Handout Training Drive

&
Drive Executive
Software
1
AGENDA
1. VSD overview
2. Teknologi VSD
3. Instalasi VSD
4. Start Up POWERFLEX
5. Kontrol Powerflex melalui Network
6. Troubleshooting
Lampiran A: Basic Drive Programming Hands-

On Lab
Lampiran B: Advanced Drive Programming

Hands-Ob Lab
Lampiran C: Integrasi drive & Controllogix

Programming Hands-On Lab
2
Bab 1
Variable Speed Drive
Apakah Variable Speed Drive (VSD) itu?

Variable Speed Drive,VSD sering disebut juga sebagai adjustable speed drive
(ASD) Pada dasarnya VSD adalah suatu peralatan yang fungsi utamanya
adalah untuk untuk mengatur kecepatan motor.
Meskipun ada beberapa tipe VSD seperti: Mechanical VSD, Hydraulic VSD
dan Electrical VSD tetapi dalam materi training ini hanya dibicarakan
mengenai electrical VSD untuk AC motor atau AC Drive.
Seperti kita ketahui kecepatan AC motor dirumuskan sebagai berikut::

N = 120 f
P
N = Synchronous RPM (kecepatan sinkron)

f = frekwensi
P = jumlah Pole motor
Berdasarkan rumus di atas dengan mengubah masukan frekwensi ke motor

maka kecepatan motor juga akan berubah berbanding lurus dengan
perubahan frekwensi. Oleh karena yang diubah adalah frekwensi-nya, maka
ada juga yang menamakan sebagai adjustable frequency drive (AFD) dan
ada juga yang menyebut sebagai frequency converter.
Beberapa motor memang ada yang dirancang untuk mempunyai kemampuan

untuk berubah jumlah pole-nya, tetapi pada umumnya jumlah pole motor
adalah tetap.
Blok skematik dari VSD dapat digambarkan sbb:
3
Gambar 1.
Di sisi sebelah kiri pada gambar diatas adalah input converter (Rectifier) yang
umumnya terdiri dari 6 buah diode untuk ukuran VSD dengan rating ampere
kecil dan VSD kapasitas rating ampere besar umumnya menggunakan SCR
(silicon controlled rectifier).
Bagian tengah adalah DC Bus filters yang terdiri dari rangkain indictor (L) dan
capacitor (C) yang berfungsi sebagai filter dan membuat bentuk gelombang
hasil dari input converter menjadi lebih rata.
Dan bagian sisi kanan dari gambar diatas adalah bagian output inverter, yang
merubah dari tegangan DC kembali ke AC. Teknologi yang umum dipakai
sekarang adalah menggunakan IGBT (insulated gate bipolar transistor).
Sedangkan teknologi sebelumnya menggunakan Bipolar Transistor, atau
bahkan sebelum itu bisa juga menggunakan SCR.
Bab 1.1 Fungsi AC Drive dan kelebihannya.

Selain fungsi utamanya untuk mengatur kecepatan motor, AC drive berguna
juga untuk:
1. Mengatur arah putaran.
Cara yang lama untuk mengatur arah putaran motor searah jarum jam
ataupun berlawanan jarum jam adalah mengunakan reversing starter.
4
Reversing starter ini menggunakan 2 buah contactor yang harus
bekerja secara interlock untuk membalik urutan phasa tegangan listrik
ke motor, seperti diperlihatkan pada gambar 1.1 di bawah.
Gambar 1.1 Reversing Starter dengan Circuit Breaker

Reversing starter ini mempunyai banyak kekurangan/kelemahan, dimana
akan terjadi high starting current dan juga mechanical stress baik pada
saat start running forward maupun start running reverse. Hal ini tidak
akan terjadi jika VSD digunakan untuk mengatur arah putaran.
2. Fungsi yang lain dari VSD adalah untuk Soft start & Soft stop.
Ada banyak cara untuk soft start dan beberapa cara untuk soft stop
selain menggunakan VSD. Diantaranya menggunakan: star–delta
starting, autotransformer, solid state soft starter.
Gambar 1.2 menunjukkan star-delta starter dengan proteksi hanya
menggunakan satu Circuit Breaker, dengan cara ini selama periode
starter terhubung star maupun terhubung delta akan hanya diproteksi
dari satu buah proteksi CB yang sama walaupun arus ke motor saat
terhubung star dan delta berbeda.
5
Gambar 1.2 Star-delta starter dengan 1 Circuit Breaker
Gambar 1.3 Star-delta starter dengan 1 circuit breaker dan 2 thermal

Overload relays
6
Gambar 1.4 Star-delta starter dengan 1 CB dan 1 tambahan 1 thermal OL
relays terhubung seri dengan star contactor saat running.
7
Gambar 1.5 Star- Delta starter dengan 2 CB untuk mengurangi cross section
of the motor connecting lead & suitable for heavy duty starting
Dari semua model konfigurasi star-delta starter di atas masih mempunyai

kekurangan yaitu saat terjadi perpindahan dari star ke delta akan masih ada
lonjakan arus listrik dan dari instalasi kabelnya rumit, selain itu juga banyak
peralatan / komponen yang digunakan. Torsi awal motor juga tidak bisa
dikontrol, akibatnya dapat berpengaruh ke sistem mekanik (mechanical
stress).
Pertanyaan: Apakah dengan star delta starter kita dapat melakukan soft
stop?
Jawab:________________________________
8
Gambar 1.6 Solid State soft starter
Cara yang lebih baik untuk soft start adalah menggunakan Solid State soft
starter seperti terlihat pada gambar 1.6 di atas atau menggunakan VSD
seperti pada gambar 1.7.
3. Torsi.
Torsi yang dihasilkan oleh VSD lebih baik dari yang dihasilkan oleh soft
starter.
4. Penghematan daya listrik atau “energy saving”

Banyak aplikasi yang tidak selamanya memerlukan motor berjalan
dalam kondisi putaran maksimum. Contoh yang paling umum adalah
pengatur aliran udara atau air flow controller. Dengan menggunakan
VSD maka penghematan energi listrik dapat dilakukan dibanding kalau
menggunakan damper untuk mengatur aliran udara.
Semua hal di atas akan menjadi jauh lebih baik dan mudah jika
menggunakan VSD seperti terlihat pada gambar 1.7. Instalasi/wiring sangat
9
mudah, tidak memerlukan ruang atau space yang besar, komponen seperti :
contactor, OL relays dapat dihilangkan.
Gambar 1.7 Diagram rangkaian AC Drive yang terdiri dari rectifier dan inverter
10
Bab 2
Teknologi & Kontrol pada AC Drive
Bab 2.1 Teknologi AC Drive

Dilihat dari bentuk gelombang yang dihasilkan oleh AC Drive, ada 3 kategori
teknologi pada AC drive, yaitu:
1. Variable Voltage Inverter, VVI
2. Current Source Inverter, CSI
3. Pulse Width Modulation, PWM
Bab 2.1.1 Variable Voltage Inverter (VVI)

Teknologi VVI ini menyearahkan AC input power yang dilakukan oleh
rectifier/converter dan meneruskan tegangan DC yang variabel ke bagian
inverter. Bagian inverter kemudian mengubah tegangan DC variabel ini ke
variabel tegangan dan frekwensi AC. Komponen pada sisi inverter umumnya
terdiri dari power transistor atau thyristor (SCR).
SCR bridge pada bagian rectifier mengubah masukan catu daya 3 phase
menjadi tegangan DC variabel yang di filter dan kemudian sebagai masukan
ke bagian inverter. Pada bagian inverter ini membangkitkan variabel
tegangan, variabel frekwensi untuk mengatur kecepatan motor. Dengan
mempertahankan perbandingan (ratio) volts per hertz memungkinkan motor
untuk memberikan torsi output motor konstan. Karena besarnya filter
kapasitor yang dipakai untuk memberikan tegangan ke bagian inverter,
tegangan output tidak terlalu terpengaruh oleh perubahan beban.
11
Gambar 2.1 Variable voltage inverter
Gambar 2.2 Bentuk gelombang output VVI
Bab 2.1.2 Current Source Inverter (CSI)

CSI drive terdiri dari sebuah rectifier dengan variable voltage SCR bridge,
bagian inverter untuk pengaturan frekwensi dan inductor. SCR bridge
menyearahkan masukan tegangan AC untuk memberikan inputan ke sisi
inverter. Bagian inverter mengatur frekwensi output dan akibatnya mengatur
juga kecepatan motor. Induktor membatasi kecepatan perubahan arus.
Gambar 2.3 menunjukan blok diagram dari konversi power CSI drive
Gambar 2.3 Konversi power unit CSI drive
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Bagian logik untuk kontrol men-trigger SCR pada interval waktu yang tepat
sesuai masukan gelombang sinus ke rectifier. Bagian inverter
membangkitkan tegangan variabel, frekwensi variabel untuk mengatur
kecepatan motor. Rectifier atau penyearahnya adalah phase controlled
rectifier yang mampu untuk mengembalikan tegangan ke sumber tegangan
jika terjadi regenerative power yang disebabkan oleh beban. CSI drive ini
memakai pengatur arus untuk kontrol dibanding pengatur tegangan. Bentuk
gelombang tegangan dan arus untuk CSI drive ditunjukkan pada gambar 2.4
Voltage
Line-to-Neutral
AC Line
Current
Gambar 2.4 bentuk gelombang tegangan dan arus CSI drive
Teknologi CSI drive ini jarang ditemukan/digunakan pada low voltage AC

drive karena teknologi dan biaya yang cukup mahal. Allen Bradley
menggunakan teknologi CSI drive ini pada medium voltage AC drive yaitu
Powerflex 7000 yang merupakan generasi terbaru untuk AC drive di
tegangan menengah.
Bab 2.1.3 Pulse Width Modulation (PWM)

Teknologi PWM inilah yang paling banyak dipakai saat ini untuk aplikasi di
low voltage AC drive, termasuk yang digunakan di semua low voltage AC
drive Allen Bradley seperti: 1336 family, PowerFlex 4, PowerFlex 40,
PowerFlex 400, PowerFlex 70, PowerFlex 700.
13
Pada PWM drive ini diode bridge rectifier menghasilkan tegangan DC yang
umumnya kemudian di filter dengan LC low pass filter. Sedangkan frekwensi
dan tegangan output dikontrol secara elektronik dengan mengatur lebar pulsa
tegangan ke motor.
Teknik PWM ini memerlukan switching di bagian power komponen inverter on

dan off secara berulang-ulang untuk membangkitkan tegangan RMS pada
level yang sesuai. Power komponen inverter yang digunakan umumnya
adalah transistor atau IGBT (IGBT = Insulated Gated Bipolar Transistor).
Dengan menggunakan IGBT kemampuan switching dari pulsa PWM bisa
lebih cepat dan switching dari carrier frekwensi ini bisa di set antara 2 – 10
kHz lewat salah satu parameter di powerflex. Dan karena switching/carrier
frekwensi cukup tinggi maka gelombang output yang dihasilkan cenderung
lebih baik.
Gambar 2.5 PWM drive
14
Walaupun teknik switching ini cukup rumit tapi dengan menggunakan
microprocessor fungsi ini menjadi lebih mudah. Pada dasarnya untuk
membangkitkan sinyal PWM adalah hasil dari kombinasi gelombang sinus
dan gelombang segitiga (triangle waveform), seperti diperlihatkan pada
gambar 2.6. Signal segitiga ini adalah carrier / switching frequency dari
inverter. Pada Allen Bradley drive, carrier frequency ini bisa diubah dari
setting parameter yang tersedia di AC drive. Sebagai contoh: untuk
PowerFlex 70 / 700 / 700H setting carrier frequency di parameter 151.
Triangle
Generator
PWM
Modulation
Generator
Gambar 2.6 PWM Generator
Gambar 2.6 Output PWM generator
15
Gambar 2.7 Bentuk Gelombang output PWM
Gambar 2.8. Perbandingan gelombang untuk frekwensi rendah dan tinggi
16
Bab 2.2 Tipe Kontrol AC Drive
Pada umumnya teknologi PWM ini yang digunakan untuk AC drive. PWM AC
drive mempunyai beberapa tipe kontrol. Ada 4 dasar tipe kontrol yang
dijumpai di AC drive saat ini, yaitu:
Basic Control Types
Volts/Hertz
Volts/HertzControl
Control Flux
FluxVector
VectorControl
Control
(V/Hz)
(V/Hz) (FVC)
(FVC)
Sensorless
SensorlessVector
VectorControl
Control Field
FieldOriented
OrientedControl
Control
(SVC)
(SVC)
3/31/99 5
1. Volt per Hertz control

2. Sensorless Vector Control
3. Flux Vector Control
4. Field Oriented Vector Control
Bab 2.2.1 Volt per Hertz

Kontrol V/Hz adalah metode kontrol dasar yang paling sederhana, perintah
pengaturan kecepatan diberikan dari masukan luar bisa berupa
potensiometer, sinyal tegangan analog, dll. Dengan menjaga perbandingan
V/Hz secara konstan, drive dapat mengkontrol kecepatan motor.
Contoh: motor dengan nameplate tegangan 240VAC; frekwensi 60Hz, maka

perbandingan V/Hz = 240/6 = 4. Jika kecepatan motor ingin dipercepat
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misalnya sampai 90Hz, maka besarnya tegangan harus ikut naik menjadi
360VAC yang berasal dari 4 x 90 = 360. Begitu juga sebaliknya jika motor
ingin diperlambat misalnya sampai 45Hz, maka besarnya tegangan ke motor
harus juga berkurang menjadi 4 x 45 = 180VAC.
Alasan mengapa perbandingan V/Hz harus dijaga konstan adalah kuat

medan magnet stator harus dijaga konstan pada semua kondisi operasi. Jika
kuat medan stator naik jauh diatas nilai yang diperbolehkan menurut design
motor, maka motor akan mengalami saturasi magnetik (magnetic saturation).
Hal ini menyebabkan berkurangnya induksi tegangan dan arus ke rotor dan
akibatnya kemampuan motor untuk menghasilkan torsi berkurang. Di sisi
lain jika kuat medan magnet stator turun jauh dibawah nilainya, maka medan
magnet yang dihasilkan juga lemah dan induksi tegangan dan arus pada rotor
juga menjadi lemah, akibatnya torsi yang dihasilkan juga lemah.
Jadi kuat medan magnet yang dihasilkan oleh lilitan stator harus dijaga
konstan nilainya, walaupun frekwensi berubah. Lalu apa yang menentukan
nilai dari kuat medan magnet stator? Arus magnetisasi stator.
Arus magnetisasi dari motor induksi adalah arus yang mengalir melalui lilitan
stator ketika rotor berputar pada kecepatan tetap dan tanpa beban. Ini sama
halnya seperti arus magnetisasi dari transformer yang mengalir melalui lilitan
primer ketika lilitan sekunder tidak ada beban.
Impedansi / reaktansi dari AC motor dapat dirumuskan sebagai berikut:
2
Z= R + XL
2
R = resistansi
X L = reaktansi induktif
X L = 2π f L
Jika diumpamakan R = 0 (diabaikan) dan
18
Id = V/Z ; Id = arus magnetisasi
= V / (2π f L )
Dari persamaan di atas 1/(2πL) adalah konstan.
Jadi
Id ~ V / f
Gambar 2.9 menunjukkan blok diagram drive dengan kontrol V/Hz. Blok
current limit berfungsi untuk memonitor arus motor dan mengubah perintah
pengatur kecepatan ketika arus motor melibihi nilainya.
Gambar 2.9 Blok diagram control V/Hz
Blok V/Hz berfungsi mengubah menjaga agar perbandingan V/Hz tetap

konstan dan memberikan masukan tegangan ke blok voltage control.
Perbedaan sudut tegangan dan arus akan menentukan flux current ke motor.
Jika sudutnya tidak benar dapat menyebabkan motor beroperasi tidak stabil.
Dan karena perbedaan sudut tegangan dan arus tidak dikontrol oleh V/Hz
drive ini, maka drive ini kurang baik untuk aplikasi pada kecepatan rendah
dan keadaan yang berubah ubah. Sebagai feature tambahan untuk drive
pada generasi yang lebih baru, ”slip compensation“ blok dipakai untuk
memperbaiki pengaturan kecepatan. Slip compensation ini akan mengubah
reference frekwensi ketika ada perubahan beban untuk menjaga aktual
kecepatan motor mendekati kecepatan yang diinginkan.
19
Secara umum drive ini baik untuk banyak aplikasi, tetapi tidak cocok untuk
aplikasi yang memerlukan dinamik performance yang tinggi, kecepatan
sangat rendah, atau aplikasi yang memerlukan kontrol langsung dari torsi
motor.
V/Hz Speed vs. Torque
Gambar 2.10a V/Hz Speed vs Torsi
Gambar di atas menunjukkan steady state performance dari V/Hz drive. Torsi
Transducer dipasang langsung pada shaft motor dan menghasilkan data
seperti di atas. Drive diberi speed reference yang tetap. Kemudian beban
pada motor dinaikkan dan actual shaft torsi di monitor.
Kalau diperhatikan maka kemampuan drive untuk menjaga torsi output tetap
tinggi pada kecepatan rendah akan drop/jatuh pada frekwensi +/- 3 Hz. Ini
adalah normal karakteristik dari V/Hz drive. Dan ini adalah salah satu alasan
bahwa range/batasan kecepatan untuk V/Hz drive tipikalnya sekitar 20:1.
Jika bebannya naik , kecepatan motor akan turun. Ini bukan meng-indikasi-
kan starting torque. Ini hanya menunjukkan kemampuan dari drive untuk
menjaga torsi output pada periode yang lama.
20
Selain itu untuk menghadapi perubahan beban tiba2 (“shock load”),
memerlukan waktu yang lama untuk recover
Gambar 2.10b V/Hz : Shock Load
Bab 2.2.2 Sensorless Vector Control

Teknologi Sensorless Vector Control mempunyai kelebihan dalam hal akurasi
pengaturan kecepatan dan mampu menghasilkan torsi yang tinggi pada saat
start jika dibandingkan teknologi V/Hz.
Mungkin yang sedikit membingungkan dari kata-kata Sensorless Vector

Control adalah istilah Vector itu sendiri. Seperti yang banyak kita pelajari
semasa kita di sekolah bahwa Vector adalah kombinasi dari besaran dan
arah dari gaya untuk menghasilkan usaha.. Semua teknologi Vector Drive
mempunyai dasar yang sama, yaitu:
o Arus pada Ac motor dapat dipisahkan dalam dua komponen:
o Id, atau Flux Producing Current (arus magnetisasi)
21
o Iq, atau Torque Producing Current
o Arus total adalah jumlah vector dari dua komponen arus tersebut
o Torsi yang dihasilkan motor didasarkan hasil kali dari komponen-
komponen Vector.
Secara ringkas Id dan Iq dapat digambarkan seperti gambar 2.11 di berikut.
Motor Current Vectors
Total Current is the Vector sum of

nt
l C urre Magnetizing and Torque-producing
Magnetizing
To ta
current, which are at a right angle
Current
to each other.
Torque-Producing Current
Stator Rotor
Air
Gap Torque
Stator Leakage Rotor
Resistance Reactance Reactance Current
R1 XLR
XR
Total Current
Magnetizing XM RLOAD
Current
l • High % of total current is “magnetizing” current

ta t LIGHT
Magnetizing To ren LOAD • Magnetizing current is reactive (low p.f.)
Current r
Cu
• Measured (total) motor current is not a good
Torque- indicator of load level.
Producing
Current
• Most of total current is
MEDIUM
nt torque-producing
lC urre LOAD
Magnetizing
Tota • Motors run at high
Current & power factor
Torque-Producing Current HEAVY • Total motor current is
LOAD proportional to load level.
nt
Magnetizing Curre
Current Total
Torque-Producing Current
Gambar 2.11 Motor Current Vectors
22
Walaupun tidak ada hubungan fisik langsung, model dari motor induksi dapat
digambarkan seperti gambar 2.11 di atas
Sensorless Vector Control Drive, seperti halnya V/Hz drive tetap beroperasi
sebagai frekwensi kontrol Drive, dengan slip kompensasi dijaga sehingga
actual kecepatan motor mendekati kecepatan yang diinginkan. Blok diagram
dari Sensorless Vector Control diperlihatkan pada gambar 2.12 berikut
Sensorless Vector Control Current Feedback
TORQUE CUR
ESTIMATOR
V/Hz Control
INVERTER
V Mag
+ CURRENT VOLTAGE VOLTAGE Gate
Speed Ref (Hz) Elec. Ref Elec. Frequency MOTOR
LIMIT VECTOR CONTROL Signals
V Angle
+
Auto Tune
TORQUE CUR
Parameters
ESTIMATOR
SLIP
Slip Frequency
ESTIMATOR
Voltage Feedback
“V Angle” controls the amount of total motor

current that goes into motor flux
Gambar 2.12 Sensorless Vector Control
Blok Torque Current Estimator menentukan persen arus yang sephase

dengan tegangan, memberikan perkiraan besarnya Torque Current. Ini
berguna untuk memperkirakan besarnya slip, sehingga kontrol kecepatannya
menjadi lebih baik pada saat load rendah. Pada teknik kontrol Sensorless
Vector ini baik besarnya maupun sudut phase dari tegangan dan arus
dikontrol. Dengan mengontrol sudut phase ini, pada operasi kecepatan
rendah dan torsi yang dihasilkan lebih baik jika dibanding V/Hz Drive. Grafik
23
tentang Torsi dan kecepatan secara umum pada Sensorless Vector Control
Drive seperti gambar 2.13a
Gambar 2.13a Speed Vs Torsi, Sensorless Vector Control
24
Gambar 2.13a Sensorless Vector Control : Shock Load
Bab 2.2.3 Flux Vector Control

