TLink Option Module

Catalog Numbers 20-750-TLINK-XT, 20-750-TLINK-FOC-5,

20-750-TLINK-FOC-10, 20-750-TLINK-FOC-50

User Manual Original Instructions

TLink Option Module User Manual

Important User Information

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

2 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Table of Contents

Preface
About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Chapter 1
Getting Started Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Compatible Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Configuration Tools and Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
System Design Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
TLink Time Synchronization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Typical Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Linear Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Ring Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 2
Configuring the TLink Option Access Parameters with the PowerFlex Human Interface
Module Module (HIM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
TLink Option Module Configuration Parameters. . . . . . . . . . . . . . . . . . . 11
Configure a Source for Leader or Follower Data . . . . . . . . . . . . . . . . 11
Example User Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Setting a Fault Action. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Updating Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 3
Troubleshooting Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Faults and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Viewing Option Module Diagnostic Items . . . . . . . . . . . . . . . . . . . . . . . . . 17

Appendix A
Parameter List TLink Option Module Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Appendix B
Block Diagrams TLink Control Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Appendix C
Load Sharing Applications Droop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Torque Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 3

NOTES:

4 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Preface

About This Publication This user manual explains how to use a TLink option module to create a TLink
system. A TLink system can use multiple drives and is based on Connected
Components Workbench™ (CCW) software and PowerFlex® 750-Series AC
Drives with TotalFORCE® Control.

Introduction The TLink option modules are used to create a high speed, communications
network with excellent reliability between PowerFlex 755T drive products. A
TLink based system consists of at least two drives, each with one TLink option
module, which is connected by a fiber-optic cable. One drive is considered the
leader and all other drives in the network are considered followers. TLink
option modules provide synchronization of all drives in the system and allow
them to share data from the leader drive to the follower drives.

Conventions Used in This The following conventions are used throughout this manual:
Manual • PowerFlex 755TL low harmonic drives, PowerFlex 755TR regenerative
drives, and PowerFlex 755TM drive systems are also referred to as
PowerFlex 755T drive products.
• The TLink option module card can be used with any 755T control pod
(drives, bus supplies, and common bus inverters). Unless specificity is
necessary, the products are all referred to as 755T drive products.
• Parameter names are shown in the format Parameter XX:xxx [*]. The xx
represents the parameter number. The * represents the parameter
name—for example Parameter 01 - [Port Number].
• The HIM or drive firmware revision number (FRN) is displayed as FRN
X.xxx, where ‘X’ is the major revision number and ‘xxx’ is the minor
revision number.

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 3

Preface

Notes:

4 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Chapter 1

Getting Started

TLink option modules allow high-speed communication between drives. A

TLink based system consists of at least two TLink option modules that are
installed in two or more drives that are connected by a fiber-optic cable. One
drive is considered the leader and all others are considered followers. The
TLink option module is intended to provide synchronization of the drives in a
system and to share data from leader to followers.

Components TLink based system consists of at least two drives, each with one TLink option
module, which is connected by a fiber-optic cable. One drive is considered as a
leader, when all others are considered as followers. TLink card is intended to
provide synchronization of all drives in system and to share data from leader
to followers.

Status Indicators
Transceiver Cage

Receive Plug for

Optional Power
Transmit Supply

Edge Connector

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Chapter 1 Getting Started

Compatible Drives The TLink option modules are compatible with PowerFlex® 750-Series
Products with TotalFORCE® Control.

Configuration Tools and TLink option modules are compatible with the following configuration tools
Software and software:
• PowerFlex 20-HIM-A6 or 20-HIM-C6S HIM
• Connected Components Workbench software is the recommended
standalone software tool for use with PowerFlex drives. Download it for
free from the Product Compatibility and Download Center (PCDC) at
rok.auto/pcdc.

Features Features of the TLink option module include:

• Leader drive with one or multiple followers
• Linear or ring topologies are supported
• Light-emitting diodes (LEDs) are visible when the cover is removed
• Optional external power supply can be used to maintain power for fiber-
optic communications pass through when a drive is powered down
We recommend the 1606 power supply family from Rockwell Automation. If
using your own supply, TLink option modules draw 55 mA at 24 vDC.

System Design The TLink communication option modules are installed with one TLink option
Considerations module per drive. Total nodes and distance between nodes in a system are not
limited but do have an impact on the communication delay between the leader
and followers.

There can be one optional external power supply per TLink option module. An
optional power supply can be used to allow pass through communications
when a drive in the network is turned off. Alternatively, TLink option modules
can maintain pass-thru of data with an appropriately sized external 24V DC
power source that is connected to the 24V DC control bus terminals that are
located in the control bay and the input bay of 755T products.

