' L3' R/L1 S/L2 T/L3
EMI Fittings and Metal Conduit
Enclosure Ground Connection

Shielded Motor Cable

Building Structure Steel
First Environment Unrestricted Distribution installations require a shielded enclosure. Keep wire length as short as possible between the enclosure entry point and the EMI filter. Integral EMI filters are available on 240V, 1-Phase drives.

EN61000-3-2

0.75 kW (1 HP) 240V 1-Phase and 3-Phase drives and 0.37 kW (0.5 HP) 240V 1-Phase drives are suitable for installation on a private low voltage power network. Installations on a public low voltage power network may require additional external harmonic mitigation. Other drive ratings meet the current harmonic requirements of EN61000-3-2 without additional external mitigation.

Notes:

This chapter describes how to start up the PowerFlex 40 Drive. To simplify drive setup, the most commonly programmed parameters are organized in a single Basic Program Group. Important: Read the General Precautions section before proceeding. ATTENTION: Power must be applied to the drive to perform the following start-up procedures. Some of the voltages present are at incoming line potential. To avoid electric shock hazard or damage to equipment, only qualified service personnel should 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 All Power including user supplied control voltages. User supplied voltages may exist even when main AC power is not applied to the drive. Correct the malfunction before continuing.
Prepare For Drive Start-Up
Before Applying Power to the Drive
1. Confirm that all inputs are connected to the correct terminals and are

secure.

2. Verify that AC line power at the disconnect device is within the rated

value of the drive.

3. Verify that any digital control power is 24 volts. 4. Verify that the Sink (SNK)/Source (SRC) Setup DIP Switch is set to

d017 [Drive Type]

Used by Rockwell Automation field service personnel. Values Default: Min/Max: Display: Read Only 1001/9999 1

d018 [Elapsed Run Time]

Accumulated time drive is outputting power. Time is displayed in 10 hour increments. Values Default: Min/Max: Display: Read Only 0/9999 Hrs 1 = 10 Hrs Related Parameter(s): A102 Read Only 0/FFFF 1 Hex Related Parameter(s): A110, A111 Read Only 0.0/100.0% 0.1% Related Parameter(s): A112, A113 Read Only 0.0/100.0% 0.1%

d019 [Testpoint Data]

The present value of the function selected in A102 [Testpoint Sel]. Values Default: Min/Max: Display:

d020 [Analog In 0-10V]

Values Default: Min/Max: Display:
The present value of the voltage at I/O Terminal 13 (100.0% = 10 volts).

d021 [Analog In 4-20mA]

The present value of the current at I/O Terminal 15 (0.0% = 4mA, 100.0% = 20mA).

d022 [Output Power]

Output power present at T1, T2 & T3 (U, V & W). Values Default: Min/Max: Display: Read Only 0.00/(Drive Rated Power 2) 0.01 kW

d023 [Output Powr Fctr]

The angle in electrical degrees between motor voltage and motor current. Values Default: Min/Max: Display: Read Only 0.0/180.0 deg 0.1 deg

d024 [Drive Temp]

Present operating temperature of the drive power section. Values Default: Min/Max: Display: Read Only 0/120 degC 1 degC

d025 [Counter Status]

The current value of the counter when counter is enabled. Values Default: Min/Max: Display: Read only 0/9999 1

d026 [Timer Status]

32 bit parameter. Default: Min/Max: Display: Read Only 0.0/9999 Secs 0.1 Secs
The current value of the timer when timer is enabled. Values

d028 [Stp Logic Status]

When P038 [Speed Reference] is set to 6 Stp Logic, this parameter will display the current step of the StepLogic profile as defined by parameters A140-A147 [Stp Logic x]. Values Default: Min/Max: Display: Read Only 0/7 1

d029 [Torque Current]

The current value of the motor torque current. Values Default: Min/Max: Display: Read Only 0.00/(Drive Rated Amps 2) 0.01 Amps

Sets the time between restart attempts when A092 [Auto Rstrt Tries] is set to a value other than zero.

A094 [Start At PowerUp]

Stop drive before changing this parameter. Enables/disables a feature that allows a Start or Run command to automatically cause the drive to resume running at commanded speed after drive input power is restored. Requires a digital input configured for Run or Start and a valid start contact. This parameter will not function if parameter P036 [Start Source] is set to 4 2-W High Speed. 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.
Options 0 Disabled (Default) 1 Enabled

A095 [Reverse Disable]

Stop drive before changing this parameter. Enables/disables the function that allows the direction of motor rotation to be changed. The reverse command may come from a digital command, the keypad or a serial command. All reverse inputs including two-wire Run Reverse will be ignored with reverse disabled. Options 0 Rev Enabled (Default) 1 Rev Disabled Related Parameter(s): d006

A096 [Flying Start En]

Sets the condition that allows the drive to reconnect to a spinning motor at actual RPM. Options 0 Disabled (Default) 1 Enabled

A097 [Compensation]

Enables/disables correction options that may improve problems with motor instability. Options 0 Disabled 1 Electrical (Default) Some drive/motor combinations have inherent instabilities which are exhibited as non-sinusodial motor currents. This setting attempts to correct this condition. Some motor/load combinations have mechanical resonances which can be excited by the drive current regulator. This setting slows down the current regulator response and attempts to correct this condition.

2 Mechanical

3 Both

A098 [SW Current Trip]

Enables/disables a software instantaneous (within 100 ms) current trip. Values Default: Min/Max: Display: 0.0 (Disabled) 0.0/(Drive Rated Amps 2) 0.1 Amps

A099 [Process Factor]

Scales the output frequency value displayed by d010 [Process Display].
Related Parameter(s): d010

30.0 0.1/999.9 0.1

A100 [Fault Clear]
Stop drive before changing this parameter. Resets a fault and clears the fault queue. Used primarily to clear a fault over network communications. Options 0 Ready/Idle (Default) 1 Reset Fault 2 Clear Buffer (Parameters d007-d009 [Fault x Code])

A101 [Program Lock]

Protects parameters against change by unauthorized personnel. Options 0 Unlocked (Default) 1 Locked

A102 [Testpoint Sel]

A110 [Anlg In 0-10V Lo]

Related Parameter(s): d020, P034, P038, A122
Sets the analog input level that corresponds to P034 [Minimum Freq] if a 0-10V input is used by P038 [Speed Reference]. Analog inversion can be accomplished by setting this value larger than A111 [Anlg In 0-10V Hi]. Values Default: Min/Max: Display:

0.0% 0.0/100.0% 0.1%

P034 [Minimum Freq] A110 [Anlg In 0-10V Lo] A111 [Anlg In 0-10V Hi]

A111 [Anlg In 0-10V Hi]

Related Parameter(s): d020, P035, P038, A122, A123
Sets the analog input level that corresponds to P035 [Maximum Freq] if a 0-10V input is used by P038 [Speed Reference]. Analog inversion can be accomplished by setting this value smaller than A110 [Anlg In 0-10V Lo]. Values Default: Min/Max: Display: 100.0% 0.0/100.0% 0.1%

A112 [Anlg In4-20mA Lo]

Related Parameter(s): d021, P034, P038
Sets the analog input level that corresponds to P034 [Minimum Freq] if a 4-20mA input is used by P038 [Speed Reference]. Analog inversion can be accomplished by setting this value larger than A113 [Anlg In4-20mA Hi]. Values Default: Min/Max: Display: 0.0% 0.0/100.0% 0.1%

A113 [Anlg In4-20mA Hi]

Related Parameter(s): d021, P035, P038 Sets the analog input level that corresponds to P035 [Maximum Freq] if a 4-20mA input is used by P038 [Speed Reference]. Analog inversion can be accomplished by setting this value smaller than A112 [Anlg In4-20mA Lo]. Values Default: 100.0% Min/Max: Display: 0.0/100.0% 0.1% Related Parameter(s): P033

A114 [Slip Hertz @ FLA]

Compensates for the inherent slip in an induction motor. This frequency is added to the commanded output frequency based on motor current. Values Default: 2.0 Hz Min/Max: Display: 0.0/10.0 Hz 0.1 Hz Related Parameter(s): d010, P034

A115 [Process Time Lo]

Scales the time value when the drive is running at P034 [Minimum Freq]. When set to a value other than zero, d010 [Process Display] indicates the duration of the process. Values Default: 0.00 Min/Max: Display: 0.00/99.99 0.01 Related Parameter(s): d010, P035

A116 [Process Time Hi]

Scales the time value when the drive is running at P035 [Maximum Freq]. When set to a value other than zero, d010 [Process Display] indicates the duration of the process. Values Default: 0.00 Min/Max: Display: 0.00/99.99 0.01

A117 [Bus Reg Mode]

Controls the operation of the drive voltage regulation, which is normally operational at decel or when the bus voltage rises. Refer to the Attention statement on page P-3 for important information on bus regulation. Options 0 Disabled 1 Enabled (Default)

A118 [Current Limit 2]

ATTENTION: Risk of equipment damage exists. If a controller is programmed to write parameter data to Non-Volatile Storage (NVS) frequently, the NVS will quickly exceed its life cycle and cause the drive to malfunction. Do not create a program that frequently uses configurable outputs to write parameter data to NVS unless A164 [Comm Write Mode] is set to option 1.