Flux Vector Control menghasilkan kontrol kecepatan dan torsi yang lebih
presisi dibanding teknologi V/Hz ataupun Sensorless Vector Control. Seperti
bisa dilihat pada blok diagram di bawah, Flux Vector Control mirip seperti
V/Hz kontrol ataupun Sensorless vector Control dengan tambahan ”Current
Resolver“ yang mengidentifikasi Flux Producing Current, Id dan Torque
Producing Current ,Iq. Blok Current Limit digantikan dengan Current
Regulator yang memungkinkan kontrol motor lebih akurat. Output dari
Current Regulator tetap referensi frekwensi.
Pada versi awal dari Flux Vector diperlukan sinyal Feedback kecepatan
(umumnya adalah enkoder), tetapi sekarang juga bisa tanpa menggunakan
feedback kecepatan.
25
Flux Vector Control w/Feedback
Flux I Estimate
CURRENT
Current Feedback
RESOLVER
Torque I Estimate
V/Hz Control
INVERTER
V Mag
SPEED CURRENT VOLTAGE VOLTAGE Gate

Speed Ref Torque Current Reference MOTOR
REG. REG. VECTOR CONTROL Signals
V Angle
PG
Auto Tune
Parameters
Electrical Frequency
Voltage Feedback
Speed Feedback
Gambar 2.14 Flux Vector Control dengan Feedback Device
Sensorless Flux Vector Control

Flux I Estimate
CURRENT
Current Feedback
RESOLVER
Torque I Estimate
V/Hz Control
INVERTER
V Mag
SPEED CURRENT VOLTAGE VOLTAGE Gate

Speed Ref Torque Current Reference MOTOR
REG. REG. VECTOR CONTROL Signals
V Angle
Auto Tune
Parameters
TORQUE CUR
ESTIMATOR
Voltage Feedback
+
- SLIP
Estimated Speed
ESTIMATOR
Gambar 2.15 Sensorless Flux Vector Control
26
Dari grafik dibawah ini dapat dilihat bahwa kontrol kecepatan lebih baik dan
torsi yang dihasilkan juga lebih baik walaupun pada kecepatan yang sangat
rendah torsinya akan turun.
Flux Vector Control - Torque Vs Speed
2
Torque
12 5 10 20 30 40 50 60
Speed (Hz)
Gambar 2.16 Flux Vector Control – Torsi Vs Kecepatan
Bab 2.2.4 Field Oriented Vector Control

Apa yang membedakan Field Oriented Control dengan Vector Control?
Vector Control sebagaimana telah dibahas sebelumnya dimana arus motor
adalah penjumlahan secara Vector dari Flux Producing Current dan Torque
Producing Current dan besaran informasi ini digunakan untuk mengontrol
kecepatan maupun torsi motor supaya lebih baik. Sedangkan Field Oriented
Control mempunyai kemampuan secara independent untuk mengontrol Flux
dan torque producing current sehingga kontrol torsi dan kecepatan motor
sangat baik.
27
Field Oriented Control w/Feedback
High Bandwidth Current Regulator
Current Feedback
CURRENT INVERTER
FLUX
Flux Ref Flux I Ref RESOLVER Voltage Magnitude
REG.
SPEED CURRENT VOLTAGE Gate

Speed Ref MOTOR
REG. REG. CONTROL Signals
Torque Current Ref Voltage Angle

PG
Electrical
+ Frequency
Slip Frequency
ADAPTIVE
CONTROLLER
+
Auto Tune
Parameters
Voltage Feedback
Voltage Feedback
Speed Feedback
Gambar 2.17 Field Oriented Control dengan Feedback
Sensorless Field Oriented Control

High Bandwidth Current Regulator
Current Feedback
CURRENT INVERTER
FLUX
Flux Ref Flux I Ref RESOLVER Voltage Magnitude
REG.
SPEED CURRENT VOLTAGE Gate

Speed Ref MOTOR
REG. REG. CONTROL Signals
Torque Current Ref Voltage Angle
ADAPTIVE
Speed Estimate CONTROLLER
Auto Tune
Parameters
Voltage Feedback
Voltage Feedback
Gambar 2.18 Sensorless Field Oriented Control
Gambar 2.18 Field Oriented Control – Torsi Vs Kecepatan
28
Gambar 2.19a Field Oriented Control : Torsi VS Speed
Gambar 2.19b Field Oriented Control : Shock Load
29
Jika dibandingkan terhadap Vector Control Drive ataupun DC Drive, kinerja
dari Field Oriented Control Drive seperti tabel dibawah ini.
Speed Control Force Technology Force Technology Typical Vector Digital DC

w/encoder w/o encoder Drive Drive
Speed Regulation +/- 0.001% 0.5% +/- 0.05% +/- 0.001%
Dynamic Response 100 Rad 30 Rad 15 Rad 100 Rad
Speed Range 1000:1 120:1 100:1 1000:1
Torque Control
Regulation w/RTD +/- 2% +/- 5% +/- 20% +/- 5%
Regulation w/o RTD NA NA +/- 3% NA
Dynamic Response 2500 Rad 2500 Rad 300 Rad 950 Rad
30
Bab 3
Instalasi AC Drive
Saat ini hampir semua AC drive menggunakan Insulated Gate bipolar

Transistors (IGBTs) disisi outputnya dan tidak lagi menggunakan Bipolar
Junction Transistor (BJT). Keuntungan IGBTs dibanding BJT adalah
kecepatan switching-nya yang 5 – 10 kali lebih cepat, sehingga effisiensinya
lebih tinggi. Dengan effisiensi yang lebih tinggi maka secara fisik heatsink
yang diperlukan juga lebih kecil, dan memungkinkan secara ekonomis harga
lebih rendah. Pada dasarnya IGBT adalah lebih sebagai voltage gate device
daripada current gate device.
Kelebihan menggunakan IGBT dibanding BJT:

• Lower motor noise
• Lower motor heating, ini disebabkan karena ripple gelombang arus
lebih kecil. Ripple ini berbanding terbalik dengan switching frekwensi,
makin tinggi switching frekwensi, ripple-nya makin rendah. Lihat
Gambar 3.1
• Ukuran Drive lebih kecil
• Konsumsi power untuk gate drive board lebih kecil
• Ukuran gate drive board lebih kecil
IGBT vs. Bipolar

Transistor Current
7.5HP MOTOR
1336 @ 60HZ NO LOAD

SWITCHING FREQUENCY
Bi-Polar 1.26KHZ
1336 PLUS @ 60HZ

NO LOAD SWITCHING
IGBT FREQUENCY 9KHZ
Gambar 3.1 Perbandingan bentuk gelombang arus untuk IGBT dan Bipolar
Transistor
31
Beberapa alasan menggunakan AC drive:
• Untuk meningkatkan proses kontrol dengan pengaturan kecepatan dan
torsi
• Untuk meningkatkan system effisiensi
• Untuk memperpanjang umur peralatan dengan mengurangi
“mechanical stress”
Berbagai hal yang perlu dipertimbangkan sebagai pengaruh penggunaan AC

Drive:
• Fenomena efek “Reflected wave”
• Common Mode Noise
• Grounding dan panel layout
• Capacitive coupling
• Power Quality
Installation Considerations
For AC Drives
Line Transients A little protection
and good technique
go a long way ...
XYZ INCORPORATED to insure a good
drive installation
Common Mode
&
Capacitive Coupling
Tell me again
why I’m using ? Harmonics
drives?
Reflective Wave
Grounding
&
Bonding
Gambar 3.2 Pertimbangan instalasi AC Drive
Reflected Wave
Reflected wave juga sering disebut sebagai Standing Wave ataupun
Transmission Line Effect. Fenomena ini terjadi karena pengaruh panjang
kabel antara motor dan drive. Tegangan (peak voltage) yang diterima oleh
motor bisa jadi lebih tinggi dan bisa menyebabkan masalah di insulation
motor.
32
Solusi untuk mengatasi Reflected wave:
1. Pilih motor yang mempunyai spesifikasi inverter duty
motor. Motor ini mempunyai insulation yang lebih tinggi
2. Sistem dengan tegangan lebih rendah (motor dengan
tegangan lebih rendah, misal 240VAC), peak voltage
juga rendah.
3. Batasi panjang kabel motor
4. Jika panjang kabel melebihi standard yang
diperbolehkan, solusinya adalah menggunakan R-L-C
filter pada output VSD atau menggunakan “Terminator”
atau “Reflected Wave Reduction, RWR”
Note: Peserta training akan diperlihatkan simulasi video tentang Reflected

Wave
33
Common Mode Noise
Electro Magnetic Interference noise dianggap sebagai sinyal listrik yang tidak
diinginkan dan akan mempengaruhi system kontrol, seperti: masalah pada
komunikasi, unjuk kerja suatu peralatan menjadi tidak sempurna dan
peralatan bisa menjadi tidak berfungsi ataupun rusak. Common Mode Noise
adalah satu tipe dari noise sinyal listrik dengan referensi terhadap Ground.
Semua VSD akan terjadi transisi tegangan pada output karena pengaruh
switching seperti digambarkan pada gambar 3.3. Kapasitansi baik kabel
maupun motor terhadap Ground terpengaruh terhadap efek besarnya dv/dt
ini, akibatnya terjadi transient arus Phase ke Ground yang disebut sebagai
Common Mode Noise atau Ground Currents.
Makin cepat Switching Carrier Frequency dan makin tinggi tegangan DC Bus
menyebabkan dv/dt makin besar dan kemungkinan Common Mode Noise
juga besar. Jumah VSD yang banyak juga meningkatkan Common Mode
Noise.
Selain hal yang disebabkan oleh transisi tegangan dv/dt, system instalasi dan
Grounding berpengaruh terhadap Common Mode Noise ini.
34
fc
t ris e t f a ll fn= .3 1 8 / t r ise
DC Bus
V L -L t
Iao t
Gambar 3.3 Common Mode Noise Current
Sebagai gambaran umum untuk system instalasi seperti gambar 3.4 ini.
Pada contoh gambar ini menunjukkan konfigurasi sistem yang kurang baik,
menggunakan Unshielded Cable yang di letakkan pada kabel Tray dan kabel
Ground di hubungkan ke motor. Common Mode Current yang dikeluarkan
dari output Drive, sebagian dari Current ini mengalir melalui kapasitansi kabel
ke Ground/kabel Tray di Potential #2 dan ada juga yang menuju kapasitansi
lilitan motor stator ke Ground ke Potential #3 lewat kabel ground pada motor.
Common Mode current ini mengalir menuju frame Metal, mem-bypass drive
PE dan mengalir menuju Netral dari gulungan sekunder trafo yang di-Ground.
Pada titik inilah Common Mode Current menemukan jalan kembali menuju
input Drive baik melalui phase R, S ataupun T. begitu sampai dalam Drive,
Common Mode current akan menuju Rectifier Bridge dan kembali menjadi
tegangan DC Bus.
A C D r iv e F ra m e
R
U
Ia o
XO Ia o
S V M o to r E
Ia o Ia o
W CS l o t
T
PE Ia o
PE L o g ic
Ia o CC a b l e S tr a y
C om m on M ode Ia o
C urrent Ia o M o to r P E
P o te ntia l # 1 P o te n tia l # 3
P o te n t ia l # 2
IN T E R F A C E
- PLC
- A n a lo g O u t
- R IO
- e tc .
B u i ld in g S t e e l
P o te n tia l # 4 T r u e E a r th G r o u n d ( T E )
Gambar 3.4 Contoh sistem instalasi yang kurang baik.
35
Frame Metal atau Ground Grid mungkin saja High Impedance terhadap arus
frekwensi tinggi, jadi perbedaan potential antara PE Ground dan TE Ground
terjadi. Noise tegangan dengan referensi terhadap Ground disebut Common
Mode Voltage. Common Mode Voltage ini bisa menyebabkan Drive Logic
Ground pada Potential #1 yang mana sinyal noise lebih besar terhadap
Remote Interface Ground di Potential #4 yang referensinya terhadap TE.
Common Mode Voltage juga bisa muncul di Encoder case pada Potential #3
dan Drive PE Logic Ground di Potential #1.
Solusi terhadap Common Mode Noise:

Ada langkah yang perlu diperhatikan untuk meredam noise ini:
1. Grounding
2. Mengurangi/meredam sumber noise
3. Mellindungi atau memisahkan peralatan yang sensitif terhadap noise
Grounding: memilih Low Impedance, Single Point Grounding Node, dan

system Grounding yang baik adalah sangat penting
TE (True Earth) Ground: Struktur bangunan dari baja/metal biasanya adalah

koneksi Ground yang cukup baik karena low impedance. Walaupun demikian
masih dipengaruhi terhadap kondisi tanah apakah lembab atau kering.
PE (Power Equipment) Ground: PE terminal biasanya digunakan sebagai

safety equipment ground untuk Drive. Arus bocor (leakeage current) bisa
muncul pada Frame metal atau Body dari Drive dan bisa saja muncul
tegangan yang melebihi safe level untuk manusia yaitu 50V. Maka semua
bagian dari Drive yang berbentuk Metal disambung ke PE terminal.
Meredam sumber noise: cara terbaik menghilangkan/mengurangi system

noise adalah meredam noise pada source (Drive) sebelum menuju ke sistem
Grounding. Pemasangan Common Mode Choke pada output Drive dapat
mengurangi Common Mode noise ini, seperti diperlihatkan pada bentuk
gelombang di bawah ini
36
70 nS
Inverter
V LL
output
voltage
Common
Mode
Current
6 MHz
Current 1.5 to 5 uS I PEAK

With
Common 200 kHz to 63 kHz SPECTRUM
Mode
Chokes
1/3 I PEAK
Gambar 3.5 Common Mode Choke mengurangi Common Mode Noise
Memisahkan/menjauhkan noise dari peralatan yang sensitive: Penggunaan 4

konduktor (4 wire cable) dalam conduit atau lebih baik lagi 4 conductor
shielded / Armor Cable dangan insulasi PVC dapat melindungi/memisahkan
noise.
AC Drive Motor Frame
R
+ U
Iao A+
XO S V Iao
Motor
IaoT A-
W
CSlot Motor
- Capacitance
PE Iao PE
Logic
PE PE Ground
If Required
Iao Accidental By Code
Contact Of Iao
Common Mode Conduit
Current Iao Some HF Motor PE
Potential #1 Potential #2 Potential #3
TE Potential 4
Gambar 3.6a Sistem instalasi 3 konduktor + Ground dalam konduit
37
ARMOR
OR
DRIVE FRAME SHIELD MOTOR
FRAME
+ PVC
A+
MOTOR
WINDINGS
A-
PE - Iao
PE LITTLE HF
CURRENT
PE GRID
PE TIE IN PE TIE IN PE TIE IN

USER #1 USER #2 USER #n
SOLUTION: SHIELD CONTROLS HF NOISE CURRENT PATH
Gambar 3.6b Sistem instalasi dengan shield kabel
Design panel dapat juga mempengaruhi Noise Effect. Contoh design panel
yang kurang baik, lihat gambar 3.7. Pada kasus ini output conduit / armor
dihubungkan ke panel cabinet dan ini benar, yang menjadi masalah adalah
kabel output drive diletakkan didekat/diatas PLC. Selain itu pada sisi input
drive tidak ada konduktor ke 4 atau hanya menggunakan 3 wire.
Mengelompokkan input dan output conduit / armor pada sat sisi dari cabinet
dan memisahkan PLC di sisi lain akan mengurangi efek dari Common Mode
Noise Current pada PLC. Noise akan dari output conduit akan mengalir ke
cabinet dan sebagian besar akan keluar menuju ke input dan jauh terhadap
peralatan yang sensitive.
38
Improper Cabinet Grounding
w/Drives & Susceptible Equipment
Conduit or Conduit or
Armor Bond Output Conduit / Armor Armor Bond Output Conduit / Armor
M1, M2, M3, PE L1, L2, L3
U VW PE R S T
Noise Current Drive 1 Drive 2
Return Path
Cabinet Back Plane
PLC PE PE
Drive 3 Drive 4
PE PE
PE Copper Bus
To System Ground
4/1/99KP 43
Gambar 3.7 Contoh panel layout yang kurang baik
39
Proper Cabinet Grounding
w/Drives & Susceptible
Common Mode
Current on Armor
PE PE All Drives
Output Conduit or Armor
Input Conduit / Armor
Bond to Cabinet
L1, L2, L3, GND
U VW R S T
Drive 1 Drive 2
Cabinet Back Plane
Current on Green Wire

Common Mode
PLC PE PE
Drive 3 Drive 4
PE PE
PE Copper Bus
Optional PE to Structure
Steel if Required
Gambar 3.8 Contoh panel layout yang lebih baik
EMI/RFI Filter
Secara umum masalah EMI dapat diatasi dengan sistem Grounding yang
baik, Layout cabinet yang baik, penggunaan shielded kabel kontrol maupun
power dan pemakaian Common Mode Choke EMI. Walaupun demikian
mungkin ada beberapa kasus dimana solusi diatas tidak mengurangi emisi
EMI menjadi cukup rendah terutama terhadap peralatan yang sangat
sensitive. IGBT Drive yang dipasang di daerah perumahan/residential adalah
contoh dimana EMI filter perlu untuk dipasang untuk mengatasi kemungkinan
peratan seperti AM/FM Radio atau TV bebas dari interferensi. Contoh lain
adalah di rumah sakit yang banyak menggunakan CAT scanner ataupun
peralatan-peralatan yang lain dengan sumber power yang sama. Maka
penggunaan EMI/RFI filter harus digunakan.
EMI Filter dipasang pada input Drive, pada dasarnya berisi kapasitor untuk
mem-bypass frekwensi tinggi dari Line ke Ground dan juga berisi Phase
Induktor yang akan membatasi arus frekwensi tinggi. Jadi isi dari EMI Filter
adalah Common Mode Choke / inductor yang berfungsi sebagai “high
impedance” untuk frekwensi tinggi dan Bypass Capacitor yang berfungsi
40
sebagai “low impedance” untuk frekwensi tinggi dan mengalirkannya ke
Ground.
Technical Solutions
* Reduce Carrier * Common Mode +/-

* Common Mode Output * Common Mode Core (RIO /
* Shielded Output Cable & 4 Wire Input * Output Line
* RFI
MOTOR
CONDUIT / RFI FILTER FRAME
4 WIRE CABLE COMMON OUTPUT
1336 PLUS MODE SHIELDED
DRIVE REACTOR
CORE CABLE
L1
A
B MOTOR
WINDINGS
L2 C
PE / GND GROUND
PE SHIELD
L3 + DC
PE GROUND
- DC PER LOCAL
NEC CODE
RIO / DH+
+/- COMMON
MODE CAPS
COMMON PE
MODE
CORE
ROD TO COMPUTER
GROUND AT TE GROUND
Gambar 3.9 Solusi pemasangan AC Drive
Secara singkat dapat disimpulkan terhadap pengaruh aplikasi beberapa

peralatan terhadap EMI:
41
Gambar 3.10 Aplikasi yang berpotensi terpengaruh tentang masalah EMI
Capacitive Coupling atau Cable Charging Current:

• Untuk setiap kabel motor akan ada nilai kapasitansinya, baik dari Line
ke Line (Co1) ataupun dari Line ke Ground (Cog)
• Akibat switching, (PWM frekwensi) akan menyebabkan ada sejumlah
arus yang mengalir ke kapasitan ini (kapasitansi dari Line ke Line
ataupun dari Line ke Ground)
• Hal ini disebut disebut juga sebagai “Cable Charging Current”
42
U ILINE IMOTOR
V Co1
DRIVE MOTOR
W
PE PE
Cog
Capacitively coupled currents could exceed the drive rating.
Co1 = Line to line capacitance path
Cog = Capacitance path line to ground
Gambar 3.11 Capacitive Coupling Current
Fenomena ini terjadi pada semua drive, tetapi untuk drive yang kecil < 2Hp
perlu mendapat perhatian lebih. Mengapa?
Jawab:
______________________________________________________________
______________________________________________________________
__________
Capacitive coupling current juga bisa muncul walupun drive terhubung ke

motor ataupun tidak. Dan juga bisa muncul antar output kabel drive yang
kabelnya dalam rute jalur yang sama.
Jika hal ini menjadi masalah yang serius solusinya adalah:

• Kurangi Carrier Frequency menjadi 2 kHz
• Batasi panjang kabel terutama untuk Drive kecil
• Pilih kapasitas drive lebih besar dari kapasitas motor (over sizing
drive), terutama untuk Hp kecil.
• Tambahkan induktor pada output drive untuk mengurangi besarnya
arus charging ini.
Power Quality
Ketika kita merancang suatu sistem yang baru ataupun mungkin menambah
sejumlah Adjustabel Speed Drive ke power sistem terpasang, kita perlu
memperhatikan Harmonik yang ditimbulkan oleh setiap peralatan terhadap
kontribusinya ke power sistem, dengan maksud dapat membatasi distorsi
harmonic ini.
Apakah Harmonik itu?

Digunakan untuk menggambarkan bentuk gelombang yang tidak sinusoida
dan tidak dapat diwakili oleh satu frekwensi saja. Bisa disebut juga sebagai
deviasi dari bentuk gelombang tegangan maupun arus dari power listrik AC.
43
Menurut ahli matematika Joseph Fourier (1768-1830), dengan menggunakan
metoda FFT (Fast Fourier Transform) atau metoda Transformasi Fourier
bahwa gelombang periodik dari bentuk apapun adalah merupakan
penjumlahan dari gelombang sinusoida. Gelombang ini dibentuk dari
gelombang sinus fundamental, dengan kelipatan dari gelombang sinus
fundamental
Apa saja yang menimbulkan Harmonik?