A165 [Anlg Loss Delay]

Related Parameter(s): A122
Sets the length of time after power-up during which the drive will not detect an analog signal loss. The drive response to an analog signal loss is set in A122 [Analog In Loss]. Values Default: Min/Max: Display: 0.0 Secs 0.0/20.0 Secs 0.1 Secs

A166 [Analog In Filter]

Sets level of additional filtering of the analog input signals. A higher number increases filtering and decreases bandwidth. Each setting doubles the applied filtering (1 = 2x filter, 2 = 4x filter, etc.). No additional filtering is applied when set to 0. Values Default: Min/Max: Display: 0 0/14 1

A167 [PID Invert Error]

When set to Inverted, changes the sign of the PID error. This causes an increase in the drive output frequency with PID Feedback greater than PID Setpoint, and a decrease in drive output frequency with PID Feedback less than PID Setpoint. Options 0 Not Inverted (Default) 1 Inverted
Parameter Cross Reference by Name

Parameter Name

10V Bipolar Enbl Accel Time 1 Accel Time 2 Analog In 0-10V Analog In 4-20mA Analog In Filter Analog In Loss Analog Out High Analog Out Sel Anlg In 0-10V Hi Anlg In 0-10V Lo Anlg In4-20mA Hi Anlg In4-20mA Lo Anlg Loss Delay Anlg Out Setpt Auto Rstrt Delay Auto Rstrt Tries Autotune Boost Select Break Frequency Break Voltage Bus Reg Mode Comm Data Rate Comm Format Comm Loss Action Comm Loss Time Comm Node Addr Comm Status Comm Write Mode Commanded Freq Compensation Contrl In Status Control Source Control SW Ver Counter Status Current Limit x DB Resistor Sel DB Threshold DC Brake Level DC Brake Time DC Bus Voltage Decel Time 1 Decel Time 2 Dig In Status Digital Inx Sel Drive Status Drive Temp Drive Type Elapsed Run Time EM Brk Off Delay EM Brk On Delay Fault Clear Fault x Code Flux Current Ref Flying Start En Internal Freq IR Voltage Drop
A123 P039 A067 d020 d021 A166 A122 A066 A065 A111 A110 A113 A112 A166 A109 A093 A092 A127 A084 A087 A086 A117 A103 A107 A105 A106 A104 d015 A164 d002 A097 d013 d012 d016 d025 A089, A118 A082 A163 A081 A080 d005 P040 A068 d014 A051-A054 d006 d024 d017 d018 A160 A161 A100 d007-d009 A129 A096 A069 A128

Advanced Program Basic Program Advanced Program Display Display Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Display Advanced Program Display Advanced Program Display Display Display Display Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Display Basic Program Advanced Program Display Advanced Program Display Display Display Display Advanced Program Advanced Program Advanced Program Display Advanced Program Advanced Program Advanced Program Advanced Program
Jog Accel/Decel Jog Frequency Language Maximum Freq Maximum Voltage Minimum Freq MOP Reset Sel Motor NP FLA Motor NP Hertz Motor NP Volts Motor OL Current Motor OL Ret Motor OL Select Opto Out Logic Opto Outx Level Opto Outx Sel Output Current Output Freq Output Power Output Powr Fctr Output Voltage PID Deadband PID Diff Rate PID Feedback Sel PID Integ Time PID Invert Error PID Preload PID Prop Gain PID Ref Sel PID Setpoint PID Trim Hi PID Trim Lo Preset Freq x Process Display Process Factor Process Time Hi Process Time Lo Program Lock PWM Frequency Relay Out Level Relay Out Sel Reset To Defalts Reverse Disable S Curve % Skip Freq Band Skip Frequency Slip Hertz @ FLA Stp Logic Status Stp Logic x Stp Logic Time x Speed Reference Stall Fault Time Start At PowerUp Start Boost Start Source Stop Mode SW Current Trip
A079 A078 A108 P035 A088 P034 A162 A126 P032 P031 P033 P043 A090 A064 A059, A062 A058, A061 d003 d001 d022 d023 d004 A138 A136 A133 A135 A167 A139 A134 A132 A137 A130 A131 A070-A077 d010 A099 A116 A115 A101 A091 A056 A055 P041 A095 A083 A120 A119 A114 d028 A140-A147 A150-A157 P038 A121 A094 A085 P036 P037 A098
Advanced Program Advanced Program Advanced Program Basic Program Advanced Program Basic Program Advanced Program Advanced Program Basic Program Basic Program Basic Program Basic Program Advanced Program Advanced Program Advanced Program Advanced Program Display Display Display Display Display Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Display Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Basic Program Advanced Program Advanced Program Advanced Program Advanced Program Advanced Program Display Advanced Program Advanced Program Basic Program Advanced Program Advanced Program Advanced Program Basic Program Basic Program Advanced Program
d019 A102 d026 d029 A125 A124 P042

PowerFlex 40 Estimated Watts Loss (Rated Load, Speed & PWM)
Voltage 100120V kW (HP) 0.4 (0.5) 0.75 (1.0) 1.1 (1.5) 0.4 (0.5) 0.75 (1.0) 1.1 (2.0) 2.2 (3.0) 3.7 (5.0) 5.5 (7.5) 7.5 (10) 0.4 (0.5) 0.75 (1.0) 1.1 (2.0) 2.2 (3.0) 3.7 (5.0) 5.5 (7.5) 7.5 (10) 11 (15) 0.75 (1.0) 1.5 (2.0) 2.2 (3.0) 4.0 (5.0) 5.5 (7.5) 7.5 (10) 11 (15) External Watts 260 Internal Watts 40

200240V

380480V

460600V

Total Watts Loss 300

Product Selection

Table B.A Catalog Number Description

22B Drive

Voltage Rating

Rating

Enclosure

Emission Class

Table B.B PowerFlex 40 Drives
Drive Ratings Input Voltage 120V 50/60 Hz 1-Phase No Filter 240V 50/60 Hz 1-Phase With Integral S Type EMC Filter 240V 50/60 Hz 1-Phase No Filter kW 0.4 0.75 1.1 0.4 0.75 1.5 2.2 0.4 0.75 1.5 2.2 240V 50/60 Hz 3-Phase No Filter 0.4 0.75 1.5 2.2 3.7 5.5 7.5 480V 50/60 Hz 3-Phase No Filter 0.4 0.75 1.5 2.2 4.0 5.5 7.5 11.0 600V 50/60 Hz 3-Phase No Filter 0.75 1.5 2.2 4.0 5.5 7.5 11.0
IP20 Flange IP20, NEMA/UL Type Open Mount(1) HP 0.5 1.0 1.5 0.5 1.0 2.0 3.0 0.5 1.0 2.0 3.0 0.5 1.0 2.0 3.0 5.0 7.5 10.0 0.5 1.0 2.0 3.0 5.0 7.5 10.0 15.0 1.0 2.0 3.0 5.0 7.5 10.0 15.0 Output Current Catalog Number 2.3A 5.0A 6.0A 2.3A 5.0A 8.0A 12.0A 2.3A 5.0A 8.0A 12.0A 2.3A 5.0A 8.0A 12.0A 17.5A 24.0A 33.0A 1.4A 2.3A 4.0A 6.0A 10.5A 12.0A 17.0A 24.0A 1.7A 3.0A 4.2A 6.6A 9.9A 12.0A 19.0A 22B-V2P3N104 22B-V5P0N104 22B-V6P0N104 22B-A2P3N114 22B-A5P0N114 22B-A8P0N114 22B-A012N114 22B-A2P3N104 22B-A5P0N104 22B-A8P0N104 22B-A012N104 22B-B2P3N104 22B-B5P0N104 22B-B8P0N104 22B-B012N104 22B-B017N104 22B-B024N104 22B-B033N104 22B-D1P4N104 22B-D2P3N104 22B-D4P0N104 22B-D6P0N104 22B-D010N104 22B-D012N104 22B-D017N104 22B-D024N104 22B-E1P7N104 22B-E3P0N104 22B-E4P2N104 22B-E6P6N104 22B-E9P9N104 22B-E012N104 22B-E019N104 Frame Size B B B B B B C B B B C B B B B B C C B B B B B C C C B B B B C C C Catalog Number 22B-V2P3F104 22B-V5P0F104 22B-V6P0F104 22B-A2P3F104 22B-A5P0F104 22B-A8P0F104 22B-A012F104 22B-B2P3F104 22B-B5P0F104 22B-B8P0F104 22B-B012F104 22B-B017F104 22B-B024F104 22B-B033F104 22B-D1P4F104 22B-D2P3F104 22B-D4P0F104 22B-D6P0F104 22B-D010F104 22B-D012F104 22B-D017F104 22B-E1P7F104 22B-E3P0F104 22B-E4P2F104 22B-E6P6F104 22B-E9P9F104 22B-E012F104 22B-E019F104
IP66, NEMA/UL Type 4X Catalog Number 22B-V2P3C104 22B-V5P0C104 22B-V6P0C104 22B-A2P3C104 22B-A5P0C104 22B-A8P0C104 22B-B2P3C104 22B-B5P0C104 22B-B8P0C104 22B-B012C104 22B-B017C104 22B-D1P4C104 22B-D2P3C104 22B-D4P0C104 22B-D6P0C104 22B-D010C104 22B-E1P7C104 22B-E3P0C104 22B-E4P2C104 22B-E6P6C104

22B-D024F104 (2)

Meets IP40/54/65 (NEMA 1/12/4/4X) when installed in an enclosure of like rating. Requires use of external DC Bus Inductor or AC Line Reactor. See Table B.E for details. PowerFlex 40 Adjustable Frequency AC Drive FRN 1.xx - 6.xx User Manual Publication 22B-UM001G-EN-E
Table B.C Dynamic Brake Modules
Drive Ratings Input Voltage 120V 50/60 Hz 1-Phase kW 0.4 0.75 1.1 240V 50/60 Hz 1-Phase 0.4 0.75 1.5 2.2 240V 50/60 Hz 3-Phase 0.4 0.75 1.5 2.2 3.7 5.5 7.5 480V 50/60 Hz 3-Phase 0.4 0.75 1.5 2.2 4.0 5.5 7.5 11.0 600V 50/60 Hz 3-Phase 0.75 1.5 2.2 4.0 5.5 7.5 11.0
HP 0.5 1.0 1.5 0.5 1.0 2.0 3.0 0.5 1.0 2.0 3.0 5.0 7.5 10.0 0.5 1.0 2.0 3.0 5.0 7.5 10.0 15.0 1.0 2.0 3.0 5.0 7.5 10.0 15.0

Minimum Resistance 51

Catalog Number (1) (2) AK-R2-091P500 AK-R2-091P500 AK-R2-091P500 AK-R2-091P500 AK-R2-091P500 AK-R2-091P500 AK-R2-047P500 AK-R2-091P500 AK-R2-091P500 AK-R2-091P500 AK-R2-047P500 AK-R2-047P500 AK-R2-030P1K2 AK-R2-030P1K2 AK-R2-360P500 AK-R2-360P500 AK-R2-360P500 AK-R2-120P1K2 AK-R2-120P1K2 AK-R2-120P1K2 AK-R2-120P1K2 AK-R2-120P1K2 (3) AK-R2-360P500 AK-R2-360P500 AK-R2-120P1K2 AK-R2-120P1K2 AK-R2-120P1K2 AK-R2-120P1K2 AK-R2-120P1K2 (3)
The resistors listed in this tables are rated for 5% duty cycle. Use of Rockwell resistors is always recommended. The resistors listed have been carefully selected for optimizing performance in a variety of applications. Alternative resistors may be used, however care must be taken when making a selection. Refer to the PowerFlex Dynamic Braking Resistor Calculator, publication PFLEX-AT001. Requires two resistors wired in parallel.
Table B.D Bulletin 1321-3R Series Line Reactors
Maximum Fundamental Continuous Inductance Watts Amps Amps mh Loss 27 37.5 52.37.12.0 3.0 1.5 1.25 0.8 0.5 0.4 20.0 9.0 6.5 5.0 2.5 2.5 1.5 1.2 20.0 6.5 6.5 5.0 2.5 2.5 1.W 29 W 19.5 W 26 W 36 W 48 W 49 W 11.3 W 20 W 20 W 25.3 W 31 W 31 W 43 W 52 W 11.3 W 20 W 20 W 25.3 W 31 W 31 W 43 W

Input Voltage

Catalog Number (1) 1321-3R4-D 1321-3R8-B 1321-3R8-A 1321-3R12-A 1321-3R18-A 1321-3R25-A 1321-3R35-A 1321-3R2-B 1321-3R4-C 1321-3R4-B 1321-3R8-C 1321-3R12-B 1321-3R12-B 1321-3R18-B 1321-3R25-B 1321-3R2-B 1321-3R4-B 1321-3R4-B 1321-3R8-C 1321-3R12-B 1321-3R12-B 1321-3R18-B
240V 50/60 Hz 0.4 0.5 3-Phase 0.75 1.0 1.5 2.2 3.7 5.5 7.5 2.0 3.0 5.0 7.5

10.0 35

The control terminal block is wired such that a start command will also trigger the timer start. The relay output is wired to I/O Terminal 05 (Digital Input 1) so that it forces the input on when the timer starts. After the timer is complete, the output is turned off releasing the preset speed command. The drive defaults to following the analog input reference as programmed.

Output Frequency

Start Relay Out Photo Eye Digital In1 Counter In Digital In2 Reset Counter Limit Switch
Note that a Reset Timer input is not required for this example since the Timer Start input both clears and starts the timer.

Counter Function

Digital inputs and outputs control the counter function and are configured with parameters A051-A054 [Digital Inx Sel] set to 19 Counter In and 21 Reset Counter. Digital outputs (relay and opto type) define a preset level and indicate when the level is reached. Level parameters A056 [Relay Out Level], A059 [Opto Out1 Level] and A062 [Opto Out2 Level] are used to set the desired count value. Parameters A055 [Relay Out Sel], A058 [Opto Out1 Sel] and A061 [Opto Out2 Sel] are set to 17 Counter Out which causes the output to change state when the level is reached. Example A photo eye is used to count packages on a conveyor line. An accumulator holds the packages until 5 are collected. A diverter arm redirects the group of 5 packages to a bundling area. The diverter arm returns to its original position and triggers a limit switch that resets the counter. Parameters are set to the following options: A051 [Digital In1 Sel] set to 19 to select Counter In A052 [Digital In2 Sel] set to 21 to select Reset Counter A055 [Relay Out Sel] set to 17 to select Counter Out A056 [Relay Out Level] set to 5.0 (counts)

StepLogic Parameters

Table E.A Code Descriptions for Parameters A140-A147
Digit Digit Digit 1 F Digit 0 1
Table E.B Digit 3 Defines the action during the step currently executing.
Setting A b Accel/Decel Parameters Used StepLogic Output State Off Off Off On On On Off Off Off On On On Commanded Direction FWD REV No Output FWD REV No Output FWD REV No Output FWD REV No Output
Table E.C Digit 2 Defines what step to jump to or how to end program when the logic conditions specified in Digit 1 are met.