Semua Non Linear Load akan menimbulkan Harmonik seperti:
- Komputer
- TV & VCR
- Mesin Fax
- Alat Las listrik
- Arc Furnaces
- UPS
- Variable Speed Drive
- Dan lain-lain
Apakah semua non linear load merusak/membahayakan sistem power?

TIDAK
- Sistem akan terganggu/berbahaya kalau arusnya terlalu besar yaitu:
o Rata-rata nilai RMS-nya harus dibatasi
o Nilai tertingginya harus dibawah peralatan proteksi
Apa yang perlu diperhatikan dengan adanya Harmonik?

- peralatan menjadi panas (component overheating), misal pada
Transfomer distribusi dan kabel
- tiba-tiba terjadi trip (nuisance trip)
- Menimbulkan noise ke peralatan lain
- Terjadi interferensi pada telephone dan komunikasi.
- Pembacaan meter tidak tepat
Mengapa hanya harmonic ganjil saja yang menjadi perhatian, sedangkan

harmonik genap tidak? Apa pengaruh besarnya harmonik terhadap sistem
proteksi? Penjelasan rumus dibawah akan menjawab pertanyaan hal
tersebut:
Dalam sistem 3 phase yang masing-masing phase berbeda sudut 120° dan
dalam kondisi beban yang balance, maka arus di phase:
Ir = Io Sin ωt
Is = Io Sin (ωt + 120°)
It = Io Sin (ωt + 240°)
44
Maka arus total yang mengalir di kabel/jalur Netral adalah:
I total = Io Sin ωt + Io Sin (ωt + 120°) + Io Sin (ωt + 240°)

= Io (Sin ωt + Sin ωt Cos 120°+ Cos ωt Sin 120°+ Sin ωt Cos 240°+
. Cos ωt Sin 240°)
= Io (Sin ωt – ½ Sin ωt + ½ Cos ωt – ½ Sin ωt – ½ Cos ωt)
=0
Misalkan terjadi harmonic genap ke 2, maka arus yang ditimbulkan oleh

harmonic ke dua dengan asumsi balance adalah:
Ir = Ih2 Sin 2ωt
Is = Ih2 Sin 2(ωt + 120°)
It = Ih2 Sin 2(ωt + 240°)
Total arus karena Harmonik kedua :

Ih2t = Ih2 Sin 2ωt + Ih2 Sin 2(ωt + 120°) + Ih2 Sin 2(ωt + 240°)
Ih2t = Ih2 Sin 2ωt + Ih2 Sin (2ωt + 240°) + Ih2 Sin (2ωt + 480°)
Ih2t = Ih2 (Sin 2ωt + Sin 2ωt Cos 240° + Cos 2ωt Sin240° + Sin 2ωt Cos480°
+
Cos 2ωt Sin 480°)
Ih2t = Ih2 (Sin 2ωt - ½ Sin 2ωt – 0,86 Cos 2ωt – ½ Sin 2ωt + 0,86 Cos 2ωt)
Ih2t = 0
Sama halnya untuk harmonic genap yang lain, yaitu harmonic ke 4, 6, 8, dst.
Sekarang kita umpamakan terjadi harmonic ke 3 dan arus yang timbul adalah:
Ir = Ih3 Sin 3ωt
Is = Ih3 Sin 3(ωt + 120°)
It = Ih3 Sin 3(ωt + 240°)
Total arus karena harmonic ke 3:

Ih3t = Ih3 Sin 3ωt + Ih3 Sin 3(ωt + 120°) + Ih3 Sin 3(ωt + 240°)
Ih3t = Ih3 Sin 3ωt + Ih3 Sin (3ωt + 360°) + Ih3 Sin (3ωt + 720°)
Ih3t = Ih3 Sin 3ωt + Ih3 Sin 3ωt + Ih3 Sin 3ωt
Ih3t = 3 Ih3 Sin 3ωt
Dengan metode yang sama untuk harmonic ke 5, 7, 9, 11, dst dapat dihitung
seperti cara di atas.
Dari metode perhitungan di atas dapat dipahami mengapa harmonic genap

kurang diperhatikan dibanding harmonic ganjil.
Bagaimana harmonic dapat dikurangi pada AC drive?

- 6 pulse dengan DC Link Choke
- Line reactor
- 12 pulse AC Drive
- 18 Pulse AC Drive, dll
45
Perbandingan data harmonic pada tabel di bawah diambil dari Allen Bradley
Drive 1336F. Walaupun data untuk PowerFlex mungkin tidak persis sama
tetapi tabel dibawah ini dapat diambil sebagai acuan untuk tipikal AC Drive 6
pulse, 12 pulse dan 18 pulse.
Category 6 pulse Drive: 12 pulse Drive: 18 pulse Drive:
1. Current THD 30—35 % 6.5—9.5 % 4.5--5 %
2. Power Factor 0.92-0.95 0.97-0.98 0.98-0.99
3. DPF 0.95—0.97 0.96—0.98 0.98—0.99
4. K-Factor 3.0—5.0 2.0—3.0 1.0--2.0
5. 5th Harmonic 20.0—30.0% 4.0—6.0% 2.0--3.0%
6. 7th Harmonic 4.0—7.0% 2.0—4.0% 1.5--2.5%
7. 11th Harmonic 3.0—5.0% 4.0—7.0% 1.0—2.5%
8. 13th Harmonic 2.5--4.5% 3.5--5.0% 1.0--2.0%
9. 17th Harmonic 1.5—2.5% 1.0—2.0% 0.5--1.5%
10. 19th Harmonic 1.0—2.0% 1.0—1.5% 0.5--1.0
46
Charts
Legend
A. 6-pulse, no link choke
B. 6-pulse, with link choke
C. Input line reactor
D. Tuned and non-tuned filters
E. 12-pulse with auto transformer
F. 12-pulse with isolation transformer
G. 18-pulse with auto transformer
H. 18-pulse with isolation transformer
I. Regenerative active front end
J. Active power filter
Note: Peserta training akan diperlihatkan video tentang harmonic yang

disebabkan oleh AC Drive.
47
Bab 4
Start Up Drive
Sebelum power masuk ke Drive, harus dipastikan dahulu:

1. Semua input terpasang pada terminal yang benar, sesuai tabel 4.a
dibawah.
2. Pastikan input disconnect switch sesuai dengan besarnya Drive dan
tegangan input yang sesuai.
3. Pastikan bahwa control I/O sudah sesuai dan terpasang benar. Jika
menggunakan control digtal I/O dan atau analaog I/O. Sesuai dengan
tabel 4b untuk Powerflex 70 dan tabel 4c & 4d untuk powerflex 700
4. Apakah kabel/jalur ground tersedia? Jika tidak lepaskan jumper untuk
MOV, lihat gambar 4.0 untuk powerfle 70 dan gambar 4.1 untuk
powerflex 700
5. Lakukan Start UP sesuai dengan urutan yang di berikan dalam buku
manual Drive.
Untuk setiap Powerflex Drive baik itu: Powerflex 4/ 40/ 400/ 70/ 700/
700H/ 700S ataupun Allen Bradley Drive yang lain akan mempunyai buku
Instalasi manual masing-masing. Karena itu sebelum melakukan Start
Up harus mengikuti buku petunjuk instalasi dan user manual masing-
masing Drive.
Tipikal penamaan di power terminal blok untuk powerflex adalah sbb:
Tabel 4.a Tipikal power terminal blok - powerflex
48
Tabel 4b. I/O terminal – Powerflex 70
49
Tabel 4c. I/O Terminal Powerflex 700 dengan standard control
50
Tabel 4d. I/O Terminal – Powerflex 700 dengan vector control
51
Tabel 4e. I/O Terminal – Powerflex 700H
52
Table 4f. Jumper setting untuk Powerflex 700H
53
Gambar 4.0 Tipikal lokasi jumper – Powerflex 70
54
Gambar 4.1 Tipikal Lokasi jumper - Powerflex 700
55
Dalam pelatihan/training ini akan digunakan powerflex 70/700 dan untuk
Powerflex 70/700 terdapat lampu LED status Indikator seperti terlihat pada
gambar 4.2 dan 4.3 pada halaman berikut dan arti masing-masing LED
status seperti terlihat pada tabel.
Gambar 4.2 Power 70 Indikator Status
# Name Color State Description
Flashing Drive ready, but not running and no faults are present.
Green
Steady Drive running, no faults are present.
Flashing, A type 2 alarm condition exists, the drive cannot be started. Check
Drive Stopped Parameter 212 [Drive Alarm 2]
Flashing, Drive An intermittent type 1 alarm condition is occurring. Check parameter

1 STS (Status)
Yellow Running 211 [Drive Alarm 1].
Steady, A continuous type 1 alarm condition exists.

Drive Running Check parameter 211 [Drive Alarm 1].
Flashing A fault has occurred.

Red
Steady A non-resetable fault has occurred.
PORT Status of DPI port internal communications (if present).
2 Mod
Refer to the Communication
Status of communication module (when installed).
NET A Adapter User Manual.
Status of network (if connected).
NET B
Status of secondary network (if connected).
56
Gambar 4.2 Powerflex 700 Indikator status
Name Color State Description

#
1 PWR (Power) Green Steady Illuminates when power is applied to the drive.
Flashing Drive ready, but not running and no faults are present.
Green
Flashing, Drive A type 2 alarm condition exists, the drive cannot be started.
Stopped Check parameter 212 [Drive Alarm 2].
2 STS (Status) Yellow

Flashing, An intermittent type 1 alarm condition is occurring.
Steady, A continuous type 1 alarm condition exists.

Flashing Fault has occurred. Check [Fault x Code] or Fault Queue.

Red
Steady A non-resettable fault has occurred.
PORT Status of DPI port internal communications (if present).
Mod
Refer to the Communication Status of communications module (when installed).
3 Adapter User Manual.
NET A Status of network (if connected).
NET B Status of secondary network (if connected).
Pada umumnya saat akan melakukan Start-Up ada beberapa parameter yang
paling umum digunakan. Ada dua metode Start-up di powerflex yang bisa
kita gunakan untuk membantu kita untuk melakukan Start-Up tergantung
seberapa perlunya kita mengubah setting parameter sesuai aplikasi.
57
S.M.A.R.T start routine.
Membantu kita untuk mengubah/menentukan beberapa parameter yang
paling umum digunakan. Dengan parameter itu, kita dapat menentukan
fungsi-fungsi berikut:
S – Start Mode & Stop Mode
M – Minimum & Maksimum Speed
A – Acceleration Time & Deceleration Time
R – Reference Source
T – Thermal Motor Overload
Assisted Start Up
Pada routine/urutan start up ini, menu pada display powerflex akan
membantu kita untuk menentukan beberapa parameter yang umum
digunakan seperti tegangan input, data motor, menentukan fungsi I/O, dll.
Gambar 4.3 Menu Start Up Powerflex 70 dan Powerflex 700 Standard
Gambar 4.4 Menu Start Up Powerflex 700 Vector Control
58
Note: Peserta Training dapat melakukan latihan menggunakan Hands On
Lab pada lampiran A dan Lampiran B
Pada lampiran A peserta training diharapkan menjadi tahu tentang dan bisa
untuk memprogram powerflex terutama untuk mensetting parameter-
parameter yang mendasar dan selalu digunakan yaitu mensetting Start / Stop
mode, Minimum / Maximum speed, Accelation / Decelaration time, Reference
speed dan Thermal motor overload (S.M.A.R.T) dan beberapa features yang
lain.
59
Untuk lebih jelasnya bagaimana menentukan speed reference source, tabel
4g berikut ini bisa menjadi acuan atau lihat di masing-masing user manual
dari powerflex
Sedangkan pada lampiran B, peserta training dapat memprogram drive

dengan menggunakan software yaitu Drive Executive dan juga melihat
trending melalui drive observer.
Tabel 4g. speed referencece selection chart
60
Bab 5
Kontrol Powerflex Melalui Network
Topics
• Discrete Wiring vs Networking
• Not all Network are alike
• Enhance Feature of Drives with Networking
Discrete Wiring vs. Networking
61
• Discrete Wiring Configuration
D D A A
O I O I
Digital Analog
Outputs: Forward, Reverse, Clear Fault, etc. Outputs: Speed Reference, etc.
Inputs: Running, At Speed, Fault, etc. Inputs: Speed Feedback, etc.
- A wire gets added for every feature that is needed
- Limited by the number of terminal points on the drive
and what each point can & can not do
Menggunakan wiring discrete I/O ataupun analog untuk mengontrol VSD

hampir bisa dilakukan oleh semua brand VSD termasuk juga Allen Bradley
VSD. Mungkin tidak akan terlalu menjadi masalah kalau ditempat kita
hanya memiliki 1 drive yang dikontrol oleh PLC, tetapi jika ada banyak
drive yang harus dikontrol oleh PLC maka:
• Memerlukan banyak I/O module di PLC, yang berarti juga perlu
rack/chassis yang lebih besar.
• Jumlah kabel yang harus di wiring menjadi banyak, yang berarti
perlu extra biaya untuk kabel, conduit, biaya pemasangan, dll.
• Tidak flexible, yang artinya setiap kabel/wire yang sudah dipasang
harus ditentukan untuk apa atau peruntukannya sudah tertentu dan
sangat specific. Jika diinginkan penambahan untuk control/feature
tertentu, maka harus ditarik kabel baru. Selain itu jumlah terminal /
jumlah I/O di VSD juga terbatas sekali
• Kemungkinan untuk salah wiring juga lebih besar
62
D D A A D D A A
O I O I I O O I
- Remote Rack Cost

- Power Supply Cost
- I/O Modules Cost
- Terminal Block Cost
- Wiring Cost
- Cabinet Size Cost
- Labor Cost
- etc.

• Discrete Wiring Configuration
– Limit information “Discrete wiring can tell
you there IS a fault but you do not know
WHAT the fault is!”
– Limit control function “Every feature need,
a wire be added”
– Limit configuration function “When the
application change, you have to install
additional wires or reconfigure the
exiting ones”
Allen Bradley menyediakan beberapa macam modul komunikasi untuk

powerflex sebagai berikut:
63
Unmatched Communication Options
• Communication options
– DeviceNet
– ControlNet
– Remote I/O
– Profibus DP
– Interbus S
– LonWorks
– RS-485 HVAC
• Metasys N2 / FLN P1 / Modbus RTU
– EtherNet/IP
– etc
• No external power supply required
• No extra panel space needed
Detail bagaimana penggunaan modul-modul komunikasi tesebut diatas

dan bagaimana memprogram di PLC dapat dibaca di masing-masing user
manual dari powerflex dan user manual dari modul komunikasi tersebut.
PadaPowerflex, modul komunikasi tersebut akan menempati port yang

sudah ditentukan lokasinya yaitu DPI port 5 (Drive Perhiperal Interface
port 5). Lokasi dari DPI port dapat dilihat pada gambar 5.0 dibawah ini
64
Gambar 5.0 lokasi DPI port untuk powerflex700 frame0
Secara umum apabila kita menggunakan modul komunikasi di powerflex

dan ingin melakukan pemrograman dengan PLC bisa melihat tabel 5.0
dan 5.1 berikut sebagai pedoman.
65
Tabel 5.0 Logic Command Word
66
Tabel 5.1 Logic Status Word
67
Note:
Tidak semua dibahas dalam training ini, pada lampiran C peserta training
dapat mencoba untuk melakukan pemrograman melalui Ethernet/IP
dengan PLC (Programmable Logic Controller) menggunakan Controllogix.
Dengan melalui Ethernet/IP ini kita bisa melakukan “Control – Configure-
Collect” secara sekaligus.
Bila waktu masih memungkinkan peserta training juga dapat mencoba

dengan menggunakan modul komunikasi ControlNet.
68
Bab 6
TROUBLESHOOTING
Melakukan troubleshooting suatu peralatan elektronik selalu merupakan

tantangan tersendiri. Teknologi berkembang cepat, microprocessor banyak
digunakan, VSD seringkali dirancang makin compact, oleh karena itu
peningkatan pengetahuan dan kemampuan seorang engineer/teknisi untuk
dapat melakukan troubleshooting secara benar dan effektif sangat diperlukan.
Untuk bisa melakukan troubleshooting maka kita harus mempunyai logika

berpikir disertai dengan training juga pengalaman, peralatan test
instrumentasi yang memadai dan prosedur melakukan troubleshooting secara
“S.M.A.R.T.S”
Dan tentu saja dalam hal melakukan troubleshooting VSD, dimana VSD
sendiri terdiri dari banyak bagian dan komponen yang merupakan gabungan
dari elektrik power komponen, rangkaian electronik yang sensitif dan juga
microprocessor. Selain itu juga tegangan listrik mulai dari tegangan yang
sama dengan input supply sampai tegangan dan arus yang kecil untuk
rangkaian digital maupun analog yang mungkin akan sangat sensitive
terhadap gangguan dari luar. Sangat penting disadari bahwa banyak hal
yang mempengaruhi VSD untuk dapat beroperasi secara baik seperti
bebannya sendiri, kelembaban, debu/kotoran, sirkulasi udara, input voltage,
surge, sag, dll.
Pada gilirannya untuk bisa melakukan troubleshooting secara effektif maka

kita harus mempunyai logika berpikir, teknik melakukan troubleshooting dan
faktor lainnya adalah training.
Istilah/singkatan “S.M.A.R.T.S” diatas berbeda dengan yang sudah kita

pelajari di bagian sebelumnya dalam training ini yaitu dalam pedoman untuk
Start Up AC Drive PowerFlex (S.M.A.R.T). “S.M.A.R.T.S” disini merupakan
singkatan dari:
1. Safety
2. Manuals
3. Application
4. Reading
5. Talk
6. Symptoms
7.
Safety:
Langkah utama dalam melakukan semua troubleshooting adalah faktor safety
(factor keselamatan dan keamanan), safety untuk diri sendiri, safety untuk
orang lain dan peralatannya.
Lakukan sebanyak dan sebisa mungkin untuk pengukuran dan mencatat

hasilnya dalam kondisi power off. Walaupun demikian banyak juga
pengukuran yang hanya bisa dilakukan pada keadaan power on. Untuk factor
69
keamanan dan keselamatan pasanglah atau tempelkan “warning sign”, area
dimana kita melakukan test harus dilokalisir supaya tidak ada orang yang
tidak berkepentingan masuk ke area tersebut dan juga ikuti “lock-out
procedure”
Sangatlah penting diperhatikan bahwa terdapat tegangan AC dan juga

tegangan DC dalam VSD. Bahkan level tegangan DC nya lebih besar dari
input AC nya. Misalkan untuk listrik di Indonesia menggunakan tegangan
380VAC, maka level tegangan DC pada drive tsb akan mencapai = 380 x √2
= 537VDC. Tegangan DC ini tersimpan dalam capacitor dimana jika power
input dimatikan akan perlu beberapa menit untuk mengosongkan tegangan di
capacitor tersebut. Jadi jika anda ingin melakukan pengecekan pada saat
power off, pastikan tegangan di capacitor tersebut sudah = 0 VDC.
Manuals:
Melakukan troubleshooting apapun, buku manual merupakan hal yang
penting, baik itu user manual, installation manual, quick start guide manual,
release notes, service bulletin, troubleshooting guideline ataupun hardware
service manual. Untuk semua manual PowerFlex bisa di akses di internet
yaitu: http://literature.rockwellautomation.com
Walaupun hampir semua VSD dan juga PowerFlex dilengkapi dengan on

board status indicator dan diagnostic display yang dapat memberikan
informasi mengenai fault yang terjadi dalam bentuk fault code, tetapi tetap
diperlukan buku manual untuk mengidentifkasi mengenai penyebab terjadinya
fault tersebut dan langkah apa saja yang disarankan sesuai dengan petunjuk
di manual.
Buku manual terutama Troubleshooting Guidelines ataupun Hardware