Setting A Logic Jump to Step 0 Jump to Step 1 Jump to Step 2 Jump to Step 3 Jump to Step 4 Jump to Step 5 Jump to Step 6 Jump to Step 7 End Program (Normal Stop) End Program (Coast to Stop) End Program and Fault (F2)
Table E.D Digit 1 Defines what logic must be met to jump to a step other than the very next step.
Setting A b C d E F Description Skip Step (jump immediately) Logic SKIP
Step based on the time programmed in the respective [Stp Logic Time x] TIMED parameter. Step if Logic In1 is active (logically true) Step if Logic In2 is active (logically true) Step if Logic In1 is not active (logically false) Step if Logic In2 is not active (logically false) Step if either Logic In1 or Logic In2 is active (logically true) Step if both Logic In1 and Logic In2 is active (logically true) Step if neither Logic In1 or Logic In2 is active (logically true) Step if Logic In1 is active (logically true) and Logic In2 is not active (logically false) Step if Logic In2 is active (logically true) and Logic In1 is not active (logically false) Step after [Stp Logic Time x] and Logic In1 is active (logically true) Step after [Stp Logic Time x] and Logic In2 is active (logically true) TRUE TRUE FALSE FALSE OR AND NOR XOR XOR TIMED AND TIMED AND
Step after [Stp Logic Time x] and Logic In1 is not active (logically false) TIMED OR Step after [Stp Logic Time x] and Logic In2 is not active (logically false) TIMED OR Do not step OR no jump to, so use Digit 0 logic IGNORE
Table E.E Digit 0 Defines what logic must be met to jump to the very next step.
Step after [Stp Logic Time x] and Logic In1 is not active (logically false) TIMED OR Step after [Stp Logic Time x] and Logic In2 is not active (logically false) TIMED OR Use logic programmed in Digit 1 IGNORE

PID Loop

The PowerFlex 40 has a built-in PID (proportional, integral, differential) control loop. The PID loop is used to maintain a process feedback (such as pressure, flow or tension) at a desired set point. The PID loop works by subtracting the PID feedback from a reference and generating an error value. The PID loop reacts to the error, based on the PID Gains, and outputs a frequency to try to reduce the error value to 0. To enable the PID loop, parameter A132 [PID Ref Sel] must be set to an option other than 0 PID Disabled. Exclusive Control and Trim Control are two basic configurations where the PID loop may be used.

Exclusive Control

In Exclusive Control, the Speed Reference becomes 0, and the PID Output becomes the entire Freq Command. Exclusive Control is used when A132 [PID Ref Sel] is set to option 1, 2, 3 or 4. This configuration does not require a master reference, only a desired set point, such as a flow rate for a pump.
PID Loop PID Ref + PID Fdbk PID Error PID Prop Gain + PID Integ Time PID Diff Rate + + PID Enabled PID Output

Guidelines for Adjusting the PID Gains
1. Adjust the proportional gain. During this step it may be desirable to disable the integral gain and differential gain by setting them to 0. After a step change in the PID Feedback: If the response is too slow increase A134 [PID Prop Gain]. If the response is too quick and/or unstable (see Figure F.1), decrease A134 [PID Prop Gain]. Typically, A134 [PID Prop Gain] is set to some value below the point where the PID begins to go unstable.
2. Adjust the integral gain (leave the proportional gain set as in Step 1). After a step change in the PID Feedback: If the response is too slow (see Figure F.2), or the PID Feedback does not become equal to the PID Reference, decrease A135 [PID Integ Time]. If there is a lot of oscillation in the PID Feedback before settling out (see Figure F.3), increase A135 [PID Integ Time].
3. At this point, the differential gain may not be needed. However, if after determining the values for A134 [PID Prop Gain] and A135 [PID Integ Time]: Response is still slow after a step change, increase A136 [PID Diff Rate]. Response is still unstable, decrease A136 [PID Diff Rate].
PID Set Up The following figures show some typical responses of the PID loop at different points during adjustment of the PID Gains.

Figure F.1 Unstable

PID Reference

PID Feedback

Figure F.2 Slow Response Over Damped
Figure F.3 Oscillation Under Damped
Figure F.4 Good Response Critically Damped
AC Supply Ground, 1-7 Source, 1-5 Ungrounded, 1-5 Acceleration Rate, 1-24 Advanced Program Group Parameters, 3-14 Ambient Temperatures, 1-3 Analog Input Loss Fault, F29, 4-3 Armored Cable, 1-10 Auto Rstrt Tries Fault, F33, 4-4 Auxiliary Input Fault, F2, 4-3 Drive, B-7 Minimum Clearances, 1-3 Direction of Drive, 2-2 of Motor, 1-13 Discharging Bus Capacitors, P-3, 1-2 Disconnecting Output Power, 1-12 Display, 2-4 Display Group Parameters, 3-3 Distribution Systems, Ungrounded, 1-5 Drive Frame Size, P-2, B-7 Drive Grounding, 1-7 Drive Overload Fault, F64, 4-4 Drive Ratings, P-4, A-1 DriveExecutive, 3-1 DriveExplorer, 3-1
Before Applying Power, 2-1 Bus Capacitors, Discharging, P-3, 1-2
Cable Length, 1-15 Cable, Power, 1-10 Capacitors, Discharging, P-3, 1-2 Catalog Number Explanation, P-4 CE Conformity, 1-25 Checklist, Start-Up, 2-1 Circuit Breakers, 1-8 Comm Loss Fault, F81, 4-4 Command Sources for Start and Speed, 1-23 Common Symptoms and Corrective Action, 4-5 Contactors, 1-14 Control Wiring, 1-16 Control, 2 and 3 Wire, 1-18 Conventions, Manual, P-2 Cover, Opening, 1-1 Cross Reference, Parameter by Name, 3-45

Appendix B

Module Parameters
About Parameter Numbers. B-1 Parameter List. B-1

Appendix C

CIP/DSI Objects
CIP Identity Object. C-3 CIP Parameter Object. C-4 DSI Device Object. C-7 DSI Parameter Object. C-10 DSI Fault Object. C-14 DSI Diagnostic Object. C-16

Appendix D

PowerFlex 4-Class Drives Logic Command/Status Words
Logic Command Word. D-1 Logic Status Word. D-2

Glossary Index

Preface

About This Manual

Topic Related Documentation Conventions Used in this Manual Rockwell Automation Support Page P-1 P-3 P-2

Related Documentation

Refer to: http://www.ab.com/drives/driveexplorer, and DriveExplorer online help (1) DriveTools SP http://www.ab.com/drives/drivetools, and (includes DriveExecutive) DriveExecutive online help (1) PowerFlex 4-Class HIM HIM Quick Reference (22-HIM-A3 / -C2S) PowerFlex 4 User Manual PowerFlex 4 Drive PowerFlex 4 Quick Start PowerFlex 4M Drive PowerFlex 4M User Manual PowerFlex 4M Quick Start PowerFlex 40 Drive PowerFlex 40 User Manual PowerFlex 40 Quick Start PowerFlex 40P Drive PowerFlex 40P User Manual PowerFlex 40P Quick Start PowerFlex 400 Drive PowerFlex 400 User Manual PowerFlex 400 Quick Start RSLinx Classic Getting Results with RSLinx Guide, and online help (1) RSLogix 500 RSLogix 500 Getting Results Guide, and online help (1) RSLogix 5000 Getting Results Guide, and online help (1) RSLogix 5000 RSNetWorx for RSNetWorx for DeviceNet Getting Results Guide, and DeviceNet online help (1) MicroLogix 1500 MicroLogix 1500 Programmable Controllers User Manual MicroLogix 1200 and MicroLogix 1500 Programmable Controllers Reference Manual CompactLogix CompactLogix System User Manual ControlLogix Gateway System User Manual ControlLogix Modbus RTU Modbus ida.org Specification PowerFlex 7-Class Drive 20-COMM-H RS-485 HVAC Adapter User Manual Connectivity

For: DriveExplorer

Publication 22HIM-QR001 22A-UM001 22A-QS-001 22F-UM001 22F-QS-001 22B-UM001 22B-QS-001 22D-UM001 22D-QS-001 22C-UM001 22C-QS-001 LINX-GR001 LG500-GR002 9399-RLD300GR DNET-GR001 1764-UM001 1762-RM001 1769-UM007 1756-6.5.13 20COMM-UM009
The online help is installed with the software.
About This Manual You can view or download publications at http:// literature.rockwellautomation.com. To order paper copies of technical documentation, contact your local Rockwell Automation distributor or sales representative. To find your local Rockwell Automation distributor or sales representative, visit www.rockwellautomation.com/locations. For information such as firmware updates or answers to drive-related questions, go to the Drives Service & Support web site at www.ab.com/ support/abdrives and click on the Downloads or Knowledgebase link.