Service Manual juga menjelaskan bagaimana test prosedur yang diperlukan
jika menghadapi permasalahan. Juga biasanya di jelaskan juga bagaimana
untuk malakukan pengukuran power komponen seperti: Diode, Thyristor
(SCR), IGBT, dsb dengan tujuan untuk menentukan apakah nilai yang terukur
masih dalam range tolereransi yang diperbolehkan.
Application:
Apa aplikasinya? Motor, load yang tersambung ke motor mungkin juga perlu
diperhatikan. Bagaimana VSD dikontrol, apakah lewat control eksternal
seperti push button, interlock, relay, digital atau analog dari controller (PLC),
atau lewat network komunikasi ke PLC, dsb
Dengan kata lain, masalah yang terjadi di VSD belum tentu datang dari VSD
itu sendiri, bisa jadi factor-faktor eksternal. Bahkan mungkin saja kita harus
melakukan troubleshooting aplikasinya lebih dahulu sebelum troubleshooting
ke VSD.
70
Reading:
Perlu sekali untuk mencatat/ mengukur hasil pembacaan dari pengukuran
VSD. Beberapa nilai pengukuran yang umumnya sangat diperlukan untuk
mulai investigasi jika VSD masih bisa di power up adalah:
• Tegangan AC input
• Tegangan AC output
• Arus Input
• Arus Output
• Frekwensi output
• Tegangan DC Bus
Jika unit PowerFlex anda dilengkapi dengan Human Interface Module (HIM)
atau display, maka semua hasil pengukuran parameter listrik tersebut dapat
dibaca pada display.
Apabila anda melakukan pengukuran dengan multimeter, pastikan bahwa alat

ukur yang terpakai bekerja secara baik.
Seperti sedikit disinggung pada bagian Safety diatas bahwa penting

melakukan pengukuran dalam keadaan power off, seperti nilai resistansi dari
masing-masing phase pada VSD, juga untuk nilai resistansi dari power
component ataupun pengukuran-pengukuran lainnya.
Talk:
Bicaralah kepada operator yang menjalankan VSD ini ! Bicaralah kepada
orang-orang mekanik ataupun elektrik yang yang bertanggung jawab di area
ini! Bicaralah kepada siapapun yang mungkin mengetahui tentang
bagaimana peralatan system mesin ini bekerja!
Layaknya seorang polisi atau detektif dalam melakukan investigasi, kitapun

dalam melakukan troubleshooting VSD juga harus banyak bertanya untuk
mendapatkan fakta-fakta mengenai mengapa terjadinya masalah di VSD.
Beberapa pertanyaan yang umum dan mendasar yang perlu ditanyakan
seperti:
• Kapan terjadinya problem yang menyebabkan VSD stop?
• Apakah peralatan lain juga mengalami hal yang sama, stop?
• Apakah ada perubahan yang dilakukan baik terhadap VSDnya sendiri,
control untuk VSD maupun bebannya?
• Apakah kejadian ini pernah atau sering terjadi sebelumnya? Bilamana
hal itu terjadi?
• Atau kejadian ini hanya terjadi akhir-akhir ini saja?
• Dan lain-lain pertanyaan dapat diajukan.
Semakin banyak informasi akurat yang kita peroleh akan sangat membantu
kita dalam melakukan troubleshooting secara cepat dan benar.
71
Symptoms:
Adalah penting untuk memisahkan antara symptoms (gejala/akibat) dan
problem aktual-nya sendiri
Misalkan: fuse putus, apakah ini problem itu sendiri atau symptom? Fuse
putus adalah symptom dari problem yang sebenarnya. Adanya fault atau
masalah di tempat lainlah yang menyebabkan fuse putus. Hanya mengganti
fuse yang putus tanpa melakukan troubleshooting di tempat lain tidak akan
menyelesaikan masalah bahkan mungkin saja menyebabkan masalahnya
tambah besar.
Pada powerflex, untuk mengetahui problem yang terjadi pada drive ini bisa
dilihat dari status LED indicator seperti telah diperlihatkan gambar 6.0
dibawah ini.
Gambar 6.0 Drive status LED indicator
Selain itu, jika powerflex anda dilengkapi oleh HIM (Human Interface Module)
/ display atau anda mempunyai software: Drive executive / drive explorer
/drive tool32, maka kejadian “Fault atau Alarm” bisa juga dilihat lebih detil.
72
Secara umum, untuk tipe kondisi Fault ada 3 macam seperti diperlihatkan
pada tabel 6.0 ini dan setiap terjadi kondisi fault akan menyebabkan drive
stop
Tabel 6.0 Tipe Fault di powerflex
Setting Auto Restart Tries [Auto Rstrt Tries] dan Auto Restart Delay [Auto
Rstrt Delay] dapat diubah dari parameter yang bersangkutan (parameter 174
& 175).
Selain tipe kondisi fault juga ada kondisi alarm, yang jika diabaikan mungkin
akan menyebabkan drive stop. Ada 2 tipe alarm seperti diperlihatkan pada
tabel 6.1 ini
Tabel 6.1 Tipe Alarm di Powerflex
Untuk “User Configurable” alarm dapat di setting dari parameter 259 [alarm
Config 1]
Setiap ada kejadian Fault atau Alarm, maka akan ada visual indikasi juga di
HIM. Gambar 6.1 adalah salah satu contoh jika terjadi fault atau alarm.
73
Gambar 6.1 contoh Indikasi HIM saat Fault atau Alarm
Apabila ingin dilakukan secara manual untuk “clear fault” atau “clear alarm”,
gambar 6.2 ini memberikan petunjuk hal ini.
Gambar 6.2 Clear fault secara manual
74
Beberapa halaman pada tabel berikut ini menunjukan kode fault pada
powerflex 70 / 700
75
76
77
78
Tabel 6.2 kode fault powerflex
79
Fault Cross reference
Tabel 6.3 Fault Tabel
80
Alarm
Alarm akan secara otomatis hilang/clear jika kondisi yang menyebabkan
alarm tidak lagi ada. Pada HIM, symbol bel/lonceng akan muncul jika terjadi
aktif alarm.
Berbagai macam alarm yang mungkin terjadi dapat dilihat pada tabel berikut
ini:
81
Tabel 6.4 Kode alarm powerflex
82
Tabel 6.5 Alarm tabel
Latihan:
Setelah melihat keterangan kode alarm diatas, intsruktur anda akan membuat
drive terjadi alarm dan peserta training diminta untuk mengoreksi sampai
drive bisa running normal kembali.
83
Lampiran A
Powerflex 70/700
Basic Hands-On Lab
84
Lab # 2 – Exercise B
Hands-On Lab Workbook
PowerFlex 70/700 General

Programming Hands-On Lab
PowerFlex 70-700 General Programming Lab
PowerFlex® 70 or PowerFlex® 700

General Programming – Equipment List
PowerFlex® 70 or 700 Suitcase Demo
With LCD HIM
The objective of this PowerFlex General Programming Lab is to expose you to basic
techniques used to program the PowerFlex 70 OR PowerFlex 700 Drive using the LCD
HIM. In addition, you will gain familiarity with the PowerFlex 70 or 700 Suitcase Demo.
Lab Materials
This document and the PowerFlex 70 OR 700 Suitcase Demo are required.
PowerFlex 70 Suitcase Demo:
Power Switch
LCD HIM
Digital Inputs &

Outputs (IN1- IN6,
OUT1 & OUT2)
PowerFlex 70
Drive
Potentiometer Input
(NOTE: Switches and layout are similar for the PowerFlex 700 Demo)
Rockwell Automation Page 2 of 31

Section 1 (Required): Document Conventions
Conventions Used in This Lab
ATTENTION: Identifies information about practices or circumstances that can lead

to personal injury or death, property damage or economic loss. Attention statements
help you identify a hazard, avoid a hazard, and recognize the consequences.
TIP: Identifies information that is helpful, but not necessary, in completing a task.
FYI: Provides additional information regarding the lab equipment, but is not needed
to complete the lab.

Section 2 (Required): General PowerFlex

Introduction
Introduction
The Allen-Bradley PowerFlex 70 and PowerFlex 700 AC drives have a common peripheral
connection known as DPI. These drives share this technology and use a common programming
terminal and similar programming schemes to setup the drive for operation.
In addition, this common peripheral connection also is capable of utilizing Scanport technology.
This allows use of existing programming terminals including the units used to communicate with
the Bulletin 1336PlusII, 1305, 1397, and 1336Impact.
All PowerFlex drives can be programmed in up to 7 languages using the same programming
terminal.
Note: If you desire to change the language currently displayed, please refer to Appendix A of
this lab.

Drive Status Indicator LEDs
Located on the front of each drive are several Drive Status Indicator LEDs. These LEDs are
helpful when performing simple diagnostics.
# Name Color State Description
STS Green Flashing Drive ready, but not running and no faults are
(Status) present.
Yellow Flashing, A type 2 alarm condition exists, the drive

Drive cannot be started.
Stopped
Flashing, An intermittent type 1 alarm condition is

Drive occurring.
Running
Steady A type 1 alarm condition exists, but drive

continues to run.
Red Flashing A fault has occurred.
Steady A non-resetable fault has occurred.
PORT Refer to the Communication Adapter User Manual.
MOD
NET A
NET B

Human Interface Module (HIM)
Located on the front of each drive is the Human Interface Module (HIM). The buttons found on
the HIM are defined below.
Programming and Display Keys:
Escape key
Select key
Scroll Up
Scroll Down
Enter key
ALT key

Control Keys:
Change Direction
Increase Speed
Decrease Speed
Start (Green button)
Jog Button
Stop (Red button)

Section 3 (Required): Setup and Initialization

Demo Setup
1. Position all switches to the OFF position. (Left for IN4, IN5, IN6)
Power Switch
IN4, IN5, IN6
ATTENTION: Power must be applied to the PowerFlex 70

Demo to perform the following lab. Do NOT remove the front
cover of the drive. Hazardous voltages exist beneath this
cover.
2. Pull the Power Switch (Red mushroom button) to power the demo.
NOTE: If your demo does not power up, please ask an instructor for help.

Reset the User Display (HIM)
Stopped Auto ;
1. Press the key until the HIM LCD looks similar to Fµ
this. This is the HIM Main Menu.
2. Press or to go to “Preferences” from the 0.0 Hz

list of choices.
3. Press to go into the Preferences category. Main Menu:

4. Press or to find “Reset User Dspy” and Diagnostics
Press to request a reset.
Parameter
5. Press to confirm and execute a reset of the User Display.
Device Select
Reset the Drive to Factory Defaults
6. Press to return to the Main Menu. Fµ Stopped Auto

7. Press or to choose “Memory Storage” from
the list.
0.0 Hz
8. Press to see a list of items within Memory Storage.
Memory Storage:
9. Press or to select “Reset To Defaults”.
10. Press to request a reset. Device User Sets

11. Press to confirm and execute a reset to defaults. Reset To Defaults
What happens when you perform this reset function? ______________________
What is this Fault telling you? ________________________________________
12. Press to clear the fault. Notice how the STS led changes from a flashing red to a flashing green. A
pop-up message also appears informing you that the loading of factory defaults is complete.
13. Press twice to return to the Main Menu.

Section 4 (Required): Programming Parameters

To configure a drive to operate in a specific way, drive parameters may have to be set.
PowerFlex drives contain three types of parameters. These parameters are ENUM, Bit, and
Numeric. This section of the lab will show you how to program the various parameter types.
These parameters may be displayed in a numbered list or in the File-Group-Parameter
format. The factory default display method is File-Group-Parameter.
ENUM Parameters
ENUM parameters allow a selection from 2 or more items. The LCD HIM will display a text
message for each item.
Stopped Auto
Fµ
14. Press or to choose “Parameter” from the list.
15. Press to acknowledge the selection and advance to

the list of files. (Notice how the “F” of the FGP display is 0.0 Hz
highlighted and the word “File” appears).
FGP: File
16. Press or to find the “Dynamic Control” file.
17. Press to acknowledge the selection and advance to the list of Monitor
groups within the Dynamic Control file.
Motor Control
18. Press or to scroll to the “Stop / Brake Modes” group. Speed Command
19. Press to acknowledge the selection and advance to the
list of parameters within the Stop / Brake Modes group. Fµ Stopped Auto
0.0 Hz
FGP: Parameter
20. Press or to find the “Stop Mode B” parameter.
Stop Mode A
next screen. Stop Mode B
22. Press or to advance to the ENUM parameter Fµ Stopped Auto
value edit field.
23. Use or to view choices for Stop Mode B

and then select “Ramp” (or “1”). 0.0 Hz
24. Press to accept and save the parameter change. FGP: Par 156
25. Press to back out of the parameter value screen.
Stop Mode B

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.
26. Press twice to get back to the File level. (“F” of the
FGP display is highlighted and the word “File” appears). Fµ Stopped Auto
27. Press or to find the “Inputs & Outputs”
file. Press to acknowledge the selection and

0.0 Hz
advance to the group screen.
FGP: File
28. Find the group “Analog Inputs” using the or
keys if needed. Press to acknowledge the selection Speed Command

and advance to the parameter screen.
Dynamic Command
Utility
29. Find the parameter “Anlg In Config” using the or
Fµ Stopped Auto
keys if needed. Press to acknowledge the
selection and advance to the next screen.
30. Press or to advance to the Bit ENUM 0.0 Hz

parameter value edit field.
FGP: Par 320
Anlg In Config
31. Press or to change the bit value from a “0”
to a “1”. This will change the configuration of Analog Input xxxxxxxxxxxxxx01
#1 from a Voltage Input (factory default) to a Current Input.
Analog In 1 b00
32. Press to advance to the next Bit position. What changes on the LCD display to indicate that you are
now editing something different? _________________________
33. Leave the bit value of “Analog Input 2” set to a “0”. This will leave Analog Input #2 configured as a Voltage
Input (factory default).
34. Press to accept and save the parameter change.

Numeric Parameters
These parameters have a single numerical value (i.e. 0.1 Volts).
35. Press several times to get back to the File level.
36. Press or to find the “Speed Command” file.
37. Press to acknowledge the selection and advance to the list of groups within the Speed Command file.
38. Press or to scroll to the “Discrete Speeds” group.
39. Press to acknowledge the selection and advance to the list of parameters within the Discrete Speeds
group.
Fµ Stopped Auto
40. Press or to find the “Preset Speed 4”

parameter. 0.0 Hz
next screen. FGP: Par 104
42. Press or to advance to the value edit field.
Preset Speed 4
FYI: Numerical data can be entered in three different ways.

Using the Scroll Up and Scroll Down keys:
43. Press change the value of Preset Speed 4 to “45.2” Hz.

Using a combination of the Select, Scroll Up, and Scroll Down keys:
46. Press four times to advance the cursor to the ‘tens’ position. Change the value of the ‘tens’ position to a
“1” by either using the key or by pressing the number 1 key.

Direct Numeric entry using the keypad

49. Use the keypad to enter the value “38.7” Hz.
51. Press several times to return to the Main Menu.

Section 5 (Required): ALT Functions

To use an ALT function, press the “ALT” key, release it, then press the programming key
associated with the function that you wish to perform.
ALT Param #
This function allows the user to quickly jump to a specific parameter to edit. (Note: The Numeric
LCD HIM is required for this function).
52. From the Main Menu, press and release key and then quickly press the “+/-“ key (Param #).
53. Use the keypad to enter a value of “140” and then press . This takes you directly to the parameter value
screen for parameter number 140 (Accel Time 1).
55. Use the keypad to enter the value “0.5” Secs.
57. Press to return to the Main Menu.
ALT LANG
The LCD HIM on a PowerFlex 70 allows the user change the display language at any time.
58. From the Main Menu, press and release the key and then quickly press the key (Lang).
59. Use the or keys to choose “Deutsch?” and then press .
60. Note that the main menu choices are now displayed in German.
61. Press and release the key and then quickly press the key (Lang).
62. Choose “English?” and then press . All information is now displayed in English.

ALT S.M.A.R.T.
The PowerFlex 70 is designed so that start up is simple and efficient. During a Start Up, the
majority of applications require changes to only a few parameters. The LCD HIM on a
PowerFlex 70 drive offers S.M.A.R.T. start, which displays the most commonly changed
parameters. With these parameters, you can set the following functions:
• S - Start Mode and Stop Mode

• M - Minimum and Maximum Speed
• A - Accel Time 1 and Decel Time 1
• R - Reference Source
• T – Thermal Motor Overload
64. From the Main Menu press and release the key and then quickly press the key (SMART).
65. Press or to find the parameter “Stop Mode A”.

66. Press to advance to the parameter value screen.
67. Use either or to advance to the value edit field.
68. Change the value to “Coast” (or “0”).

70. Press twice to return to the Main Menu.
ALT VIEW
This function allows selection of parameter display format and how many parameters will be
viewed. Just the commonly used parameters or all parameters can be displayed in either a
numbered list or in the File, Group, Parameter format.
TIP: The ALT VIEW function is only available when the symbol ; is shown on the top right side
of the LCD HIM.
71. From the Main Menu, press and release the key and then quickly press the key (View).
72. Use the or keys to choose “Param Acces Lvl” and then press .
73. Use the key to choose “Advanced” and then press to accept and save the parameter change. All
drive parameters are now accessible.
ALT REMOVE
This function allows HIM removal from the drive without causing a fault.
Latch

74. Carefully press back the mechanical latch located directly above the
HIM and remove the HIM from the PowerFlex drive by sliding it
upward.
75. Does the drive STS LED change color? _________ What does this
mean? ______________________
76. Carefully reinstall the HIM by sliding it down into place.
77. What is displayed on the LCD HIM after it is installed?

_____________________ What does this fault mean?
__________________________________________
78. If needed, press the key on the HIM to clear this fault.
TIP: With Early versions of drive software, the STARTUP screen may appear at this time. To
clear this screen, please refer to Appendix A
80. From the Main Menu, press and release the key and then quickly press the key (Remove).
81. Press the key to proceed.
82. Wait until the HIM LCD displays a Remove HIM message and then carefully remove the HIM again. (Note that
this must be performed within 30 seconds). What happened this time when the HIM was removed?
83. Carefully reinstall the HIM by sliding it down into place.

ALT Auto / Man
Switching between Auto and Manual Mode is performed with this function.
84. Start the drive by pressing the key on the HIM. What is the source of the speed command for the drive?
_____________________
TIP: The factory default for the Speed Source is the terminal block – check the external
potentiometer.
85. From the Main Menu, press and release the key and then quickly press the key (Auto / Man).
86. Press the key to request Manual Control Mode. Was Manual Control granted? _____ How do you
know? ____________________
87. Press the key to acknowledge control change. (Notice that “Man” is now displayed in the upper right
corner of the display).
88. Now what is the source of the speed command for the drive? __________________
TIP: Check the HIM as the speed source.
89. Press the or key as needed on the HIM until the drive is commanded to run at 27.83 Hz.
90. From the Main Menu, press and release the key and then quickly press the key (Auto / Man).
91. Press the key to request Auto Control Mode.
92. Press the key to acknowledge control change from Manual back to Auto.
93. Press the key on the HIM to stop the drive.

Section 6 (Required): Specific Programming

Examples
Stop Mode and Deceleration Times
94. Start the drive by pressing the green button labeled “IN2” on the suitcase demo. (OR the key on the
HIM)
95. Locate the “Potentiometer Input” on the suitcase demo and turn it fully clockwise.
96. Verify that the drive is running at 60.0 Hz.
97. Press the red button labeled “IN1” on the suitcase demo. (Or the HIM key) Time approximately how
long it takes the motor to stop spinning? ________________
98. Repeat Steps #1 through #4 carefully observing the drive output frequency. How does the HIM display output
frequency during stopping? _________________
99. Press the key to return to the main menu.
101. Press to acknowledge the selection and advance to the list of files.
102. Press or to find the “Dynamic Control” file.
103. Press to acknowledge the selection and advance to the list of groups within the Dynamic Control file.
104. Press or to scroll to the “Stop/Brake Modes” group.
105. Press to acknowledge the selection and advance to the list of parameters within the Stop/Brake Mode
group.
106. Choose “Stop Mode A” and press to advance to the parameter value screen.
108. Change the value to “Ramp” (or “1”).

110. Start the drive by pressing the key on the HIM or the green button labeled “IN2” on the suitcase demo.
111. Verify on the HIM that the drive is running at 60.0 Hz.
112. Press the key on the HIM or the red button labeled “IN1” on the suitcase demo. Now how long does it
take the motor to stop spinning? _____________________
113. Repeat Steps #17 through #19 carefully observing the drive output frequency. How does the HIM display
output frequency during stopping? _____________
Fµ Stopped Auto
0.0 Hz
114. Press the key several times to return to Group level.
FGP: Group
115. Press or to scroll to the “Ramp Rates” group. Load Limits
Stop/Brake Modes
Restart Modes
116. Press to acknowledge the selection and advance to the list of parameters within the Ramp Rates group.
117. Press or to scroll to “Decel Time 1” and press to advance to the parameter value
screen.
119. Change the value from 10.0 to “0.5” Secs.
121. Start the drive by pressing the key on the HIM.
122. Press the key on the HIM. Note the change in deceleration performance.
Now how long does it take the motor to stop spinning? __________________

Configure Digital I/O
The PowerFlex 70 has six fully programmable digital inputs. Each of these digital inputs may be
programmed to perform one of 28 different functions.
Digital Input 1 Stop – CF Factory defaults for these six digital inputs
are given in the table. Notice that both a
(CF = clear fault) STOP and START input are present. This is
a traditional 3-wire control scheme. Both
Digital Input 2 Start inputs utilize momentary contacts. Start is a
normally open contact and Stop is a
Digital Input 3 Auto / Manual normally closed contact.
Digital Input 4 Speed Sel 1
123. Start the drive by pressing the green button labeled “IN2” on the suitcase demo. Notice that this is a
“momentary” input (normally open).
124. Stop the drive by pressing the red button labeled “IN1” on the suitcase demo. Notice that this is a “momentary”
input (normally closed).
125. Press the key several times to return to the main menu.
128. Press or to find the “Inputs & Outputs” file.
129. Press to acknowledge the selection and advance to the list of groups within the Inputs & Outputs file.
130. Press or to scroll to the “Digital Inputs” group.
131. Press to acknowledge the selection and advance to the list of parameters within the Digital Inputs
group.
132. Press or to choose “Digital In2 Sel” and press Fµ Stopped Auto
to advance to the parameter value screen.

0.0 Hz
134. Change the value to “Run Forward” (or “8”).
FGP: Par 362
Digital In2 Sel
136. Press the key to return to the parameter menu. 8

137. Change the value of “Digital In3 Sel” to “Run Reverse” (or “9”) using the techniques learned in steps # 10
through #13 above.
138. Press the green button labeled “IN2” on the suitcase demo. Notice that this input now behaves as a
“maintained” input. (It must be held in for the drive to run).
What direction is the motor spinning? _________________
What direction is displayed in the upper left hand corner of the HIM? __________
139. Press the blue button labeled “IN3” on the suitcase demo. Notice that this input now also behaves as a
“maintained” input. (It must be held in for the drive to run).
What direction is the motor spinning? _________________
What direction is displayed in the upper left hand corner of the HIM? __________
140. Press the key several times to return to the main menu.

Section 7 (Optional): CopyCat

Selecting the PowerFlex 70 Stopped Auto
Fµ
141. From the Main Menu, use the Arrow keys

select "Device Select" and press the Enter key .
to
0.0 Hz
Main Menu:
Parameter
Device Select
Memory Storage
142. Press the Enter key to select the PowerFlex 70 drive.