Rockwell Automation Support
Rockwell Automation, Inc. offers support services worldwide, with over 75 sales/support offices, over 500 authorized distributors, and over 250 authorized systems integrators located through the United States alone. In addition, Rockwell Automation, Inc. representatives are in every major country in the world.

Local Support

Contact your local Rockwell Automation, Inc. representative for: Sales and order support Product technical training Warranty support Support service agreements

Technical Assistance

For technical assistance, please review the information in Chapter 9, Troubleshooting, first. If you still have problems, then access the Allen-Bradley Technical Support web site at www.ab.com/support/ abdrives or contact Rockwell Automation, Inc.
Conventions Used in this Manual
The following conventions are used throughout this manual: Parameter names are shown in the format Parameter xx - [*]. The xx represents the parameter number. The * represents the parameter name. For example Parameter 01 - [Config Mode]. Menu commands are shown in bold type face and follow the format Menu > Command. For example, if you read Select File > Open, you should click the File menu and then click the Open command. RSNetWorx for DeviceNet (version 4.01) and RSLinx (version 2.41) were used for the screen shots in this manual. Different versions of the software may differ in appearance and procedures. The firmware release is displayed as FRN X.xxx. The FRN signifies Firmware Release Number. The X is the major release number. The xxx is the minor update number. This manual is for Firmware release 1.xxx.

Notes:

The 1769-SM2 Compact I/O to DSI module provides a Compact I/O connection for PowerFlex 4-Class drives. It can be used with a MicroLogix 1500, CompactLogix, or a remote 1769-based adapter such as the 1769-ADN.
Topic Components Features Single Mode vs. Multi-Drive Mode Compatible Products Page 1-1 1-2 1-3 1-6 Topic Required Equipment Safety Precautions Quick Start Status Indicators Page 1-6 1-7 1-9 1-10

Components

Figure 1.1 Components of the Module

MODU LE

CH1 CH2 CH3

MODULE

Figure 2.2 Assembling 1769-SM2 Module to Compact I/O System

A D E C B

1. Disconnect power. 2. Check that the bus lever (A) of the 1769-SM2 module is in the unlocked (fully right) position.
3. Use the upper and lower tongue-and-groove slots (B) to secure the modules together. 4. Move the 1769-SM2 module back along the tongue-and-groove slots until the bus connectors (C) line up with each other. 5. Use your fingers or a small screwdriver to push the bus lever back slightly to clear the positioning tab (D). 6. Move the 1769-SM2 modules bus lever fully to the left (E) until it clicks. Ensure it is locked firmly in place. ATTENTION: Risk of equipment damage exists. When attaching the 1769-SM2 module to a Compact I/O system, it is very important that the bus connectors are securely locked together to ensure proper electrical connection. Failure to do this may cause an electrical arc, which can cause personal injury or equipment damage.
Installing the Module 7. Attach an end cap terminator (F) to the last module in the system by using the tongue-and-groove slots as before. 8. Lock the end cap bus terminator (G). Important: A 1769-ECR or 1769-ECL right or left end cap must be used to terminate the end of the serial communication bus.

Mounting the Module

ATTENTION: Risk of equipment damage exists. During panel or DIN rail mounting of all devices, be sure that all debris (metal chips, wire strands, etc.) is kept from falling into the 1769-SM2 module. Debris that falls into the module could cause damage on power up.

Minimum Spacing

Maintain spacing from enclosure walls, wireways, adjacent equipment, etc. Allow 50 mm (2 in.) of space on all sides for adequate ventilation as shown:

Top End Cap or Cable

Compact I/O

Controller Side

Bottom
Allow at least 140 mm (5.5 in.) of enclosure depth to accommodate the 1769-SM2 module.

Panel Mounting

Mount the 1769-SM2 module to a panel using two screws per module. Use M4 or #8 panhead screws (not included). Mounting screws are required on every module.
Installing the Module Panel Mounting Using the Dimensional Drawing NOTE: All dimensions are in mm (inches). Hole spacing tolerance is 0.4 mm (0.016 in.).
Figure 2.3 1769-SM2 Module with MicroLogix 1500 Base Unit and Processor

Mounting Hole Dimension

168 mm (6.62 in) 147 mm (5.79 in)
35 mm (1.38 in) 35 mm (1.38 in)

28.5 mm (1.12 in)

DPI / SCANport

59 mm (2.32 in)

122.6 mm (4.83 in)

DIN Rail Center Line

13.5 mm (0.53 in)

14.7 mm (0.58 in)

Figure 2.4 1769-SM2 Module with CompactLogix Controller
50 mm (1.97 in) 40 mm (1.58 in)
70 mm (2.76 in) 35 mm 35 mm (1.38 in) (1.38 in)

Installing the Module 8. Connect the 1769-SM2 module and adjacent modules together by locking (fully left) the bus levers on the 1769-SM2 module and the right-side adjacent module. 9. Replace the mounting screws (or snap the module onto the DIN rail). 10. Plug the appropriate communications cable into its respective port on the 1769-SM2 module. 11. Restore 1769-SM2 module configuration using an appropriate configuration tool.
Connecting Drive(s) to the Module
NOTE: For Single or Multi-Drive mode, there is a maximum cable distance limit per channel. See DSI Cable Requirements on page A-2 for more information. For network wiring diagram examples, see the following figures:
1769-SM2 Operating Mode Single mode (Default) Multi-Drive mode Multi-Drive mode with Modbus RTU Master Network Wiring Diagram Example Figure 1.2 Figure 1.3 Figure 1.4

Single Mode

When the 1769-SM2 module is operated in Single drive mode, each drive is directly connected to a channel port (CH1, CH2 or CH3) on the module. Use either a 22-RJ45CBL-C20 communications cable for each channel or AK-U0-RJ45-TB2P terminal block connectors and twisted pair network wiring (Belden No. 3105A or equivalent). Important: When connecting a drive to the channel port using AK-U0-RJ45-TB2P terminal block connectors and twisted pair network wiring, the following drive parameters MUST be configured to the settings shown so that the 1769-SM2 module will communicate with the drive:
Drive Parameter A103 - [Comm Data Rate] A107 - [Comm Format] Setting 4 (19.2K) 0 (RTU 8-N-1)
Changes to these drive parameters require the drive to be reset for the new settings to take effect.
When connecting a drive to the channel port using 22-RJ45CBL-C20 communications cable, the above drive parameters do not require configuration because the drive senses that a DSI peripheral is connected and it ignores these parameter settings.

Multi-Drive Mode

For Multi-Drive mode, each channel port MUST be connected to the drives via daisy-chaining using AK-U0-RJ45-TB2P terminal block connectors (one for the port connection and one for each drive connection) and twisted pair network wiring (Belden No. 3105A or equivalent). The 22-RJ45CBL-C20 communications cable and splitter cables cannot be used. Important: The following drive parameters MUST be configured to the settings shown so that the 1769-SM2 module will communicate with the drives:

Module Status Word

The Module Status Word (input word 0) is used for all channels, where:
Bit # Bit Name CH1 Logic Status 0 Valid CH1 Logic Status 1 Valid CH1 Logic Status 2 Valid CH1 Logic Status 3 Valid CH1 Logic Status 4 Valid CH2 Logic Status 0 Valid CH2 Logic Status 1 Valid CH2 Logic Status 2 Valid CH2 Logic Status 3 Valid CH2 Logic Status 4 Valid CH3 Logic Status 0 Valid CH3 Logic Status 1 Valid CH3 Logic Status 2 Valid CH3 Logic Status 3 Valid CH3 Logic Status 4 Valid Config Valid Description 0 = Logic Status/Feedback data for CH1 Drive 0 is not valid 1 = Logic Status/Feedback data for CH1 Drive 0 is valid 0 = Logic Status/Feedback data for CH1 Drive 1 is not valid 1 = Logic Status/Feedback data for CH1 Drive 1 is valid 0 = Logic Status/Feedback data for CH1 Drive 2 is not valid 1 = Logic Status/Feedback data for CH1 Drive 2 is valid 0 = Logic Status/Feedback data for CH1 Drive 3 is not valid 1 = Logic Status/Feedback data for CH1 Drive 3 is valid 0 = Logic Status/Feedback data for CH1 Drive 4 is not valid 1 = Logic Status/Feedback data for CH1 Drive 4 is valid 0 = Logic Status/Feedback data for CH2 Drive 0 is not valid 1 = Logic Status/Feedback data for CH2 Drive 0 is valid 0 = Logic Status/Feedback data for CH2 Drive 1 is not valid 1 = Logic Status/Feedback data for CH2 Drive 1 is valid 0 = Logic Status/Feedback data for CH2 Drive 2 is not valid 1 = Logic Status/Feedback data for CH2 Drive 2 is valid 0 = Logic Status/Feedback data for CH2 Drive 3 is not valid 1 = Logic Status/Feedback data for CH2 Drive 3 is valid 0 = Logic Status/Feedback data for CH2 Drive 4 is not valid 1 = Logic Status/Feedback data for CH2 Drive 4 is valid 0 = Logic Status/Feedback data for CH3 Drive 0 is not valid 1 = Logic Status/Feedback data for CH3 Drive 0 is valid 0 = Logic Status/Feedback data for CH3 Drive 1 is not valid 1 = Logic Status/Feedback data for CH3 Drive 1 is valid 0 = Logic Status/Feedback data for CH3 Drive 2 is not valid 1 = Logic Status/Feedback data for CH3 Drive 2 is valid 0 = Logic Status/Feedback data for CH3 Drive 3 is not valid 1 = Logic Status/Feedback data for CH3 Drive 3 is valid 0 = Logic Status/Feedback data for CH3 Drive 4 is not valid 1 = Logic Status/Feedback data for CH3 Drive 4 is valid 1 = The module has a valid configuration
The data valid bits (014) can be used in the ladder program to determine if the received data is valid and can be used. Bit 15 provides diagnostic feedback on the status of the 1769-SM2 module configuration. When the module is configured for RTU Master operation in Multi-Drive mode, bits 014 are not used and will be 0.
Using Logic Command/Status
The Logic Command is a 16-bit word of control data produced by the controller and consumed by the 1769-SM2 module. The Logic Status is a 16-bit word of status data produced by the 1769-SM2 module and consumed by the controller. This manual contains the bit definitions for compatible products available at the time of publication in Appendix D. For other products, refer to their documentation.

Refer to Chapter 4 for information about the I/O image, Module Enable/ Status, Logic Command/Status, and Reference/Feedback.
MicroLogix 1500 Multi-Drive Mode Example Program
Figure 6.5 Example MicroLogix 1500 Multi-Drive Ladder Logic Main Routine
MicroLogix 1500 w/ 1769-SM2 in Multi-Drive mode In this Multi-Drive example program, the channels are utilized as follows: Channel 1 - Connected to 5 PowerFlex 4/40 drives (maximum allowed) Channel 2 - Connected to 5 PowerFlex 4/40 drives (maximum allowed) Channel 3 - Configured for Modbus RTU Master mode and connected to 1 PowerFlex 70 drive (with 20-COMM-H adapter) This rung enables the 1769-SM2 to send the Channel 1 Logic Command and Reference words to the drives. Channel 1 Enable O:1769-SM2 Channel 1 Drive 0 Subroutine 0001 JSR Jump To Subroutine SBR File Number
Channel 1 Drive 1 Subroutine 0002
JSR Jump To Subroutine SBR File Number
Channel 1 Drive 2 Subroutine 0003
Channel 1 Drive 3 Subroutine 0004
Channel 1 Drive 4 Subroutine 0005
This rung enables the 1769-SM2 to send the Channel 2 Logic Command and Reference words to the drives. Channel 2 Enable O:1769-SM2 Channel 2 Drive 0 Subroutine 0007 JSR Jump To Subroutine SBR File Number
Channel 2 Drive 1 Subroutine 0008
Figure 6.5 Example MicroLogix 1500 Multi-Drive Ladder Logic Main Routine (Continued)
Channel 2 Drive 2 Subroutine 0009
Channel 2 Drive 3 Subroutine 0010
Channel 2 Drive 4 Subroutine 0011
Channel 3 Modbus RTU Master Subroutine 0012
JSR Jump To Subroutine SBR File Number CH1 Drive 2 Logic Sts Valid I:1769-SM2 CH2 Drive 2 Logic Sts Valid I:1769-SM2 CH1 Drive 3 Logic Sts Valid I:1769-SM2 CH2 Drive 3 Logic Sts Valid I:1769-SM2 CH1 Drive 4 Logic Sts Valid I:1769-SM2 CH2 Drive 4 Logic Sts Valid I:1769-SM2
CH1 Drive 0 Logic Sts Valid I:1769-SM2 CH2 Drive 0 Logic Sts Valid I:1769-SM2 1769-SM2 CH1 Input Data Valid B3:1769-SM2 Config Data Valid I:1769-SM2
CH1 Drive 1 Logic Sts Valid I:1769-SM2 CH2 Drive 1 Logic Sts Valid I:1769-SM2 1769-SM2 CH2 Input Data Valid B3:0 3
1769-SM2 CH1 Input Data Valid B3:1769-SM2 CH2 Input Data Valid B3:1769-SM2 All Input Data Valid B3:1769-SM2 Config Data Error B3:0 1
Figure 6.6 Example MicroLogix 1500 Multi-Drive Ladder Logic CH1 Drive 0 Subroutine

1769-SM2 Channel 1 Drive 0 Subroutine The following rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Status word. CH1 Drv0 Logic Sts Bit 00 I:1769-SM2 CH1 Drv0 Logic Sts Bit 01 I:1769-SM2 CH1 Drv0 Logic Sts Bit 03 I:1769-SM2 CH1 Drv0 Logic Sts Bit 07 I:1769-SM2 CH1 Drv0 Logic Sts Bit 08 I:1769-SM2 CH1 Drive 0 Ready B3:CH1 Drive 0 Active B3:CH1 Drive 0 Running Fwd B3:CH1 Drive 0 Fault B3:CH1 Drive 0 At Speed B3:10 8
I:1.2 101< N7:1 101<
The following rungs display some of the Logic Command bits from the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. CH1 Drive 0 Stop B3:CH1 Drv0 Logic Cmd Bit 00 O:1769-SM2
Figure 6.6 Example MicroLogix 1500 Multi-Drive Ladder Logic CH1 Drive 0 Subroutine (Continued)
This rung unlatches the contact that turns on the Start command when the drive is not communicating with the 1769-SM2. This prevents the drive from immediately starting when communications is restored. If an immediate start is desired for the application, this rung could be deleted. CH1 CH1 Drive 0 Drive 0 Start Logic Sts Valid B3:11 I:1 U 0 1769-SM2 CH1 Drive 0 Start B3:CH1 Drive 0 Jog B3:CH1 Drive 0 Clear Faults B3:CH1 Drive 0 Forward B3:CH1 Drive 0 Forward B3:CH1 Drv0 Logic Cmd Bit 01 O:1769-SM2 CH1 Drv0 Logic Cmd Bit 02 O:1769-SM2 CH1 Drv0 Logic Cmd Bit 03 O:1769-SM2 CH1 Drv0 Logic Cmd Bit 04 O:1769-SM2 CH1 Drv0 Logic Cmd Bit 05 O:1769-SM2
This rung displays the Reference being sent to the drive. The data is used by the drive as xxx.x Hz format (decimal is implied), so entering a value of "300" equates to 30.0 Hz. CH1 Drive 0 Reference MOV Move Source Dest
N7:0 101< O:1.2 101<
The following rungs are used to send explicit messages to the 1769-SM2 to read and write Parameter 78 [Jog Frequency] in PowerFlex 4/40 drives. N7:2 = Write value N7:3 = Read value In Single mode, the desired parameter number is the value entered for the Target Device Instance number. Read Parameter Request B3:11 MSG EN 0014 Read/Write Message DN 14 MSG File MG9:0 ER Setup Screen Write Parameter Request B3:11 15
For additional information about the message setup, refer to page 5-3.
Multi-Drive Example Program Data Tables
Integer File N7: is used to contain the input and output data to/from the three channels:

N7: Words for CH1 Drive 0 Drive 1 Drive 23 Drive 33 Drive 43 Description Reference Feedback Parameter 78 Write Value Parameter 78 Read Value
N7: Words for CH2 Drive 0 Drive 1 Drive 73