Fµ Stopped Auto
0.0 Hz
Device: Port 0
PowerFlex 70
20-COMM-D
143. The Main Menu display will now look like: Stopped
Fµ Auto ;
0.0 Hz
Main Menu:
FYI: When performing the CopyCat functions on the following pages, "Device" will refer to the
PowerFlex 70.

To Save PowerFlex 70 Parameters in the HIM
144. From the Main Menu, use the Arrow keys to Fµ Stopped Auto
select "Memory Storage" and press the Enter key .
0.0 Hz
Main Menu:
Device Select
Memory Storage
145. Press the Up Arrow key to select "HIM CopyCat"
Fµ Stopped Auto
and press the Enter key .
0.0 Hz
Memory Storage:
HIM CopyCat
146. Press the Enter key to select uploading from the Fµ Stopped Auto
selected device to the HIM.
FYI: If there are no other files stored in the HIM, 0.0 Hz

"Device HIM" will be the only option to select. If
stored files are present, then "Device  HIM" and HIM CopyCat:
"Delete HIM Set" selections will be present.
Device -> HIM
Rename Set To Be
147. A pop-up window appears on the display to enter the file name.
The default file name is "PowerFlex 70", which we will use in
Saved In HIM:
this example. Press the Enter key .
PowerFlex 70
HIJKLMNOPQRSTUVW
FYI: To change the saved name, the Arrow keys
The drive's parameters are
are used to cursor through the character table. Press uploaded to the HIM:
the Select key to select the desired character. To
create the desired file name to be saved, continue using the Saving
Arrow and Select keys.
PowerFlex 70
To HIM

148. The file is now saved in the HIM for future use. Press the
Enter key or ESC key to remove the pop-up Fµ Stopped Auto
window. Now that there is a saved file in the HIM, the
"Device <- HIM" and "Delete HIM Set" selections are
present. 0.0 Hz
149. Press the ESC key repeatedly to return to the Main HIM CopyCat:
Menu.
Device -> HIM
Recording and Changing a Parameter Value
To help demonstrate the upload / download function, we will read and record a parameter's
value and then change the value before performing the download. After the download, the
parameter will change back to its original value, showing that the download occurred and the
drive is back in its original configuration.
Fµ Stopped Auto ;
150. From the Main Menu, use the Arrow keys to
select "Parameter" and press the Enter key .
0.0 Hz
Main Menu:
Diagnostics
Parameter
Stopped Auto
151. Use the Arrow keys to select "Dynamic Fµ
Control" and press the Enter key .
0.0 Hz
FGP: File
Speed Command
Dynamic Control
Fµ Stopped Auto
152. Use the Arrow keys to select "Ramp Rates"
0.0 Hz
FGP: Group
Ramp Rates

Fµ Stopped Auto
153. Use the Arrow keys

to select "Accel Time 1"
0.0 Hz
FGP: Parameter
Accel Time 1
154. Record the value for Accel Time 1: _________. This value Fµ Stopped Auto
was saved in the HIM when the configuration settings were
saved in the previous Section.
0.0 Hz
FGP: Par 140
Accel Time 1
0.5 secs
155. Press the SEL key and use the Numeric keys to
change the value to something different. Press the Enter Fµ Stopped Auto
key . Record the new value for Accel Time 1:
_________. In this example, we changed the value from
10.0 to 5.0 seconds. 0.0 Hz
FGP: Par 140
Accel Time 1
156. Press the ESC key repeatedly to return to the Main Menu.
Downloading a Saved File in the HIM to the PowerFlex 70
157. From the Main Menu, use the Arrow keys Fµ Stopped Auto
to select "Memory Storage" and press the Enter key
.
0.0 Hz
Main Menu:
Device Select
Memory Storage

Fµ Stopped Auto
158. Press the Up Arrow key to select "HIM CopyCat"
0.0 Hz
Memory Storage:
HIM CopyCat
Fµ Stopped Auto
159. Press the Down Arrow key to select
"Device <- HIM", and press the Enter key
select downloading from the HIM to the Device
to
0.0 Hz
(PowerFlex 70).
HIM CopyCat:
Device -> HIM
Fµ Stopped Auto
160. In this example, "PowerFlex 70" is the saved file in the
HIM. Press the Enter key to select downloading
from the HIM to the Device (PowerFlex 70). 0.0 Hz
Select HIM Set
To Save in Dev:
161. A pop-up window appears on the display to confirm the !! Warning !!

download. Press the Enter key to start the download.
Device Settings
Will Now Change!
Press ENTER (↵)
162. The PowerFlex 70 drive now contains the downloaded

Fµ Stopped Auto
configuration settings from the "PowerFlex 70" file in the
HIM. Press the Enter key or ESC key to
remove the pop-up window. 0.0 Hz
163. Press the ESC key repeatedly to return to the Main HIM CopyCat:
Menu.
Device -> HIM

Download Verification
The parameter that was changed is displayed, showing that the download occurred and the
drive is in its original configuration.
Fµ Stopped Auto ;
164. From the Main Menu, use the Arrow keys

to select "Parameter" and press the Enter key .
0.0 Hz
Main Menu:
Diagnostics
Parameter
165. Use the Arrow keys to select "Dynamic
Fµ Stopped Auto
Control" and press the Enter key .
0.0 Hz
FGP: File
Speed Command
Dynamic Control
166. Use the Arrow keys to select "Ramp Rates"

Fµ Stopped Auto
0.0 Hz
FGP: Group
Ramp Rates
167. Use the Arrow keys to select "Accel Time Fµ Stopped Auto
1" and press the Enter key .
0.0 Hz
168. Record the value for Accel Time 1: _________. Note that
it is back to the original value. FGP: Parameter
Accel Time 1
169. Press the ESC key repeatedly to return to the Main Menu.

Section 8 (Optional): User Services

Display Device Identity
171. Press or to choose “Preferences” from the list.
173. Press or to choose “Device Identity” from the list.
174. Press to accept the selection and advance to the list of character choices.
175. Press to choose “ T ” from the list.
176. Press to advance to the value edit field.
177. Press to choose “ E ” from the list.
179. Press to choose “ S ” from the list.
181. Press to choose “ T ” from the list.
182. Press to acknowledge the selection and save the Drive’s Identity.
183. Press on “Device Identity”.

184. What is displayed for the drive identity? ____________________________
Password
185. Press the key twice to return to the main menu.
188. Press or to choose “Change Password” from the list.
190. Enter a value of “70” in New Code and then press to acknowledge.
191. Enter a value of “70” in Verify and then press to acknowledge.
192. Press the key.
193. Press or to choose “LogOut” from the list and then press to acknowledge.
194. Press to acknowledge you would like to logout of the drive.

195. Try to change any parameter value in the drive.

Does the drive let you change the parameter value? _______________________.
What must you do before the drive will let you change the value of a parameter?
______________________________________________________________.
196. Change password back to “0” by repeating Steps #1 through 7 as needed.
TIP: When password is set to “0” this means no password (password disabled).
User Display Time
200. Press or to choose “User Dspy Time” from the list.
203. Enter a value of “10” in the Sec and press to acknowledge the selection.
204. Press to go up one level.

205. Wait 10 seconds. What happens to the display after 10 seconds? ____________
206. Program “User Dspy Time” to “0” Sec. What is displayed on the “Sts” line of the HIM display?
_________________
207. Change “User Dspy Time” to “300” Sec. and press to acknowledge the selection.
208. Press several times to return to main menu.

Section 9 (Optional): Additional Programming

Examples
This section assumes that the user has learned the basic programming techniques from the lab
sections above. One common programming task is outlined below.
Changing Max Frequency

209. Change parameter 55 “Maximum Freq” to “90.0 Hz”.
TIP: The ALT Param # function is used to directly access parameters – (page 12).
210. Change parameter 82 “Maximum Speed” to “80.0 Hz”.

211. Change parameter 91 “Speed Ref A Hi” to “80.0 Hz”.

213. Press the green button labeled “IN2” on the suitcase demo. This input was configured as RUN FORWARD earlier
in the lab. (It must be held in for the drive to run).
214. Locate the “Potentiometer Input” on the suitcase demo and turn it fully clockwise. What is the maximum frequency
the drive will run at? __________

Appendix A
Changing Displayed Language

The PowerFlex LCD HIM allows the user to change the display language at any time.
215. From the Main Menu, press and then quickly press the key (Lang).
216. Use the or keys to choose the desired language and then press the key. Menus and
parameters should now be in the language of your choice.
To change the display language back to English perform the following:
217. Press the key and then quickly press the key (Lang).
218. Choose “English?” and then press . The display is now back to English.

Exiting StartUp Mode

219. Press the key once and WAIT until several choices appear.
220. Use the or keys to select “Abort”.
221. Press to acknowledge the selection and exit the Start Up mode

Lampiran B
Advanced Drive Programming

Hands-On Lab
85
Lab # 3
Hands-On Lab Workbook
Advanced Drive
Programming
Advanced Drive Programming Lab
Advanced Drive Programming:

Hands-On Lab
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ADVANCED DRIVES PROGRAMMING HANDS-ON LAB ___________________________________4
ABOUT THIS HANDS-ON LAB __________________________________________________4
BEFORE YOU BEGIN ________________________________________________________4
LAB MATERIALS ___________________________________________________________5
DOCUMENT CONVENTIONS ____________________________________________________6
LAB 1: DYNAMIC BRAKING (50 MINUTES) ___________________________________________7
ABOUT THIS LAB ___________________________________________________________7
SET UP THE WORKSTATION ___________________________________________________7
CONNECTING TO THE POWERFLEX 700 VECTOR DRIVE VIA ETHERNET/IP ______________11
USING DRIVEEXECUTIVE ____________________________________________________14
USING DRIVEOBSERVER TO MONITOR PERFORMANCE ______________________________22
STOPPING THE DRIVE WITH THE BUS REGULATOR DISABLED _________________________26
STOPPING THE DRIVE WITH THE BUS REGULATOR ENABLED__________________________27
STOPPING THE DRIVE USING FLUX BRAKING _____________________________________28
STOPPING THE DRIVE USING DYNAMIC BRAKING __________________________________28
OPTIONAL: LEARN SOFTWARE DIAGNOSTIC FEATURES ______________________________30
REFERENCE: DYNAMIC BRAKE PERFORMANCE CHARTS_____________________________32
LAB 2: STEP LOGIC (50 MINUTES) ________________________________________________34
ABOUT THIS LAB __________________________________________________________34
SET UP THE WORKSTATION __________________________________________________35
CONNECT TO & PROGRAM THE DRIVE USING DRIVEEXECUTIVE ________________________41
USE DRIVEOBSERVER TO MONITOR PERFORMANCE ________________________________44
PROGRAM A MORE INVOLVED STEP LOGIC PROGRAM USING DRIVEEXECUTIVE ___________51
OPTIONAL: MULTI-DRIVE ON DEVICENET ________________________________________61

Welcome to Automation Fair 2003:

Advanced Drives Programming Hands-On Lab
About This Hands-On Lab
Welcome to the Advanced Drives Programming Hands-On Lab series! This session provides you
with an opportunity to explore the PowerFlex drives, DriveTools SP software, and drive
applications. The following sections explain what you’ll be doing in this lab session, and what you
will need to do to complete the hands-on exercises.
What You Will Accomplish In This Lab
As you complete the exercises in this hands-on session, you will:
Use PowerFlex 700 VECTOR (architecture class) and PowerFlex 40 (component class) drives
Become familiar with dynamic braking and step logic
Learn to use DriveTools SP while performing necessary drive application set up and
troubleshooting
Who Should Complete This Lab

This hands-on lab is intended for individuals who:
Set up and/or troubleshoot PowerFlex drives
Have basic PC skills
Before You Begin
This lab booklet contains 2 labs of 50 minutes each:

Dynamic braking using PowerFlex 700 Vector (Lab 1)
Step logic using PowerFlex 40 (Lab 2)
Please make sure that you start with the lab that matches the equipment at your workstation. Each
lab includes an optional section for those of you who finish the lab in less than 50 minutes.

Lab Materials
For this Hands-On lab, we have provided you with the following materials that will allow you to
complete the labs in this workbook.
Hardware
This hands-on lab uses 2 different workstations with two students each:
Workstation 1: Dynamic Braking

PowerFlex 700 Vector Drives
20-COMM-E Ethernet Adapters
Fly Wheels
DB Resistors
Ethernet switch (inside ControlLogix demo)
Windows 2000 PC with Ethernet card
Workstation 2: Step Logic

PowerFlex 40 unit
22-COMM-D DeviceNet adapters
I/O boxes
PowerFlex 4/40 units
Serial wiring: DeviceNet cables approximately 10 feet long; Two DSI RJ45 Terminating
Resistors AK-U0-RJ45-TR1; Two DSI RJ45 2 pos. Terminal Blocks AK-U0-RJ45-TB2P; Pieces
of RS485 cable approx 8 feet long
ControlLogix demo with DeviceNet and Ethernet cards
Windows 2000 PC with Ethernet card
Software
This hands-on lab uses the following software:
DriveTools SP V3.01 (pre-release).

RSLinx Lite.
Files
This hands-on lab uses the following files:
“DeleteAllRSLinxDrivers.RSX” located on your Desktop for Lab 1
PowerFlex 40 Node 4.dxc on your Desktop for Lab 2
PowerFlex 40 Node 6.dxc on your Desktop for Lab 2

Document Conventions
Throughout this workbook, we have used the following conventions to help guide you through the
lab materials.
This style or symbol: Indicates:
Words shown in bold italics Any item or button that you must click on, or a menu name
(e.g., RSLogix 5000 or OK) from which you must choose an option or command. This will
be an actual name of an item that you see on your screen or
in an example.
Words shown in Courier text, An item that you must type in the specified field. This is
enclosed in single quotes information that you must supply based on your application
(e.g., 'Controller1') (e.g., a variable).
Note: When you type the text in the field, remember that you
do not need to type the quotes; simply type the words that
are contained within them (e.g., Controller1).
FYI The text that follows this symbol is supplemental information

regarding the lab materials, but not information that is
required reading in order for you to complete the lab
exercises. The text that follows this symbol may provide you
with helpful hints that can make it easier for you to use this
product.
ATTENTION Identifies information about practices or circumstances that

can lead to personal injury or death, property damage or
economic loss. Attention statements help you identify a
hazard, avoid a hazard, and recognize the consequences.
Note: If the mouse button is not specified in the text, you should click on the left mouse button.

Lab 1: Dynamic Braking (50 Minutes)

About This Lab
In this lab, you will set up and examine deceleration schemes in the PowerFlex 700 Vector drive
using DriveTools™ SP software. At the conclusion of this lab, the student will be able to:
Set up workstation using RSLinx back up file, DriveExecutive shortcut, and assigned IP
addresses
Set up a EtherNet/IP driver using RSLinx
Program the drive using DriveExecutive using new diagram views (Due to lab time constraints,
sensorless vector motor control will be used.)
Configure DriveObserver to record data in a chart and to adjust parameters while recording
that data
Identify the performance attributes (speed, deceleration time, and DC bus voltage) during
different deceleration schemes.
Optional: Learn software diagnostic features (compare, find)
Follow the steps below to complete Lab 1.
Set up the workstation
In this section, you will set up the workstation. We are using software to perform much of the set up
in order to teach you about new software features and existing capabilities. Take time to
understand the software features because they can be applied to other tasks to make your job
much easier!
Set Up the Hardware
1. Make sure that you are sitting in front of a workstation with the PowerFlex 700 VECTOR drive.
If this is not the case, go to lab 2 in this book. You will have 50 minutes to work on each lab
during the two hours that you are here.

2. Position all switches to the OFF position. (Left for IN4, IN5, IN6)
Power Switch
IN4, IN5, IN6
Attention: High Voltage Shock Hazard Exists. Do not remove cover unless ALL
power is removed. Verify this by checking if the Emergency Stop pushbutton is pushed
in and is not lit. The front cover must be in place prior to applying power to the
PowerFlex 700 Vector demo. During this lab, do not remove the cover.
3. Note that Ethernet is wired to an internal adapter in the drive.
4. Ensure that the flywheel demo is connected to the PowerFlex 700 Vector drive demo without
the dynamic brake demo. Make sure the jumper is connected.
5. Pull the Power Switch (Red mushroom button) to power the demo. (NOTE: If your demo does
not power up, please ask an instructor for help).

Close all Open Software

1. If there are any software packages open and running on the PC, shut them down.
Delete All Previous RSLinx Drivers

1. Make sure that RSLinx is not running. To check to see if RSLinx is running, look at the System
Icon Tray for the RSLinx Icon. The mouse in the following screen points to the RSLinx icon.
2. If you see the RSLinx icon, right-click on the icon and select Shutdown RSLinx.
3. If you receive this prompt, click Yes.
4. In the Windows Start menu, select Start > Programs > Rockwell Software > RSLinx > Backup
Restore Utility. The Utility will open.
5. In the utility, click the Restore button.

6. Navigate to and select the file “DeleteAllRSLinxDrivers.RSX” located on your Desktop and then
click Open.
TIP: Typically the restore mechanism is used to save driver set up. You can create a
driver file and use it to set up multiple PCs with identical drivers and shortcuts.
7. When you are notified that the backup operation completed successfully, click OK.
8. Click Close on the utility.

Connecting to the PowerFlex 700 VECTOR Drive via EtherNet/IP

Set Up an RSLinx Ethernet Driver
1. Double-click on RSLinx icon on your desktop (or in the Windows Start menu select Programs >
Rockwell Software > RSLinx > RSLinx) to start RSLinx. We need to start RSLinx the only when
we need to change or add drivers.
2. Double-click on the RSLinx icon in the toolbar to open up the RSLinx window for editing.
3. In the menus, select Communications > Configure Drivers… or click the button.
The Configure Drivers dialog box will open.
4. In the Available Drivers selection box, select “Ethernet/IP Driver” and click Add New.
5. When prompted to name the new driver, click OK.

6. When the Configure Driver dialog appears, keep the default settings and immediately click OK.
7. Verify that the driver that you just configured is listed in the Configured Drivers list with a status
of Running. Then close the dialog.
8. In the menus, select Communications > RSWho… or click the button. The RSWho
dialog will open.
9. Select the driver that you configured and make sure that both a PowerFlex 700 VC drive and a
ControlLogix Ethernet module appear. If you do not see these two devices, ask your lab
instructor for help.
10. Close RSLinx.

Connect to Drive on Ethernet

1. In the Windows Start menu, select Programs > DriveTools > DriveExecutive. (If a Warning
dialog appears, read it and click OK.)
2. In the menus select Drive > Connect to Drive.
3. When the Connect to Drive dialog opens, navigate the tree to the Ethernet driver that you
created in RSLinx. (Do not double-click on items in the tree.)
4. Select the drive at IP address 10.91.76.51 you just set up and click OK. The drive window
opens.
TIP: Do not be concerned if the drive shows up as a yellow question mark. The
question mark is present when there is not an EDS file registered on the computer.

Using DriveExecutive
Navigating DriveExecutive
In the device pane, a treeview control is used to select different types of information to be viewed.
In this view, you have options to view information about the drive or one of its connected
peripherals.
1. Select different items in the treeview to learn what they do.
2. Draw lines from the descriptions on the right to the correct items in the device pane treeview
shown.
Provides a numeric list of all parameters in the HIM.
Provides a list of groups in the PowerFlex 700 Monitor File
Provides a list of the parameters in the PowerFlex 700 Drive

Data group.
Provides a numeric list of all parameters in the PowerFlex 700

drive.
Provides a list of all the files in the PowerFlex 700 drive.
Provides a list of all the parameters in the 20-COMM-E

adapter.
Provides a list of all the ports connected to node 10.91.76.51
Provides firmware diagrams for the drive
3. When you select either a group or a linear list in the device pane treeview, a list of parameters is
displayed in the right-side table view. Double-click on a parameter or directly type in new values
when you wish to make changes.
Use the DriveExecutive Parameter Find Tool
FYI: This tool is only included in the full version of DriveExecutive. DriveExecutive
Lite, the version bundled with RSLogix 5000 and RSNetworx MD, will not include this
tool.
1. Connect to the PowerFlex 700 Vector drive if you are not already connected.
2. Select the Linear List in the drive using the treeview.
3. Either select Edit>Find in the menus or type the shortcut key Ctrl+F.

4. Type “Fly” to find the Flying Start parameter(s).
How many parameters do you find? _____
What is the number of the parameter that enabled/disables flying start? ______
5. Type “Flux” to find the flux-related parameters(s).
How many parameters do you find? _____

Using Diagrams to Determine Speed Reference Source

This section is designed to introduce you to new DriveExecutive diagram views and teach you how
to use them to simplify troubleshooting. In this section, you will use the diagrams to determine the
speed reference source.
tool.
1. Select Overview in the treeview. This displays the overview diagram for the PowerFlex 700 VC
drive.

2. Notice in the diagram how parameter values update for an online drive. Start and stop the drive
using the HIM and watch the parameter values change!
The parameters in this view are Read Only parameters inside the drive as indicated
by the color. The parameter color scheme for diagrams is the same as for parameter
lists. The color scheme for a particular PC is shown in the DriveExecutive status bar.

3. Move your mouse over the top of the parameter blocks and notice that the blocks become 3D
when the mouse is on top. This lets you know that the block has an associated action. Double-
click on a parameter. Notice how the parameter editing dialog opens. Click OK to close the
dialog when done viewing the information. If this was a Read/Write parameter, you would use
this dialog to make configuration changes.

4. Mouse over the button located on top of the blue block. Notice that the button becomes 3-D to
let you know that there is an associated action. Click on the button.
5. Now the Drive Control diagram opens.