Drive 83

Drive 93
Description Reference Feedback Parameter 78 Write Value Parameter 78 Read Value
An example of data table values are shown below:
A value of 101 for the Reference equates to 10.1 Hz. A value of 100 for drive Parameter 78 - [Jog Frequency] equates to 10.0 Hz. Since the Drive 14 and CH2 ladder routines are similar to the CH1 Drive 0 routine, they are not provided.
CH3 Modbus RTU Master Subroutine Example
In Multi-Drive mode, any channel can be configured for Modbus RTU Master operation. In the MicroLogix 1500 Multi-Drive ladder logic example, CH3 is used to communicate with a PowerFlex 70 drive via Modbus RTU operation.
Figure 6.7 Example MicroLogix 1500 Modbus RTU Ladder Logic CH3 Subroutine
1769-SM2 Channel 3 Modbus RTU Master Subroutine Channel 3 consists of a single PowerFlex 70 drive with a 20-COMM-H adapter. Write Logic Command and Reference. N7:100 = Slave Address ("15" is the 20-COMM-H address) N7:101 = Function Code ("16" is Write Multiple Registers command) N7:102 = Starting Address ("0" = 4x0001) N7:103 = Length ("3") N7:104 = Logic Command word N7:105 = MSW of 32-bit Reference N7:106 = 16-bit Reference or LSW of 32-bit Reference CH3 Write Control B3:30 0
MSG Read/Write Message MSG File MG9:20 Setup Screen
Execute the control message continuously if the CH3 Write Control bit (B3:30/0) is ON. Message Done MG9:20 DN Message Error MG9:20 ER Read Logic Status and Feedback. N7:110 = Slave Address ("15" is the 20-COMM-H address) N7:111 = Function Code ("4" is Read Input Registers command) N7:112 = Starting Address ("0" = 3x0001) N7:113 = Length ("3") The response data is stored in: N7:114 = Logic Status word N7:115 = MSW of 32-bit Feedback N7:116 = 16-bit Feedback or LSW of 32-bit Feedback CH3 Read Status B3:30 1

Message Enable MG9:20 U EN
MSG Read/Write Message MSG File MG9:21 Setup Screen
Execute the status message continuously if the CH3 Read Status bit (B3:30/1) is ON. Message Done MG9:21 DN Message Error MG9:21 ER
Message Enable MG9:21 U EN
Figure 6.7 Example MicroLogix 1500 Modbus RTU Ladder Logic CH3 Subroutine (Continued)
Write Parameter 100 [Jog Frequency] (written 1x per request). N7:120 = Slave Address ("15" is the 20-COMM-H address) N7:121 = Function Code ("6" is Write Single Register command) N7:122 = Starting Address ("1099" = 4x1100) N7:123 = Length ("1") N7:124 = Pr. 100 [Jog Frequency] Write Value CH3 Write Pr.100 B3:30 2
MSG Read/Write Message MSG File MG9:22 Setup Screen
Read Parameter 100 [Jog Frequency] (read 1x per request). N7:130 = Slave Address ("15" is the 20-COMM-H address) N7:131 = Function Code ("3" is Read Holding Register command) N7:132 = Starting Address ("1099" = 4x1100) N7:133 = Length ("1") The response data is stored in: N7:134 = Pr. 100 [Jog Frequency] Read Value CH3 Read Pr.100 B3:30 3
MSG Read/Write Message MSG File MG9:23 Setup Screen RET Return
The Logic Command/Reference write message instruction on rung 0000 is configured as follows:
MicroLogix 1500 Example Ladder Programs The format of the command data is:
The Logic Status/Feedback read message instruction on rung 0002 is configured as follows:
The format of the command data is:
The format of the response data is:
MicroLogix 1500 Example Ladder Programs The write message instruction on rung 0004 for PowerFlex 70 drive Parameter 100 - [Jog Speed] is configured as follows:
Data Word N7:120 N7:121 N7:122 N7:123 N7:124 Example Value 111 Description PowerFlex 70 node address Function Code Write Single Registers Starting Register Address (41100) Number of registers to write Parameter 100 write data
MicroLogix 1500 Example Ladder Programs The read message instruction on rung 0005 for PowerFlex 70 drive Parameter 100 - [Jog Speed] is configured as follows:
Data Word N7:130 N7:131 N7:132 N7:133 Example Value Description PowerFlex 70 node address Function Code Read Holding Registers Starting Register Address (41100) Number of registers to read
Data Word N7:134 Example Value 111 Description Parameter 100 read data

A 17486 equates to Parameter 78 (17486 - 17408 = 78), since 17408 is Instance 0 in the drive (17409 is Parameter 1). For additional information about the message setup, refer to page 5-3.
Multi-Drive Example Program Tags
The following tags are used to contain the input and output data to/from CH1 Drive 0:
Since the Drive 14 and CH2 ladder routines are similar to the CH1 Drive 0 routine, they are not provided.
In Multi-Drive mode, any channel can be configured for Modbus RTU Master operation. In the CompactLogix Multi-Drive ladder logic example, CH3 is used to communicate with a PowerFlex 70 drive via Modbus RTU operation.
Figure 7.7 Example CompactLogix Modbus RTU Ladder Logic CH3 Subroutine
1769-SM2 Channel 3 Modbus RTU Master Subroutine Channel 3 consists of a single PowerFlex 70 drive with a 20-COMM-H adapter. i Write Logic Command and Reference. CH3_MSG1_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG1_REQ[1] = Function Code ("16" is Write Multiple Registers command) CH3_MSG1_REQ[2] = Starting Address ("0" = 4x0001) CH3_MSG1_REQ[3] = Length ("3") CH3_MSG1_REQ[4] = Logic Command word CH3_MSG1_REQ[5] = MSW of 32-bit Reference CH3_MSG1_REQ[6] = 16-bit Reference or LSW of 32-bit Reference MSG Type - CIP Generic Message Control
Channel 3 Write Control CH3_WR_Control 0

CH3_MSG1.

Execute the control message continuously if the CH3_WR_Control bit is ON. CH3_MSG1.DN 1 CH3_MSG1.ER CH3_MSG1.EN U
Read Logic Status and Feedback. CH3_MSG2_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG2_REQ[1] = Function Code ("4" is Read Input Registers command) CH3_MSG2_REQ[2] = Starting Address ("0" = 3x0001) CH3_MSG2_REQ[3] = Length ("3") The response data is stored in: CH3_MSG2_RESP[0] = Logic Status word CH3_MSG2_RESP[1] = MSW of 32-bit Feedback CH3_MSG2_RESP[2] = 16-bit Feedback or LSW of 32-bit Feedback MSG Type - CIP Generic Message Control
Channel 3 Read Status CH3_RD_Status 2

CH3_MSG2.

Execute the status message continuously if the CH3_RD_Status bit is ON. CH3_MSG2.DN 3 CH3_MSG2.ER CH3_MSG2.EN U
Figure 7.7 Example CompactLogix Modbus RTU Ladder Logic CH3 Subroutine (Continued)
Write Parameter 100 [Jog Frequency] (written 1x per request) CH3_MSG3_REQ[0] = Slave Address ("15" is the 20-COMM-H address) CH3_MSG3_REQ[1] = Function Code ("6" is Write Single Register command) CH3_MSG3_REQ[2] = Starting Address ("1099" = 4x1101) CH3_MSG3_REQ[3] = Length ("1") CH3_MSG3_REQ[4] = Pr.100 Write Value Channel 3 Write Pr.100 CH3_WR_Pr100 4
MSG Type - CIP Generic Message Control

CH3_MSG3.

This rung enables the 1769-SM2 to send the Channel 1 Logix Command and Reference words to the drive. o CH1_Enable <SM2_Output_Data[0].0> 2
Channel 1 Subroutine 3 CH1 control logic JSR Jump To Subroutine Routine Name Channel_1
This rung enables the 1769-SM2 to send the Channel 2 Logix Command and Reference words to the drive. o CH2_Enable <SM2_Output_Data[0].1> 4
Channel 2 Subroutine 5 CH2 control logic JSR Jump To Subroutine Routine Name Channel_2
Figure 8.18 Example ControlLogix Ladder Logic Main Routine (Continued)
This rung enables the 1769-SM2 to send the Channel 3 Logix Command and Reference words to the drive. CH3_Enable <SM2_Output_Data[0].2> 6
Channel 3 Subroutine 7 CH3 control logic JSR Jump To Subroutine Routine Name Channel_3
CH1_Valid_Data CH2_Valid_Data CH3_Valid_Data <SM2_Input_Data[2].0> <SM2_Input_Data[2].5> <SM2_Input_Data[2].10> 8 SM2_Cfg_Data_Valid <SM2_Input_Data[2].15> 9 / Copy the SM2 input data array (INT format) to the DNB Outputs (DINT format). SM2_Output_Data[0] = SM2 Status word SM2_Output_Data[1] = SM2 CH1 Logic Command SM2_Output_Data[2] = SM2 CH1 Reference SM2_Output_Data[3] = SM2 CH2 Logic Command SM2_Output_Data[4] = SM2 CH2 Reference SM2_Output_Data[5] = SM2 CH3 Logic Command SM2_Output_Data[6] = SM2 CH3 Reference 10
COP Copy File Source SM2_Output_Data[0] Dest Local:6:O.Data[0] Length 4
Figure 8.19 Example ControlLogix Ladder Logic CH1 Subroutine
1769-SM2 Channel 1 Subroutine The following rungs display some of the Logic Status bits from the drive. Refer to Appendix D in the 1769-SM2 user manual i for additional information about the Logic Status word. SM2_Input_Data[3].CH1_Ready
SM2_Input_Data[3].SM2_Input_Data[3].SM2_Input_Data[3].SM2_Input_Data[3].8 4
This rung displays the Feedback from the drive. An integer represents the xxx.x Hz format (decimal is implied) used by the drive, so a displayed value of "300" equates to 30.0 Hz. MOV Move Source SM2_Input_Data[4] 100 Dest CH1_Feedback 100
i The following rungs display some of the Logic Command bits sent to the drive. Refer to Appendix D in the 1769-SM2 user manual for additional information about the Logic Command word. CH1_Stop 6 This rung unlatches the contact that turns on the Start command when the drive is not communicating with the 1769-SM2. This prevents the drive from immediately starting when communications are restored. If an immediate start is desired for an application, this rung could be deleted. CH1_Valid_Data <SM2_Input_Data[2].0> CH1_Start 7 / U SM2_Output_Data[1].0
CH1_Start 8 CH1_Jog 9 CH1_Clear_Fault 10

DSI Parameter Name DSI Parameter Alias Parameter Processing Error
Descriptor (see pages C-12 and C-13) Parameter value Minimum value Maximum value Default value Parameter name Units (e.g., Amp, Hz) Parameter name Customer supplied parameter name. Only supported by PowerFlex 700S at time of publication. 0 = No error 1 = Value is less than the minimum 2 = Value is greater than the maximum
A CONTAINER is a 32-bit block of data that contains the data type used by a parameter value. If signed, the value is sign extended. Padding is used in the CONTAINER to ensure that it is always 32-bits. (2) This value is used in the formulas used to convert the parameter value between display units and internal units. Refer to Formulas for Converting on page C-13. (3) Do NOT continually write parameter data to NVS. Refer to the attention on page 5-1.

Descriptor Attributes

Bit 2 Name Data Type (Bit 1) Data Type (Bit 2) Data Type (Bit 3) Description Right bit is least significant bit (0). 000 = BYTE used as an array of Boolean 001 = WORD used as an array of Boolean 010 = BYTE (8-bit integer) 011 = WORD (16-bit integer) 100 = DWORD (32-bit integer) 101 = TCHAR (8-bit (not unicode) or 16-bits (unicode)) 110 = REAL (32-bit floating point value) 111 = Use bits 16, 17, = unsigned 1 = signed 0 = visible 1 = hidden 0 = Parameter can sink a link 1 = Parameter cannot sink a link 0 = Recallable from NVS 1 = Not Recallable from NVS 0 = No ENUM text 1 = ENUM text 0 = Read only 1 = Read/write 0 = Writable when enabled (for example, drive running) 1 = Not writable when enabled 0 = Parameter value is not a Reference to another parameter 1 = Parameter value refers to another parameter Must be zero Number of digits to the right of the decimal point. 0000 = = 15 Right bit is least significant bit (16). 000 = Reserved 001 = DWORD used as an array of Boolean 010 = Reserved 011 = Reserved 100 = Reserved 101 = Reserved 110 = Reserved 111 = Reserved
Sign Type Hidden Not a Link Sink Not Recallable ENUM Writable Not Writable When Enabled Instance
Reserved Decimal Place (Bit 0) Decimal Place (Bit 1) Decimal Place (Bit 2) Decimal Place (Bit 3) Extended Data Type (Bit 1) Extended Data Type (Bit 2) Extended Data Type (Bit 2)
Descriptor Attributes (Continued)
Bit 31 Name Parameter Exists Not Used Formula Links Access Level (Bit 1) Access Level (Bit 2) Access Level (Bit 3) Writable ENUM Not a Link Source Enhanced Bit ENUM Enhanced ENUM Not Used Not Used Not Used Description Reserved Reserved Reserved Reserved Reserved Reserved Reserved 0 = Parameter can be a source for a link 1 = Parameter cannot be a source for a link Reserved Reserved Reserved Reserved Reserved

Index-5 related documentation, P-1 removing power from the module, 2-2 replacing module within a system, 2-9 Reset Module parameter, B-2 resetting the module, 3-20 RSLinx, P-3, 8-2 RSLogix 500/5000, G-4 RSNetWorx for DeviceNet definition, G-4 setting up RSLinx for, 8-2 using, 8-3 web site, G-4 RTU Baud Rate 1 parameter, B-3 RTU Baud Rate 2 parameter, B-5 RTU Baud Rate 3 parameter, B-7 RTU baud rate definition, G-4 RTU Format 1 parameter, B-3 RTU Format 2 parameter, B-5 RTU Format 3 parameter, B-7 RTU Master operation setting the baud rate, 3-17 setting the RTU format, 3-17 setting the Rx Delay Time, 3-18 setting the Tx Delay Time, 3-18 RTU MsgTimeout 1 parameter, B-4 RTU MsgTimeout 2 parameter, B-6 RTU MsgTimeout 3 parameter, B-8 RTU Rx Delay 1 parameter, B-3 RTU Rx Delay 2 parameter, B-5 RTU Rx Delay 3 parameter, B-7 RTU Tx Delay 1 parameter, B-4 RTU Tx Delay 2 parameter, B-6 RTU Tx Delay 3 parameter, B-8 Single mode versus Multi-Drive mode, 1-3 specifications DeviceNet, G-1 module, A-1 status indicators CH1CH3, 1-10, 9-3 definition, G-5 locating, 1-10 MODULE, 1-10, 9-2 normal operation, 2-15 troubleshooting with, 9-2 to 9-3 understanding, 9-1
technical support, P-2 tools required, 1-6 troubleshooting, 9-1
understanding the I/O image, 4-1 updating module, see flash update using RSNetWorx for DeviceNet, 8-3
web site DeviceNet, G-1 DriveExecutive software, G-2 DriveExplorer software, G-2 DriveTools SP software, G-2 EDS files, G-2 ODVA (Open DeviceNet Vendors Association), G-1 related documentation, P-1 RSLogix 500/5000, G-4 RSNetWorx for DeviceNet, G-4
safety precautions, 1-7 scanner, G-5 setting 1769-ADN, 8-4 Configuration Mode switch (SW1), 2-3 Operating Mode switch (SW2), 2-4
zero data configuring the module for, 3-15 definition, G-5

Index-6

U.S. Allen-Bradley Drives Technical Support Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: support@drives.ra.rockwell.com, Online: www.ab.com/support/abdrives
www.rockwellautomation.com
Power, Control and Information Solutions Headquarters
Americas: Rockwell Automation, 1201 South Second Street, Milwaukee, WI 53204-2496 USA, Tel: (1) 414.382.2000, Fax: (1) 414.382.4444 Europe/Middle East/Africa: Rockwell Automation, Pegasus Park, De Kleetlaan 12a, 1831 Diegem, Belgium, Tel: (32) 0600, Fax: (32) 0640 Asia Pacific: Rockwell Automation, Level 14, Core F, Cyberport 3, 100 Cyberport Road, Hong Kong, Tel: (852) 2887 4788, Fax: (852) 2508 1846