6. In the Drive Control Diagram on your screen, is the drive using V/Hz control or Vector control?
V/Hz control / Vector control
7. What kind of feedback is the drive using? _________________
8. Now click the button on the Speed Control Reference block. The Speed Control Reference
diagram will open.
9. In the Speed Control Reference diagram, what is Speed Ref A Sel set to? ________________
10. Click the button on the Speed Ref Selection block for more detail. The Speed Ref Selection
diagram will open.
11. In the Speed Ref Selection diagram, there is a new type of object: a contact.
12. The contact object is used to visually indicate a true state. The green color appears behind the
contact when a condition is (or becomes) true. In this case, we are using several contacts in a
row to decipher multiple parameter bits. Using this diagram, what is the current speed
reference source? ________________________

13. Using the HIM on the PowerFlex 700 drive, select the buttons ALT + Auto/Man. Respond to the
HIM prompts to change the drive over to Manual control.
14. According to the Speed Ref Selection diagram, where is the current speed reference source?
____________________________________
15. Now use the HIM ALT + Auto/Man function to change the drive back to auto mode. Respond to
the HIM prompts and verify that the drive is now in auto mode using the Speed Ref Selection
diagram.
16. While you were clicking buttons to view more diagrams, your location within the diagrams was
updated in the tree view. Notice, how Speed Ref Selection is selected. Click on Overview to
return to the top most drawing.
17. Spend a small amount of time looking at some of the other drawings.

Reset the Drive to Defaults

1. In the node window, make sure that you are viewing data in the drive and not in an adapter.
2. Look at the HIM display and verify that the drive is stopped and is at zero speed.
3. In the DriveExecutive menus, select Drive > Non-Volatile Memory.
4. If an “Action Resets Undo/Redo” dialog appears, click Yes.
5. On the Non-Volatile Memory dialog, click the “Load Defaults” button.
6. After the drive reset occurs, the software will upload parameters. When the software is done, a
“Load Defaults Status” dialog will appear. Click OK.
7. Resetting the drive to defaults causes a drive fault. While still viewing data in the drive, use the
DriveExecutive menus, select Drive > Faults, Events and Alarms > Clear Fault.
8. Read the Clear Faults danger dialog and click OK to clear the fault.
Using DriveObserver to Monitor Performance

Starting DriveObserver
1. Double-click the DriveObserver icon on the Windows desktop (or in the Windows Start menu
select Programs > DriveTools > DriveObserver) to start the software or use the toolbar button
in DriveExecutive to launch DriveObserver .
2. In the menus, select File > New.

3. When the Sampling dialog opens, set the sample period to 200 mS and the sampling time equal
to 30 minutes. (DriveObserver will update the sampling period if necessary and will provide you
with notification of the update.)
4. Click OK to accept the settings.
Adding Traces
1. If the Add Trace dialog is not already open, select Chart >Add traces…
2. DriveObserver will display the node that is currently using by DriveExecutive. (Otherwise, you
will need to use the Add Node button to select a drive.)

3. From the drive Linear List, select the following parameters from the linear list of the node by
clicking the checkbox in front of each desired parameter: 12 [DC Bus Voltage], 23 [Speed
Reference], and 25[Speed Feedback].
4. Click OK.
Recording Data
1. In the DriveObserver toolbar, click the Record button . DriveObserver now displays new
data.
TIP: Double clicking the parameter in the table beneath the chart will open a dialog
so that you can change the color, parameter value, line format, etc.
TIP: Use the VCR controls located beneath to scroll through data either while
recording or stopped. You can use the VCR pause button to look at data in detail
while continuing to Record data. Pausing the display does not affect data collection.
2. While recording data, look at the table beneath the chart and see the minimum and maximum
values shown. Directly type in some minimum and maximum values that you feel are
appropriate. For example, 0 and 350 may be more appropriate for DC Bus Voltage.

Using Data Display Options

1. The following data viewing capabilities are available with DriveObserver and are made easy.
Try them out!
Zoom In: Allows user to zoom in on chart setting making chart look larger
while on time scale.
TIP: If you lose track of where you are when

zooming, use View>Undo Pan/Zoom to return to
the default settings.
Zoom Out: Allows user to zoom out on chart setting making chart look smaller
on time scale.
Value Bar: Allows user to determine the value of a trace at its present location.
Delta Bar: Allows user to determine the difference between two x- axis points.
Non – Isolated Graphing: Allows user to view traces overlapping on their

graph.
Isolated Graphing: Allows user to view traces separately on their graph.
Automatic Scaling: Is available for controlled scaling where DriveObserver

automatically increases/decreases Y-axis range to best fit the area.
Preset Scaling: Is controlled by min and max settings specified for each trace.
Same Y-Scale: Allows user to view traces on the same Y-axis.
2. When finished checking out the display options, click the Stop button in DriveObserver. Do not
close DriveObserver, just minimize it because you will be using it in a later lab section!

Stopping the Drive With the Bus Regulator Disabled
There is a reference section at the end of lab 1 that provides screen captures of each type of braking
performed in this lab.
Programming the Drive
TIP: Select the drive linear list and use the parameter find tool (Ctrl + F) to find each
of the following parameters. For each parameter, set the value as described.
1. Using DriveExecutive, program the following parameters in the drive:
PARAMETER VALUE DESCRIPTION

155 [Stop/Brk Mode A] 1 – [Ramp]
142 [Decel Time 1] 1 Second
161 [Bus Reg Mode A] 0 – [Disabled]
153 [Regen Power Limit] -25% This setting limits the regenerative power
that comes back from the motor.
169 [Flying Start] 1 – [Enabled]
148 [Current Lmt Val] 5.0 Amps This setting reduces current limiting because
the dynamic braking resistor that we are
using later in the lab is undersized for the
load.
Observing Deceleration Performance

1. Maximize the DriveObserver window so that you can see the chart.
2. Click the Record button in DriveObserver to start viewing data.
3. Start the drive using the HIM and run at 60 Hz.
4. When the drive gets up to speed, stop the drive using the HIM.
5. When the motor comes to a stop, click the Stop button in DriveObserver.
6. Look at the DriveObserver chart:
What happened to the DC bus voltage and motor speed this time? _______________
____________________________________________________________________
____________________________________________________________________
How long did it take to decelerate the flywheel/dyne ? __________ Seconds
7. Press the stop button on the HIM to clear any faults.

Stopping the Drive with the Bus Regulator Enabled


161 [Bus Reg Mode A] 1 – [Adjust Freq]

____________________________________________________________________
____________________________________________________________________
How long did it take to decelerate the flywheel/dyne? __________ Seconds

Stopping the Drive Using Flux Braking


166 [Flux Braking] 1 – [Enabled] Enables flux braking.

____________________________________________________________________
____________________________________________________________________
Stopping the Drive Using Dynamic Braking

Connecting the Dynamic Brake
1. Push the Power Switch (Red mushroom button) on the PowerFlex 700 Vector demo to remove
power.
2. Remove the jumper plug from the Aux contact on the back of the PowerFlex 700 Vector demo
and plug in the cable from the dynamic brake.
3. Pull the Power Switch (Red mushroom button) to power the demo.


166 [Flux Braking] 0 – [Disabled] Disables flux braking.
161 [Bus Reg Mode A] 2 – [Dynamic Brak]
162 [Bus Reg Mode B] 2 – [Dynamic Brak]
163 [DB Resistor Type] 1 – [External]
153 [Regen Power Limit] -200% This setting allows the regenerative power
that comes back from the motor to flow to
the DC bus and then be dissipated by the
dynamic braking resistors.

____________________________________________________________________
____________________________________________________________________

Optional: Learn software diagnostic features
In this lab section, you will:

Back up and save drive set up to preserve your valuable drive settings
Use the compare tool to identify differences between files, online devices, and defaults
Back Up (Upload) Drive Settings to PC
FYI: DriveExecutive user files embeds all necessary database files inside so that any
DriveExecutive user can open your file.
FYI: Stored files can be used to set up duplicate or replacement drives. They can
also be used to restore drive settings to a known state.
1. In DriveExecutive, select File > Save.
TIP: To quickly re-connect to recently used drives, go to the File menu’s recent
connections list and select the drive of interest. Starting in version 2.01, recent
online connections are saved here. Starting in version 3.01, you can also save an
online shortcut to the desktop.
2. When the Save As dialog opens up, give the file a name and write down the name here:
___________________________________________________.
3. Click OK to save the file.
4. If an “Action Resets Undo/Redo” dialog appears, click Yes.
Use the DriveExecutive Compare Wizard
tool.
1. In the menus, select Tools>Compare. The compare wizard opens.
2. Select the radio button to Compare Source Node to Defaults.
3. In the left Source window, select the drive next to you.
4. Click Next.
5. In the left Source window, select the Linear List of the drive.

6. Verify that the following settings are selected:

Upload online data
Compare only editable/changeable
7. Click Next.
8. If a “Reload Parameter Data Notification” dialog appears, click OK.
9. The Compare Results page opens. On this page, notice how the target and source devices are
identified. Try the following operations:
Click on rows in the results to edit values directly in online drives or offline files.
Click refresh to get the latest data.
Try out the Copy command.
Click Back to change compare criteria.
10. When finished with the compare tool, click Close.

Reference: Dynamic Brake Performance Charts

Stopping the Drive with the Bus Regulator Disabled
Stopping the Drive with the Bus Regulator Enabled

Stopping the Drive Using Flux Braking
Stopping the Drive Using Dynamic Braking

Lab 2: Step Logic (50 Minutes)

About This Lab
About Step Logic
To use this feature, you also use the following features in the drive:
Preset frequencies (sets the drive speed for each step)
Accel / Decel rates (defines how fast the drive will speed up and slow down between steps)
Maximum frequency (sets the max output frequency to protect the motor)
Digital inputs 1 to 4 (detects external conditions such as button press, switch settings, or sensor
input)
Digital opto outputs 1 and 2 and relay output (communicates desired information about drive
state). You can set one of the outputs to display Step Logic Out. Step Logic Out is either on
or off depending upon your application.
Each step has the following properties:

Drive action
speed (preset)
accel/decel (1 or 2)
direction (forward/reverse/off)
time duration
Condition to transition to the next consecutive step (such as from step 2 to step 3)
Special condition to perform a special action
Special action (such as Stop the drive, Fault the drive, or jump to another step)
In this Lab
In this lab, you will set up and step logic in the PowerFlex 40 drive using DriveTools SP software.
At the conclusion of this lab, the student will be able to:
Set up workstation using RSLinx back up file, DriveExecutive shortcut, and assigned IP
addresses
Set up a EtherNet/IP driver using RSLinx
Program the drive using DriveExecutive
Configure DriveObserver to record data in a chart
Learn step logic programming
Optional: Learn software diagnostic features (compare, find, faults/alarms)
Follow the steps below to complete Lab 2.

Set up the workstation
In this section, you will set up the workstation. We are using software to perform much of the set up
in order to teach you about new software features and existing capabilities. Take time to
understand the software features because they can be applied to other tasks to make your job
much easier!
Set Up the Hardware
1. Make sure that you are sitting in front of a workstation with two PowerFlex 40 drives or one
PowerFlex 40 drive + one PowerFlex 4/40 drive. If this is not the case, go to lab 1 in this
book. You will have 50 minutes to work on each lab during the two hours that you are here.
2. Make sure that both drives are powered off!
3. Look at the step logic hardware demo in front on you. Remove (but do not lose) the jumpers!
+24V +24V
COM COM
Output Output
+24V +24V
COM COM
+24V Common Output Output

4. Install the jumper where shown to jumper out the digital controls on the drive demo.
+24V +24V
COM COM
Output Output
+24V +24V
COM COM
5. The drive needs to have a normally closed Stop wired. We will do this next. As shown below:
Wire the Stop input to the normally closed contact
Wire the other side of the normally closed contact to 24V power
+24V +24V
COM COM
Output Output
+24V +24V
COM COM

6. So we can start the drive using a digital input, we will need to wire one. As shown below:
Wire the Start input to the normally open contact
Wire the other side of the normally closed contact to 24V power
+24V +24V
COM COM
Output Output
+24V +24V
COM COM
Attention: High Voltage Shock Hazard Exists. Do not remove cover unless ALL power is removed.
Verify this by checking if the Emergency Stop pushbutton is pushed in and is not lit. The front cover
must be in place prior to applying power to the PowerFlex 40 demos. During this lab, do not remove the
covers.
Attention: Equipment Damage Can Result if Drive is Operated at Frequency Above 60 Hz. The
drive is connected to the step logic demo. The motor and mechanical equipment in the step logic demo is
rated for speeds up to 60 Hz. The turntable in the step logic demo will appear to turn slower than 60 Hz
due to the 30:1 gear ratio reduction in the design. During this lab, do not operate the drive at frequencies
above 60 Hz.
7. Note that DeviceNet is wired to an internal adapter in the drive. The two PowerFlex 40 drives
(or PowerFlex 40 and PowerFlex 4 drives) are also connected together using RS485. This is to
perform an optional section at the end of this exercise.
8. Ensure that the step logic demo is connected to the PowerFlex 40 drive demo.
9. Pull the Power Switch (Red mushroom button) to power up the drive demo that is connected to
the step logic demo. (NOTE: If your demo does not power up, please ask an instructor for
help).
10. If you have a drive fault, check your wiring. Do not proceed if you have a fault. If you can not
resolve this fault, ask an instructor for help.
11. Flip the switch on the second PowerFlex 4/40 drive to power up the drive. (NOTE: If your
demo does not power up, please ask an instructor for help).

Use the Lab Reset Utility

In this lab, we are using a special re-set utility to set defaults so that we can preserve network
connectivity. Due to time constraints, this lab does not include network set up. The network is set
up to use different DeviceNet addresses for the primary PowerFlex 40 drive because of differences
in I/O image tables when multiple drives are present later in this lab.
Node 4: PowerFlex 40 standalone for the step logic lab
Node 6: PowerFlex 40 multidrive
Attention: If you separately use reset defaults on any PowerFlex 40 drive or 22-COMM-D DeviceNet
adapter in this lab, the devices may fall off the network and will require instructor intervention. This will
result in you having less time to complete this lab.
TIP: When you perform the PowerFlex 40 lab, you will notice that there are some
longer delays to wait for the software to connect to the drives. This is normal for
PowerFlex 4/40 drives because they use a lower-cost, serial interface which is
slower than the CAN technology interface used by PowerFlex 70/700 drives.
1. Re-start your Windows PC to shut down any processes from the previous lab group. (The Login
Name is “Administrator” and password is blank.)
2. Make sure that both PowerFlex 40 drives are powered up and stopped. Make sure that the Net
A light on the front of the drive is solid green. (If not, ask your instructor for help.)
3. After you re-start and log into Windows, look for the LabSetup icon on your desktop and double-
click on it to launch it.
4. When the Lab Set Up dialog opens, click Browse.

5. Wait a few moments and the Connect to Drive dialog appears.
6. When the Connect to Drive dialog opens, select DeviceNet in the left-hand pane with a single-
click. (DeviceNet is a shortcut to the DeviceNet network.)
7. On the right-hand side, you should see 3 nodes: 00 1756-DNB (this is the ControlLogix
DeviceNet scanner); 04 22-COMM-D; and 06 22-COMM-D. Wait until a red X appears on top of
either Node 04 or Node 06. You may need to wait a minute while DeviceNet is browsed by
RSLinx. If both Node 04 and Node 06 have a red X or neither node gets a red X after a minute,
see your lab instructor for help.
TIP: The pictures next to Node 04 and Node 06 may be different on your PC.
8. Once either Node 04 or Node 06 has a red X, select the node without the red X and then click
OK.
9. Wait a few moments (20-30 seconds) for the Lab Set Up dialog to update the harmony path.
Then click Load Lab Defaults. (If you receive a message box that the software is waiting on an
action, select Switch to and then wait another 30 seconds before re-attempting to click the Load
Lab Defaults button.

10. When the Select Setup dialog appears, select Step Logic (Node 4).
11. When you are notified that update was successful, click OK. Look at the drives, if either drive
has a fault, clear the fault by pressing the Stop button.
12. At this point look at the lights on the PowerFlex 40 with attached step logic demo and verify the
following:
Port: Solid Green
Mod: Blinking Green
Net A: Solid Green
13. If the lights are not correct, see your lab instructor.

Connect to & program the drive using DriveExecutive

Connect to Drive Using Short Cut on Desktop
1. Double-click on file PowerFlex 40 Node 4.dxc located on the Windows desktop. This method
works because a driver had been previously created in RSLinx. The shortcut was created by a
previous user.
TIP: The PC is connected to the PowerFlex 40 drive via Ethernet connected to an

Ethernet card in the ControlLogix. Using the ControlLogix backplane and the
DeviceNet card in the ControlLogix chassis, the software routes out over DeviceNet
to the attached drive.
Navigating DriveExecutive
In the device pane, a treeview control is used to select different types of information to be viewed.
In this view, you have options to view information about the drive or one of its connected
peripherals.
1. Select different items in the treeview to learn what they do.
2. Draw lines from the descriptions on the right to the correct items in the device pane treeview
shown.
Provides a list of parameters in the PowerFlex 40 Basic Program group.
Provides a numeric list of all parameters in the PowerFlex 40 drive.
Provides a list of all the parameters in the 22-COMM-D adapter.
Provides diagram illustrations for the PowerFlex 40 drive.
3. When you select either a group or a linear list in the device pane treeview, a list of parameters is
displayed in the right-side table view. Double-click on a parameter or directly type in new values
when you wish to make changes.
TIP: Double-click on any parameter and look at the editing screen. There is a radix,
select Hex to view the value in the same units shown on the PowerFlex 40 operator
interface.

Program the Drive for Time Based Step Logic

To start with, we are going to do a very basic step logic exercise using time based step sequences.
After we set this up and look at the performance using DriveObserver software, we will add some
condition logic to our step program.
1. Select the Linear List in the left treeview control.
2. In the DriveExecutive menus, select Edit > Find.
3. When the Find Parameter tool appears, type in ref and watch as the software matches the text
with parameter 38 (now in view!).
TIP: Find Next and Find Previous buttons can be used to find other parameters
containing “ref” in the name. The tool is smart and will not allow the typing of a
series of letters that do not have any matches.
4. Double-click on parameter 38 Speed Reference to view the properties.

5. In the parameter 38 Speed Reference properties dialog, use the drop-down list box to select 6 –
Stp Logic.
6. Click OK to make the edit and close the dialog.
TIP: Double-click on any parameter and look at the editing screen. There is a radix,
select Hex to view the value in the same units shown on the PowerFlex 40 operator
interface.
7. Double-click on parameter 36 Start Source. When the editing dialog opens, select 3-Wire.
Click OK.
8. Now go to parameters 150 to 157 for setting Stp Logic Time. Edit each parameter for a time of
5 seconds, else you will need to wait a long time for the drive to complete one 8-step cycle.
9. Edit parameter 39 Accel Time 1 to a value of 2 seconds.
10. Edit parameter 40 Decel Time 1 to a value of 2 seconds.
11. Edit parameters 51 to 54 Digital Input Selects to values of Not Used.

Use DriveObserver to Monitor Performance

Starting DriveObserver
1. Double-click the DriveObserver icon on the Windows desktop (or in the Windows Start menu
select Programs > DriveTools > DriveObserver) to start the software or use the toolbar button
in DriveExecutive to launch DriveObserver .
2. In the menus, select File > New.
3. When the Sampling dialog opens, set sample period to 200 mS and the sampling time equal to
30 minutes. (DriveObserver will update the sampling period if necessary and will provide you
with notification of the update.)
4. Click OK to accept the settings.
Adding Traces
1. If the Add Trace dialog is not already open, select Chart >Add traces…

2. DriveObserver will display the node that is currently using by DriveExecutive. (Otherwise, you
will need to use the Add Node button to select a drive.)
3. From the drive Linear List, select the following parameters from the linear list of the node by
clicking the checkbox in front of each desired parameter: 1 Output Freq and 28 Stp Logic
Status. (Note 28 Stp Logic Status displays the step number being executed.)
4. Click OK.
Recording Data
1. Start the PowerFlex 40 drive using the green start button you wired on the step logic demo.
data.
TIP: Double clicking the parameter in the table beneath the chart will open a dialog
so that you can change the color, parameter value, line format, etc.

TIP: Use the VCR controls located beneath to scroll through data either while
recording or stopped. You can use the VCR pause button to look at data in detail
while continuing to Record data. Pausing the display does not affect data collection.
3. While recording data, look at the table beneath the chart and see the minimum and maximum
values shown. Directly type in some minimum and maximum values that you feel are
appropriate. For example, 0 and +60 may be more appropriate for Output Frequency. Also, 0
to 7 may be more appropriate for Stp Logic Status.
4. Stop recording data by clicking the Stop button .
FYI: Each time you Stop and then Record data anew, previous data is discarded.

Adding Non-Trended Parameters for On-The-Fly Adjustments
1. Click the Add Trace button.
2. In the Add Trace dialog, select all the Preset Frequencies as shown:
3. Click OK to accept changes.
4. When you are notified that sample rate has been slowed down, click OK.

5. In the table beneath the chart, un-check the Record field for all preset frequencies you just
added.
6. Select Chart > Sample Rate to make sample rate adjustments.
7. Set sample rate back to 200 ms and then click OK.
data.

9. While the data is recording, edit the values for the non-trended Preset frequencies to change
the performance of the step logic. At this point, you can only change the magnitude of the
steps, later in the lab you will learn how to change direction and switch between accel/decel 1
and 2.
Attention: Equipment Damage Can Result if the Drive is Operated at a Frequency Above 60
Hz. The drive is connected to the step logic demo. The motor and mechanical equipment in the step
logic demo is rated for speeds up to 60 Hz. The turntable in the step logic demo will appear to turn
slower than 60 Hz due to the 30:1 gear ratio reduction in the design. During this lab, do not operate
the drive at frequencies above 60 Hz.
TIP: You can add non-recorded gain parameters to make it easy to tune PI loops and
other drive functions.

Using Data Display Options

1. The following data viewing capabilities are available with DriveObserver and are made easy.
Try them out!
Zoom In: Allows user to zoom in on chart setting making chart look larger
while on time scale.
TIP: If you lose track of where you are when

zooming, use View>Undo Pan/Zoom to return to
the default settings.
Zoom Out: Allows user to zoom out on chart setting making chart look smaller
on time scale.
Value Bar: Allows user to determine the value of a trace at its present location.
Delta Bar: Allows user to determine the difference between two x- axis points.
Non – Isolated Graphing: Allows user to view traces overlapping on their

graph.
Isolated Graphing: Allows user to view traces separately on their graph.
Automatic Scaling: Is available for controlled scaling where DriveObserver

automatically increases/decreases Y-axis range to best fit the area.
Preset Scaling: Is controlled by min and max settings specified for each trace.
Same Y-Scale: Allows user to view traces on the same Y-axis.
2. When finished checking out the display options, click the Stop button in DriveObserver. Do not
close DriveObserver, just minimize it because you will be using it in a later lab section!

Program a More Involved Step Logic Program Using DriveExecutive

We are now going to update our step logic program such that the drive does the following:
Logic Step 0. Go forward at full speed (60 Hz) for 5 seconds + reach sensor 1 using Accel/Decel 1
Logic Step 1. Reverse at half speed (30 Hz) for 5 seconds + reach sensor 2 using Accel/Decel 1
Logic Step 2. Go forward at quarter speed (15 Hz) for 15 seconds + reach sensor 1 using
Accel/Decel 2; use relay out to turn on a step logic out light
Logic Step 3. Reverse at full speed (60 Hz) for 5 seconds + reach sensor 1 using Accel/Decel 1
This lab section will walk you through the programming techniques to configure the first step and
will then tell you how to set up the remaining steps.
Wire the Two Digital Inputs to the Turn Table Sensors

1. Stop the drive.
2. Wire the +24V for the lower-left sensor to the +24V supply; wire the Com for the sensor to the
Common; and wire the sensor Output to Digital Input 2.
+24V +24V
COM COM
Output Output
+24V +24V
COM COM

3. Wire the +24V for the upper-right sensor to the +24V supply; wire the Com for the sensor to the
Common; and wire the sensor Output to Digital Input 1.
+24V +24V
COM COM
Output Output
+24V +24V
COM COM
Program the Two Digital Inputs

1. Using DriveExecutive, change parameter 51 Digital In 1 Sel to a value of Logic In 1.
2. Change parameter 52 Digital In 2 Sel to a value of Logic In 2.
Wire the Light

1. Wire Relay Com to Com (common); wire one side of the light to 24V; and wire the other side of
the light to Relay(N.O.).
+24V +24V
COM COM
Output Output
+24V +24V
COM COM

Program the Light

1. Program parameter 55 Relay Out Sel to a value of StpLogic Out.
Program Drive Ramp Rates

1. Edit parameter 39 Accel Time 1 to a value of 0.5 seconds.
2. Edit parameter 40 Decel Time 1 to a value of 0.5 seconds.
3. Change parameter 67 Accel Time 2 to a value of 2.
4. Change parameter 68 Decel Time 2 to a value of 2.
Program the Step Logic Parameters Using DriveExecutive Diagram Views

1. Select Overview in the DriveExecutive treeview.

2. Click the button on the Drive Control block to see the Drive Control diagram.
3. In the Drive Control diagram, click the button on the Step Logic block to see its diagram.

4. In the Step Logic diagram, you see a selection of 8 steps (0 through 7). Select Step 0 by
clicking on the button on Step 0.
TIP: In the Step 0 diagram, you will notice that a step is comprised of:
An action (what the drive performs)
A condition to move to the next sequential step, i.e. step 0 to step 1
A condition for taking a special action
A special action
5. Click the button on Action.

6. In the Action diagram, there is a list of possible actions on the left side. Each action has a
particular sequence of bits that must be set in order to select that action. Find the action for:
Logic Output State = Off; Accel/Decel = 1; and Output = Forward. Make sure that all contacts in
that row are green.
TIP: If a contact is not highlighted green (currently true), then right-click on the
contact and select Toggle bit.
7. At the top of the diagram, you see parameter 70 Preset Freq 0. Double click on it for an editing
diagram.
8. In the editing dialog, set the Preset Freq to 60 Hz.

9. In the treeview, select the 0 – Move Next When diagram.
10. Set the Move Next When condition to “Move When Logic In1 is ON and Time Expires”.

11. In the treeview, select the 1 – Action diagram.
12. Set the Action to:
13. In the treeview, select the 1 – Move Next When diagram.
14. Set the condition to:
15. Set the parameter 71 Preset 1 at the top of the diagram to 30.
16. Set the parameter 151 Stp Logic Time 1 at the top of the diagram to 5 seconds.

17. Now you know how to program steps using the diagrams, program step 2 for:
Speed = 15 Hz
Timer = 15 seconds
Action = Logic Out ON, Accel/Decel 2, Forward
Move Next When = Logic In1 is ON + Timer Expires
18. Program step 3 for:

Speed = 60 Hz
Timer = 5 seconds
Action = Logic Out OFF, Accel/Decel 1, Reverse
Move Next When = Logic In1 is ON + Timer Expires
19. Program steps 4 to 7 for:

Move Next Immediately (skip step)
Use DriveObserver to Monitor Performance

1. Maximize DriveObserver. (Make sure that DriveObserver is NOT recording data.)
2. Remove the traces from chart for Preset Frequencies 4 to 7 by selecting the trace in the table
beneath the chart using the mouse and then typing the Delete key on your keyboard. You need
to delete the traces one at a time using this method.
3. Click the Record button in DriveObserver and watch the drive performance. (Remember to use
all the data viewing techniques via the toolbar buttons that you used earlier.)
4. Start the drive.
5. What do you notice?

Does the drive immediately react to sensor input by decelerating?
Does the drive overshoot the sensor further at higher speeds?
What happens if you reduce the Decel Times?

Changing Trace Formatting

1. In table beneath the chart, right click on selected trace and select Trace Properties or double-
click on the trace.
2. You will then view an edit trace dialog box.
3. In the section called Line Attributes, change Color, Marker, Line Style, and Line Width as
desired.
4. Select OK to close the edit traces dialog box.
TIP: Only a Line Width of “1” can use all Line Styles. All other Line Widths can
typically use only a style of Solid due to the Windows operating system.
TIP: If your zoom settings show a lot of data, marker styles may cause the data
displayed to look like really thick lines.
5. Stop the drive when finished.

Optional: Multi-drive on DeviceNet
Use the Lab Reset Utility

In this lab, we are using a special re-set utility to set defaults so that we can preserve network
connectivity. Due to time constraints, this lab does not include network set up. The network is set
up to use different DeviceNet addresses for the primary PowerFlex 40 drive because of differences
in I/O image tables when multiple drives are present later in this lab.
Node 4: PowerFlex 40 standalone for the step logic lab
Node 6: PowerFlex 40 multidrive
Attention: If you separately use reset defaults on any PowerFlex 40 drive or 22-COMM-D DeviceNet
adapter in this lab, the devices may fall off the network and will require instructor intervention. This will
result in you having less time to complete this lab.
1. Make sure that both drives are stopped.
2. Re-start your Windows PC to shut down any processes from the previous lab group. (The Login
Name is “Administrator” and password is blank.)
3. Make sure that both PowerFlex 40 drives (or PowerFlex 40 and PowerFlex 4 drives) are
powered up and stopped. Make sure that the Net A light on the front of the drive is solid green.
(If not, ask your instructor for help.)
4. After you re-start and log into Windows, look for the LabSetup icon on your desktop and double-
click on it to launch it.
5. When the Lab Set Up dialog opens, click Browse.

6. Wait a few moments and the Connect to Drive dialog appears.
7. When the Connect to Drive dialog opens, select DeviceNet in the left-hand pane with a single-
click. (DeviceNet is a shortcut to the DeviceNet network.)
8. On the right-hand side, you should see 3 nodes: 00 1756-DNB (this is the ControlLogix
DeviceNet scanner); 04 22-COMM-D; and 06 22-COMM-D. Wait until a red X appears on top of
either Node 04 or Node 06. You may need to wait a minute while DeviceNet is browsed by
RSLinx. If both Node 04 and Node 06 have a red X or neither node gets a red X after a minute,
see your lab instructor for help.
9. Once either Node 04 or Node 06 has a red X, select the node without the red X and then click
OK.
10. Wait a few moments (20-30 seconds) for the Lab Set Up dialog to update the harmony path.
Then click Load Lab Defaults. (If you receive a message box that the software is waiting on an
action, select Switch to and then wait another 30 seconds before re-attempting to click the Load
Lab Defaults button.

11. When the Select Setup dialog appears, select Multi-Drive (Node 6).
12. When you are notified that update was successful, click OK. Look at the drives, if either drive
has a fault, clear the fault by pressing the Stop button.
13. At this point look at the lights on the PowerFlex 40 with attached step logic demo and verify the
following:
Port: Solid Green
Mod: Blinking Green
Net A: Solid Green
14. If the lights are not correct, see your lab instructor.
Connect to Drive Using Short Cut on Desktop

1. Double-click on file PowerFlex 40 Node 6.dxc located on the Windows desktop. This method
works because a driver had been previously created in RSLinx. The shortcut was created by a
previous user.

Examining the Node

1. You learned how to use DriveExecutive earlier in this lab to program the drive. Use the
DriveExecutive skills that you just learned and explore the connection.
How many drives are you connected to? _____________
What ports are they? _________
How many DeviceNet adapters are present? ________
2. Open up DriveObserver and create a new chart. (You can reference the earlier section in this
lab for assistance.)
Use a default sample rate of 200 ms
Use a time period of 30 minutes
3. Add two traces to the chart as follows:

Parameter 1 Output Freq from the Port 0 drive
Parameter 1 Output Freq from the Port 1 drive
4. Click the Record button in DriveObserver.
5. Start the Port 0 PowerFlex 40 drive using the Start button on the drive. (Remember, the lab
reset program reset defaults to the drive when we started this exercise.)
6. Start the Port 1 PowerFlex 40 drive using the Start button on the drive.
7. Use the demo controls to change speeds for both drives and watch the performance in
DriveObserver. (Remember to update min/max values and use the display options in the
toolbar!)

Lampiran C
Integrasi Programming Drive

&
ControlLogix
Hands-On Lab
86
Premier Integration with PowerFlex Drives -
Integrated Drive Profiles with RSLogix 5000 v16
Table of Contents:
TTA
AB
A BL
BLLE
EO
E OF
O FC
F CO
ON
O NT
NTTE
EN
E NT
NT S:: ________________________________________________________ 3
TS
S
EQUIPMENT LIST _________________________________________________________ 4
LAB OBJECTIVES _________________________________________________________ 4
NETWORK TOPOLOGY______________________________________________________ 4
ABOUT INTEGRATED DRIVE PROFILES AND PREMIER INTEGRATION _____________________ 5
DOCUMENT CONVENTIONS _____________________________________________________ 6
CREATING AN RSLOGIX 5000 PROJECT WITH AN INTEGRATED DRIVE PROFILE _______________ 7
DOWNLOADING AND VERIFYING THE NETWORK I/O __________________________________ 26
USING RSLOGIX TO CREATE A LADDER PROGRAM THAT CONTROLS THE DRIVE _____________ 35
CONTROLLING THE DRIVE WITH YOUR PROGRAM ____________________________________ 40
OPTIONAL LAB MATERIALS (TIME PERMITTING) _____________________________________ 42
USING EXPLICIT MESSAGING (OPTIONAL) ______________________________________ 42
VIEWING THE 20-COMM-E’S WEB PAGES (OPTIONAL) ____________________________ 51
CHALLENGE! “CONVEYOR APPLICATION” (OPTIONAL) ____________________________ 51
APPENDIX A: CONNECTING AND ENERGIZING THE EQUIPMENT __________________________ 52
3
Equipment List
• IMC Motor side demo (contains PowerFlex 700VC).
• IMC PanelView side demo with v16 ControlLogix controller in slot 3 and Ethernet Bridge module in
slot 0.
• Computer with RSLogix 5000 v16 and RSLinx Classic.
• DPI External Communications Kit with 20-COMM-E EtherNet/IP communications adapter

connected to external port (Port 2) on PowerFlex 700VC.
Lab Objectives
This introduces Integrated Drive Profiles in RSLogix 5000. Integrated Drive Profiles simplify the process
of integrating Allen-Bradley drives in a Logix system with ControlNet or EtherNet/IP.
Note: This particular system uses a 20-COMM-E EtherNet/IP communications adapter

mounted in an External Communications Kit (Port 2). Typically, the communications
adapter would be mounted inside the door of the drive (Port 5). However in this demo
unit, that location already houses a 20-COMM-D DeviceNet communications adapter for
use in other labs.
Network Topology
The figure below illustrates the network topology of the demo for this hands-on lab.
****** NOTE: From the PanelView Plus screen, select Premier Integration lab ******
4
About Integrated Drive Profiles and Premier Integration
Integrated Drive Profiles were designed to save system development time and to make systems easier
to maintain.
Integrated Drive Profiles in RSLogix 5000 v16 can reduce drive system development time by as much
as 70% (figure obtained from timed side-by-side drive configuration comparison testing) by:
• Providing one software tool to configure the entire Logix / drive system.
• Configuring both controller and drive network connections from a single location -
eliminating I/O mismatch errors.
• Allowing the dynamic selection of drive parameters transmitted as network I/O –

communicating only what is needed for the application.
• Auto-generating descriptive tag names - eliminating the need to enter individual tag
descriptions.
• Auto-generating respective tag data types - eliminating the need to convert from one data
type to another.
• Saving all drive configurations in the RSLogix project file and in the Logix controller –
providing a single source of drive configuration data.
• Providing Copy & Paste capability when creating additional duplicate drives – also
duplicates the drive configuration settings so all the new drive needs is a different node
address.
• Allowing use of the same easy-to-use drive configuration Wizards used in DriveTools SP
and DriveExplorer.
Systems using the Integrated Drive Profiles in RSLogix 5000 v16 are also easier to maintain:
• Drive diagnostic, fault, alarm and event information is integral to RSLogix 5000.
• Drive Tech Support Wizard can be run from RSLogix 5000 to collect all pertinent information
about a drive, it's peripherals, various software components, and PC operating system.
• Drives can be flash updated from RSLogix 5000.
Having a single repository of drive configuration data (in RSLogix project file) speeds drive
replacement.
Integrated Drive Profiles are "Add-On" Profiles, meaning new profiles can be introduced at any time
(not tied to a specific RSLogix 5000 release) and utilized by v16 and higher versions of RSLogix 5000.
5
Document Conventions
Throughout this workbook, we have used the following conventions to help guide you through the lab
materials.
This style or symbol: Indicates:
ATTENTION: Identifies information about practices or
circumstances that can lead to personal injury or death,
! property damage, or economic loss. Attentions help you:

• identify a hazard
• avoid the hazard
• recognize the consequences
Words shown in bold (e.g., Any item or button that you must click on, or a menu name
RSLogix 5000 or OK) from which you must choose an option or command. This will
be an actual name of an item that you see on your screen or
in an example.
Words shown in bold italics, An item that you must type in the specified field. This is
enclosed in single quotes information that you must supply based on your application
(e.g., 'Controller1') (e.g., a variable).
Note: When you type the text in the field, remember that you
do not need to type the quotes; simply type the words that
are contained within them (e.g., Controller1).
The text that appears inside of this gray box is supplemental
information regarding the lab materials, but not information
that is required reading in order for you to complete the lab
exercises. The text that follows this symbol may provide you
with helpful hints that can make it easier for you to use this
product. Most often, authors use this “Tip Text” style for
important information they want their students to see.
Note: If the mouse button is not specified in the text, you should click on the left mouse button.
6
Creating an RSLogix 5000 Project with an Integrated
Drive Profile
Before starting this lab, Press the ‘Premier Integration Lab’ button from the PanelView screen.
1. Launch RSLogix 5000.
Double-click the RSLogix 5000 icon on the desktop, or from the Start menu, select Programs >
Rockwell Software > RSLogix 5000 Enterprise Series > RSLogix 5000.
2. Go Online with the processor in slot 2.
3. Once you have UPLOADED the program from the processor into the RsLogix 5000 software, go
“Offline”. The only way to add I/O to the program is to be offline.
4. The first task is to add the drive to the Ethernet network. Add a new module to the system, by
right-clicking on the Ethernet network under the 1756 backplane and selecting New Module.
7
The Select Module window will open.
8
5. Now expand the Drives section and scroll down and select the PowerFlex 700 Vector-200V-E.
Note: You must select the PowerFlex 700 Vector-200V-E drive. The other PowerFlex
700 selections will not work.
Click OK. (at this point it may take the software several seconds to load all the information
related to the drive in order to configure it ….. be patient and don’t click ahead, wait for the
dialog box shown in the next step)
9
6. Enter the drive node information as shown below, and then click Change…
Do NOT click OK yet.
Click “Change”.
Note: Do NOT click OK yet.
10
7. On the resulting Module Definition window make the following selections:
Revision: 4.6 Note: This information can be verified from the HIM module in the drive.
Select “Diagnostics” then “Device Version”.
Drive Rating: 240V 2.2A
Enable Datalinks A and B.

Select Output Current – 3 for Datalink A1 Input Data.
Select AccelTime 1 – 140 and DecelTime 1 – 142 for Datalink A1/A2 Output Data.
Select DCBusVoltage – 12 for Datalink B1 Input Data.
Note: You can scroll down to a parameter to select it, or you can start typing the parameter
name in the box to display parameters starting with those characters.
11
Up to 10 words of Input Data and 10 words of Output Data can be defined for the
connection. By default, drive status and control information will be communicated.
Status Information
The “DriveStatus” word contains the Logic Status bit information, such as Ready, Alarm,
Fault, and At Reference. The “OutputFreq” word contains the Feedback information, which
shows the actual operating frequency of the drive.
Control Information
The “DriveLogicRslt” word contains the Logic Command bit information, such as Stop, Start,
Forward, Reverse, and Reset. The “CommandedFreq” word contains the commanded
Reference for the drive to run.
Datalinks A, B, C, D
Datalinks are pointers to drive parameters. Instead of offering fixed I/O assemblies where
what-you-see-is-what-you-get, our drive I/O assembly is dynamic and gives the programmer
the ability to pick & choose the desired drive parameters to communicate as network I/O.
Configuration is occuring simultaneously for TWO offline devices: the controller and the drive.
Checking Datalink A & B automatically sets the following parameters for the 20-COMM-E
EtherNet/IP adapter:
• Parameter 23 [DPI I/O Cfg] – turns on the Datalink A & B bits so the 20-COMM-E will
communicate Datalink A & B information with the drive.
• Parameter 35 [M-S Input] – turns on the Datalink A & B bits so the 20-COMM-E will input
Datalink A & B information from the controller
• Parameter 36 [M-S Output] – turns on the Datalink A & B bits so the 20-COMM-E will output
Datalink A & B information to the controller
Entering the Input Data for Datalink A & B automatically sets the following parameters for the
PowerFlex 700VC:
• Parameter 310 [Data Out A1] – set to “3” so the PowerFlex 700VC will communicate Parameter
3 [Output Current] as the Datalink A1 information sent to the 20-COMM-E
• Parameter 312 [Data Out B1] – set to “12” so the PowerFlex 700VC will communicate
Parameter 12 [DCBusVoltage] as the Datalink B1 information sent to the 20-COMM-E
Entering the Output Data for Datalink A automatically sets the following parameters for the
PowerFlex 700VC:
• Parameter 300 [Data In A1] – set to “140” so the PowerFlex 700VC will take the Datalink A1
information sent from the 20-COMM-E and write it to Parameter 140 [AccelTime1]
• Parameter 301 [Data In A2] – set to “142” so the PowerFlex 700VC will take the Datalink A2
information sent from the 20-COMM-E and write it to Parameter 142 [DecelTime1]
Click OK.
12
8. The New Module screen will reappear, with the General tab on top.
Click OK.
Note the drive now is listed as I/O in the Ethernet network.
9. Examine the automatically generated tags, which relate to the drive, by double-clicking on the
Controller Tags icon.
13
10. View the input tags by clicking on the Application_Name_Drive:I tags.
Note: The automatically generated tags are descriptive of their function, and their data
types match the data types of the respective drive parameters.
11. View the output tags by clicking on the Application_Name_Drive:O tags.
Close the Tags window.
14
12. Double-click on the drive icon in the I/O configuration folder.
13. In the resulting Module Properties window, click on the Port Configuration tab
Enter the port configuration information as shown below. Make sure that Enable BootP is
unchecked.
Click Set to set the respective parameters in the 20-COMM-E.
15
14. Click on the Drive tab.
This tab has most of the functionality of DriveExecutive Lite, the drive configuration software tool
that shipped with RSLogix 5000 v15.
15. Right-click on the icon for the communications adapter.
16. Select Peripheral port 2 for the adapter.
Then click OK.
16
Note: The default port is 5. This is the port assigned to a communications adapter inside the
drive door, which is the typical location. Port 2 is assigned to the connector at the bottom of
the drive, where the external communications kit is connected.
17. Verify the automatically-set Datalink parameters in the drive, by double-clicking on the drive’s
parameter list.
18. In the resulting Parameter List window, scroll down to the parameter 300 [Data In A1].
The value of 140 in parameter 300 [Data In A1] indicates a link to parameter 140 [AccelTime 1].
The value of 142 in parameter 301 [Data In A2] indicates a link to parameter 142 [DecelTime 1].
The value of 3 in parameter 310 [Data Out A1] indicates a link to parameter 3 [Output Current].
The value of 12 in parameter 312 [Data Out B1] indicates a link to parameter 12 [DC Bus
Voltage].
As indicated in Step 11, drive parameters were automatically being set while configuring the
controller. The user no longer has to set these parameters separately.
Click Close.
19. Verify the automatically-set parameters in the communication module, by double-clicking on the
20-COMM-E’s parameter list.
17
20. In the resulting Parameter List window, view the parameter setting identified below.
Parameters 3-15 were set from your configurations on the General and Port Configuration tabs.
Parameter 23, 35, and 36 were set based on your Datalink selections in the Module Definition
Window.
As indicated in Step 11, 20-COMM-E parameters were automatically being set while configuring the
controller. The user no longer has to set these parameters separately.
Click Close.
21. Click on the PowerFlex 700VC.
18
22. Click the Wizard icon in the toolbar.
Select the Startup Wizard in the Available Wizards window.
Click Select.
23. Click Yes in the resulting Confirmation window.
24. This launches the Startup Wizard.
Click Next until you reach Step 4 of the Wizard.
19
25. On the Step 4 window, make the settings shown below:
Motor NP Power 1.0 Hp.

Motor NP FLA 1.0 Amps
20
26. On the Step 9 window, make the settings shown below:
Max Speed 90 Hz.

Min Speed 10 Hz.
Enter a non-zero value for S Curve, and observe what happens to the graphic.
Then return the value back to zero.
Click Next.
21
27. On the Step 10 window, select ‘DPI Port 2’ from the Speed Reference pull-down.
The 20-COMM-E EtherNet/IP adapter, in the external communications kit, plugs into the drive on
DPI port 2. The ControlLogix controller will produce the speed reference and transfer it to the
drive over the Ethernet network.
22
28. Disable all of the digital inputs for this lab exercise, by selecting Not Used for each input. This will
prevent wiring in the demo from interfering with this lab exercise.
23
29. The Step 15 window of the Wizard displays all the changes you have made.
Note: clicking the print icon at the bottom of the window allows you to print the
changes.
Click Finish to accept the changes.
24
30. Do not click OK. Continue to the next section to download to the drive/communication module.
25
Downloading and Verifying the Network I/O
1. Make sure that the controller key switch is in the PROG mode position. Click the Download icon
to download the configuration settings to the drive.
In the resulting Connect To Drive window, navigate to the drive, which as the IP address
192.168.1.8, and then click OK.
2. If the PowerFlex 700VC in the IMC demo that you are using is a different firmware revision than
your project, then the following mismatch window will appear. If not, then proceed to step 3.
Click Yes to match the revision in the drive and continue.
If there are I/O configuration differences between the project and the drive, the following window will
appear and will highlight any differences (image below will vary depending on the differences
found).
26
Your Project settings should be correct. Click Use Project.
The Reset Comm Module window may appear, indicating that the configuration of the
communications module has been changed to match the configuration you created in the RSLogix
project. Click Yes to continue correlation.
The Waiting for adapter to reset window will appear. Wait until the reset is complete.
27
When finished, all Project and Drive Input/Output data should be grayed out to show that both are
now equal.
Click Continue.
3. The Select Devices to Download window will appear.
28
A checked box indicates to download. If the box is grayed out, it means the devices are equal and
a download is not necessary for this particular item. We want to download the drive and 20-COMM-
E, so click Download.
The Downloading Parameters window will appear. Wait unit the download is complete.
The drive may have experienced a Port 2 DPI Loss fault during this step. Press the stop button
on the drive Human Interface Module (HIM) to clear the fault.
The download process is complete.
Click OK to close the Module Properties window.
Note: If the IP address of the 20-COMM-E was changed it will be necessary to

reset the module. This can be done by removing and reapplying the 24V power or
selecting the 20-COMM-E from the HIM module on the drive, scrolling to parameter
20 and setting the value to 1. If this is not done, you will see the dreaded “Yellow
Triangle” in the I/O configuration of RSLogix 5000 for the PF700 Drive.
29
4. Click the RSWho icon or select Communications > Who Active, and then navigate to the
controller in slot 3.
Click Set Project Path, if the button is available.
Click Download.
5. Click Download in the resulting window.
30
6. Verify the controller status.
The controller should be in Program or Rem Prog mode. The I/O LED on the face of the controller
should be solid green.
The PowerFlex 700 Vector in the I/O Configuration tree should not have a yellow triangle
associated with it.
Note: Please contact an instructor if an error is shown in this step.
7. Put the controller in Run mode.
You can do this by turning the key on the controller or by changing the mode in RSLogix 5000.
31
8. View the controller’s output tags for the drive. Double-click on the Controller Tags in the Menu Tree
and expand the Drive:O tags. The data in these tags is produced by the controller and consumed
by the drive.
RSLogix has automatically created tags for drive control and the datalinks. These tags
are human readable and the data types are correct.
32
9. Control the drive by manually manipulating these tags.
a. Enter values for AccelTime1 and DecelTime1. Their data format is in tenths of seconds, so a value of 20
in the tag configures the drive parameter for 2.0 seconds.
b. Enter a 1 for ClearFault and then set it back to 0. This will reset any fault in the drive.
c. Enter a 1 for Start and then set it back to 0. This will start the drive. A rising edge on the start command
starts the drive.
d. Enter a value of 8192 for CommandedFreq. This will change the speed reference in the drive to 32.5 Hz.
The controller tag for speed reference uses engineering units with a range of 0-32767. A
value of 32767 equals the speed in drive parameter 55 [Max Freq].
Speed Reference (in Hz) x 32767

Speed Reference (in Hz) =
value in parameter 55 [Max Freq]
33
10. View the controller’s input tags for the drive. Expand the Drive:I tags. The data in these tags is
produced by the drive and consumed by the controller.
Monitor the value of the OutputFreq tag. It should equal the speed of the motor (in the same
engineering units used on the output tag).
Monitor the value of the DCBusVoltage tag. It should equal the value of the bus voltage (displayed
on the HIM) multiplied by ten.
11. To stop the drive, return to the output tags and set the value of Stop to 1, and then set it back to 0.
The stop command will be active anytime there is a value of 1 in the Stop tag.
Close the Controller tags window.
34
Using RSLogix to Create a Ladder Program that
Controls the Drive
1. Put the controller in Program mode.
2. Navigate to the MainProgram in the Tasks folder. Double-click on the Premier icon.
35
3. In the MainRoutine window build ladder logic to control the drive.
Drag-and-drop the XIC instruction and an OTE instruction from the instruction bar onto
rung 0.
4. Assign a tag to the XIC instruction.
Right-click on the ? above the XIC instruction, and then select New Tag…or just start typing over
the ? and then Right-click on the name you just typed and select New Tag.
36
In the resulting New Tag window, enter ‘Start_Drive’ for the Name. The Type should be Base, and
the Data Type should be BOOL.
Click OK.
5. Assign a tag to the OTE instruction.
Double-click on the ? above the OTE instruction and then click on the down-arrow in the resulting
pull-down menu.
Navigate to the Drive output tag for start (App_Name_Drive:O.DriveLogicRslt_Start), and double-
click it.
37
When the rung is complete, it should like this:
6. Repeat the above steps to create rungs for Stop_Drive and Clear_Drive_Faults. You can use the
button on the Instruction Tool Bar to insert new rungs. When they are complete they should
look like this:
7. Create a rung that converts a speed reference in Hz to engineering units, and puts it in the drive
output tag for speed reference (App_Name_Drive:O.CommandedFreq). Use the CPT instruction in
the Compute Math tab. It should look like this when complete:
You will need to create a new tag (Speed_Ref_Hz). It should have a Data Type of Real.
8. Click on the Finalize All Edits icon and click Yes to finalize all edits in the program.
38
10. Verify the controller status.
The I/O LED on the face of the controller should be solid green.
The PowerFlex 700 Vector in the I/O Configuration tree should not have a yellow triangle
associated with it.
Note: Please contact an instructor if an error is shown in this step.
39
Controlling the Drive with Your Program
1. If the ladder program you created is not displayed, expand the MainProgram folder and double-click
the MainProgram icon.
2. Clear a drive fault.
By default, a 20-COMM-E adapter Parameter 21 [Comm Flt Action] and Parameter 22 [Idle Flt
Action] is set to “Fault”. A Comm Flt Action is an action the drive will take when the 20-COMM-E
adapter detects a network problem (for example, Ethernet cable is removed). An Idle Flt Action is
an action the drive will take when the 20-COMM-E adapter detects that the controller changed from
Run mode to Program mode. Most likely, after you downloaded the program to the controller, your
drive is now faulted and its STS LED on the front cover is flashing red.
Using Rung 2, right-click on the Clear_Drive_Fault instruction, and select Toggle Bit.
40
The STS LED should now be flashing green which indicates the drive is ready to be issued a valid
start command from the network. Right-click on the Clear_Drive_Fault instruction and select
Toggle Bit again to reset the instruction for later use.
You can also toggle a bit by selecting an instruction in the program or the tag in the
monitor tags window, and typing Ctrl+t on the keyboard.
3. Start the drive.
Using rung 0, toggle the Start_Drive instruction.
The drive should start and indicate it has started by a solid green STS LED. It will run until there is
a rising edge on the Stop_Drive bit or there is a fault.
Toggle the Start_Drive instruction again.
4. Change the speed reference.
Find the Speed_Ref_Hz tag you created (it is either in the Controller Tags or Program Tags area).
Enter a value higher than 10 and less than 90.
The drive should accelerate to that speed.
Reset the value to zero. The drive should decelerate to its minimum speed (10 Hz).
5. Stop the drive.
Using rung 1, toggle the Stop_Drive instruction.
The drive should stop.
Toggle the bit again. The drive will not start as long as this bit is set.
Congratulations! You have completed the lab.
If you finished early, the following pages contain optional lab materials.
41
Optional Lab Materials (Time Permitting)
This section is optional, and for those that finish early and would like to learn more. Please select any topic of interest:
• Using Explicit Messaging – Learn how to use the MSG instruction to read and write data to the drive that is not
already being communicated as part of the normal I/O update (implicit messaging).
• Viewing the 20-COMM-E’s Web Pages – Learn about the web features of the 20-COMM-E EtherNet/IP adapter,
including the ability to view diagnostic information, launch drive software tools, and send email messages.
• Challenge! Conveyor Application - From the information learned, create a program using RSLogix 5000 that will
simulate product (for example, bottles) moving on a conveyor line.
Using Explicit Messaging (Optional)
This section explains how to perform an explicit message to the drive over an EtherNet/IP network.
Explicit Messaging is another method of reading / writing data from / to a drive for monitoring and
configuring purposes. They are similar to Datalinks, however, if Explicit Messages are 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. Datalinks do not write to NVS and should be used instead for
frequently changed parameters.
In v15 (and higher) of RSLogix 5000, an easier method of performing an Explicit Message to a drive
was added. In the past, when you configured an explicit message, you had to figure out what Class,
Instance, and Attribute to use, and then how to set up the information inside a Message (MSG)
instruction. Let’s try the new way!
Using a Parameter Read Message
1. Put the controller in Program mode.
42
2. Navigate to the MainRoutine in the Tasks folder. Double-click on the MainRoutine icon.
3. Add a new rung for the message instruction. You can use the button on the Instruction Tool
Bar to insert the new rung. Then drag-and-drop an XIC instruction and an MSG instruction
from the instruction bar (located in the Input/output tab).
When the rung is complete, it should like this:
43
4. Assign a tag to the XIC instruction.
Right-click on the ? above the XIC instruction, and then select New Tag…
In the resulting New Tag window, enter ‘Enable_Read_Message’ for the Name. The Type should
be Base, and the Data Type should be BOOL.
Click OK.
5. Assign a tag to the MSG instruction.
Right-click on the ? in the MSG instruction, and then select New Tag…
In the resulting New Tag window, enter ‘Read_Message’ for the Name. The Type should be Base,
and the Data Type should be MESSAGE. Verify the Scope field is set to (controller scope). The
name listed will be whatever the filename loaded in the processor is. (ie IMC_On_Tour)
The name listed will be the

filename of the program loaded
in the processor.
Click OK.
44
6. Configure the Message instruction. Click on the (3-dot button) inside the MSG instruction. This
will launch the Message Configuration screen.
Select ‘Parameter Read’ for the Service Code. This configures the message to read data from a
single drive parameter.
Enter ‘17’ for the Instance. This configures the message to read data from parameter 17 [Analog
In2 Value].
7. Create a new tag to consume the data, by clicking New Tag…
In the resulting New Tag window, enter ‘Analog_In2_Value’ for the Name.
The Type should be Base.

The Data Type should be DINT.
The scope should be controller (My_Controller).
The style should be Decimal.
Click OK.
45
8. Select the new tag for the Destination.
Click on the drop-down menu for Destination, and navigate to the new tag you just created.
Select the new tag.
46
9. Set the path for the message.
Click on the Communication tab of the window, and then click Browse. Navigate to the drive in the
Message Path Browser window, and then click OK.
This will return you to the Message window. Click OK.
10. Click on the Finalize All Edits icon and click Yes to finalize all edits in the program.
47
12. Clear the drive fault if one has occurred.
13. On the face of the motor-side demo, turn the “Analog In 2” potentiometer all the way down (to the
left).
14. In RSLogix 5000, toggle the instruction for Enable_Message_Read. This should execute the
message. Toggle it again to reset the value.
15. Find the Analog_In2_Value tag. Its value should look like this:
16. On the face of the motor-side demo, turn the “Analog In 2” potentiometer to some other position.
17. In RSLogix 5000, toggle the instruction for Enable_Message_Read. This should execute the
message. Toggle it again to reset the value.
18. Find the Analog_In2_Value tag. Its value should change to indicate the new position.
48
Using a Parameter Write Message
ATTENTION: Risk of equipment damage exists. If Explicit

Messages are 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 Explicit Messages to write parameter data to
NVS. Datalinks do not write to NVS and should be used for
frequently changed parameters.
1. Create a rung for the Parameter Write Message by repeating the process you used to create the
Parameter Read Message.
The Service Type should be Parameter Write.

The Instance should be 141. This will configure the message to send data to parameter 141 [Accel
Time2] in the drive.
Create a new tag, called Accel_Time_2 to produce the data for the message.
The Source Length should be 4 bytes.
The Path should be the same as the last message.
When complete, the rung should look like this:
49
3. Clear the drive fault if one occurred.
4. Put a value in the Accel_Time_2 tag.
5. Execute the message by toggling the Enable_Message_Write instruction twice.
6. Using the drive HIM verify that parameter 141 [Accel Time 2] has changed to match the value you
entered.
7. Put a different value in the Accel_Time_2 tag.
8. Execute the message again, by toggling the Enable_Message_Write instruction twice.
9. Using the drive HIM verify that parameter 141 [Accel Time 2] has changed to match the new value.
50
Viewing the 20-COMM-E’s Web Pages (Optional)
This section provides instruction on how to use Internet Explorer (or a similar internet browser tool) to
monitor the adapter and connected drive using the 20-COMM-E adapter’s web pages.
1. Launch Internet Explorer.
2. Type the IP address (192.168.1.8) for the PowerFlex 700 Vector drive / 20-COMM-E adapter (not
the 1756-ENBT module) following the “http://” command on the address bar. For example,
http://192.168.1.8. When connected, the left tool bar (which is in Window’s Folder View) is very
intuitive and easy to understand. Take your time and begin to familiarize yourself with the built-in
web features including email notification, diagnostics, and the ability to directly launch drive
software tools.
Challenge! “Conveyor Application” (Optional)
From the information learned, create a program using RSLogix 5000 that will simulate product (for
example, bottles) moving on a conveyor line. In order to be successful, the drive must perform the
following steps in order:
• Start
• Ramp up to 30 Hz and continue to run for 5 seconds
• Then ramp up to 60 Hz and continue to run for 30 seconds
• Slowly ramp down to 0 Hz
• Stop for 10 seconds
• (Bottles are at destination)
• Start
• Ramp up again to 60 Hz and continue to run
Call over an instructor to approve your design.
51
Appendix A: Connecting and Energizing the
Equipment
ATTENTION: Hazardous voltages exist beneath the drive cover.
Contact with circuits under the cover can result in death or serious
! injury by electric shock. Do NOT remove the drive cover.
1. De-energize the equipment.
2. Connect the computer to the Ethernet switch on the PanelView demo.
3. Connect the 20-COMM-E communications adapter in the external communications kit to the
Ethernet switch.
4. Connect the external communications kit to the DPI port on the bottom of the PowerFlex 700 drive.
52
5. Connect the drive to the motor by turning the IMC Motor selector switch to 700.
6. Energize the PanelView demo box by putting the 120V ac switch, located on the lower right-hand,
in the on (1) position. In addition, verify that the circuit breaker is in the on (left) position.
53
7. Energize the Motor Control demo box by putting the 120V ac switch, located on the lower left-hand,
in the on (1) position. In addition, verify that the circuit breaker is in the on (left) position.
8. Verify that the 20-COMM-D communications adapter is disabled.
Make sure that all the bits of parameter 13 [DPI IO Cfg] in the 20-COMM-D are reset to zero.
Note: If this equipment has been used with the Intelligent Motor Control lab, the adapter
will be active and will interfere with the functions of this lab.
9. Make sure the controller used for the IMC lab (in slot 2) is in program mode.
54
www.rockwellautomation.com
Power, Control and Information Solutions

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 SA/NV, Vorstlaan/Boulevard du Souverain 36, 1170 Brussels, Belgium, Tel: (32) 2 663 0600, Fax: (32) 2 663 0640
Asia Pacific: Rockwell Automation, Level 14, Core F, Cyberport 3, 100 Cyberport Road, Hong Kong, Tel: (852) 2887 4788, Fax: (852) 2508 1846
IMC_On_Tour_Premier_Integration_Lab_REV_A– October 2007 Copyright © 2007 Rockwell Automation, Inc. All Rights Reserved. Printed in USA.

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Lampiran A: Basic Drive Programming Hands-

Lampiran B: Advanced Drive Programming

Lampiran C: Integrasi drive & Controllogix

Apakah Variable Speed Drive (VSD) itu?

Seperti kita ketahui kecepatan AC motor dirumuskan sebagai berikut::

N = Synchronous RPM (kecepatan sinkron)

Berdasarkan rumus di atas dengan mengubah masukan frekwensi ke motor

Beberapa motor memang ada yang dirancang untuk mempunyai kemampuan

Blok skematik dari VSD dapat digambarkan sbb:

Bab 1.1 Fungsi AC Drive dan kelebihannya.

Gambar 1.1 Reversing Starter dengan Circuit Breaker

Gambar 1.3 Star-delta starter dengan 1 circuit breaker dan 2 thermal

Dari semua model konfigurasi star-delta starter di atas masih mempunyai

4. Penghematan daya listrik atau “energy saving”

Bab 2.1 Teknologi AC Drive

Bab 2.1.1 Variable Voltage Inverter (VVI)

Gambar 2.2 Bentuk gelombang output VVI

Bab 2.1.2 Current Source Inverter (CSI)

Gambar 2.3 Konversi power unit CSI drive

Gambar 2.4 bentuk gelombang tegangan dan arus CSI drive

Teknologi CSI drive ini jarang ditemukan/digunakan pada low voltage AC

Bab 2.1.3 Pulse Width Modulation (PWM)

Teknik PWM ini memerlukan switching di bagian power komponen inverter on

Gambar 2.5 PWM drive

Gambar 2.6 PWM Generator

Gambar 2.6 Output PWM generator

Gambar 2.8. Perbandingan gelombang untuk frekwensi rendah dan tinggi

Basic Control Types

1. Volt per Hertz control

Bab 2.2.1 Volt per Hertz

Contoh: motor dengan nameplate tegangan 240VAC; frekwensi 60Hz, maka

Alasan mengapa perbandingan V/Hz harus dijaga konstan adalah kuat

Impedansi / reaktansi dari AC motor dapat dirumuskan sebagai berikut:

Gambar 2.9 Blok diagram control V/Hz

Blok V/Hz berfungsi mengubah menjaga agar perbandingan V/Hz tetap

Gambar 2.10a V/Hz Speed vs Torsi

Gambar 2.10b V/Hz : Shock Load

Bab 2.2.2 Sensorless Vector Control

Mungkin yang sedikit membingungkan dari kata-kata Sensorless Vector

Motor Current Vectors

Total Current is the Vector sum of

l • High % of total current is “magnetizing” current

Gambar 2.11 Motor Current Vectors

Sensorless Vector Control Current Feedback

“V Angle” controls the amount of total motor

Gambar 2.12 Sensorless Vector Control

Blok Torque Current Estimator menentukan persen arus yang sephase

Gambar 2.13a Speed Vs Torsi, Sensorless Vector Control

Bab 2.2.3 Flux Vector Control

SPEED CURRENT VOLTAGE VOLTAGE Gate

Gambar 2.14 Flux Vector Control dengan Feedback Device

Sensorless Flux Vector Control

SPEED CURRENT VOLTAGE VOLTAGE Gate

Gambar 2.15 Sensorless Flux Vector Control

Flux Vector Control - Torque Vs Speed

Bab 2.2.4 Field Oriented Vector Control

SPEED CURRENT VOLTAGE Gate

Torque Current Ref Voltage Angle

Gambar 2.17 Field Oriented Control dengan Feedback

Sensorless Field Oriented Control

SPEED CURRENT VOLTAGE Gate

Torque Current Ref Voltage Angle