The TLink option module is only operational when the Primary Control Mode
(Port 10) is set to one of the Flux Vector (FV) control modes: 4 ‘Induction FV’,
5 ‘IPM FV’, and 6 ‘SPM FV’.

The TLink option module supports these features:

• Mode A
- 64 bit, two 32-bit data words, 250 μs data update rate
- Drives synchronized within 5%, locked within max 1000 ms
- Synchronization allowing to pick phase delay of 0…360° for follower
drive. (Can be hard-coded after selecting optimal value during
development)
• Torque follower applications
• Port 10 control data
• TLink supported in option module ports 4, 5, and 6
• Flux Vector Control Modes

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 Chapter 1 Getting Started

• Induction FV
• IPM FV
• SPM FV
• Leader data output points (real)
• 10:2072 Trq Ref Out (units: %, transferred value: numerical float)
• 10:2076 Trq Ref Selected (units: %, transferred value: numerical float)
• 10:2150 Trq Ref Filt In (units: %, transferred value: numerical float)
• 10:1923 VRef Ramped (user/drive parameter-dependent units: Hz/
RPM, transferred value: only RPM)
• Node data input points (real)
• 10:2000 Trq Ref A Sel (units: %, transferred value: numerical float)
• 10:1800 VRef A Sel (units: Hz/RPM, transferred value: only RPM)
• All nodes receive the same data from the leader drive
• Delayed Command Function – single scan
• Single scan velocity delay (existing functionality)
• Enabled via [Vel Ctrl Options]<P10.1950> bit 8
• 10.1924 VRef Delayed is the delayed version of 10:1923 VRef Ramped
• Pass-through data in follower drives with auxiliary power supply to
TLink option module
• Field Upgradeable

TLink Time Synchronization

TLink option modules use a leader-follower mechanism to achieve time

synchronization between the control loops of multiple PowerFlex 755T drives
for highly coordinated and distributed applications. The 125 μs and 250 μs
control loop intervals in every drive are derived from a local time base
generator in the control board of the drive. When a drive is configured as a
follower, the control loop timing is derived from a time base generator in the
TLink option module. When multiple drives are coordinated in a TLink
network, the leader drive sends synchronization messages to the follower
drives. The TLink card in each follower drive aligns its local time base
generator to these messages and indicates when it is synchronized with the
leader drive.
Control Loop Intervals

Leader

Follower

Aligning time base Synchronized

Initial synchronization of the follower drives typically takes several hundred

milliseconds.

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Chapter 1 Getting Started

The leader drive can use reference values one calculation cycle before follower
drives. To achieve perfect synchronization, you can add a one cycle delay for
these values on the leader drive. The relevant settings are:
• Parameter 10: 420 [Mtr Cfg Options] bit 16 ‘Iq Delay’ for torque, and
• Parameter 10:1950 [Vel Ctrl Options] bit 8 ‘Delayed Ref’ for Velocity.

The transmit time from the leader drive to the follower drives introduces a
small variation in skew times, which is largely a function of the total fiber-optic
cable length between the leader drive and the follower drive and the speed of
light in the fiber-optic cable. The follower drive furthest from the leader drive
experiences the largest skew time. The speed of light in the fiber-optic cable is
about 5 ns per meter.

Skew time in the system due to the distance between nodes can be calculated
with the following formula:

Where n is the number of the follower in chain of drives and d is the distance
between drives. If the distance between drives varies, (n × d) can be replaced
with the total distance between leader and the follower for which skew time is
being calculated. Jitter in the system accounts for the +/- 150 ns variability in
the total delay.

Example:

In a system with 50 drives (1 leader and 49 followers) and 50m between each
drive, the skew time due to distance in the 49th follower is calculated as
follows:

Typical Configuration TLink equipped drives can be connected in linear or ring networks. An
optional external power supply can be connected to any TLink card in linear or
in ring topology. The power supply works for the TLink card it is connected to,
not for entire system. Each TLink card can be powered from the drive or the
optional external power supply. Both sources of power can be used at the same
time. An external power supply allows the card to transfer data even if a drive
is powered-off.

Linear Topology

TLink option modules can be connected in a linear network. The following

illustration shows a TLink network with three drives that are connected
through TLink option modules. TLink option module A is the leader TLink
option module. TLink option modules B and C are the followers. TLink module

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 Chapter 1 Getting Started

B is connected to an optional external power supply to allow pass-thru of data

to TLink module C even if the drive that TLink option module B is installed in
is not powered.

As an alternative to an external power supply, TLink option modules can

maintain pass-thru of data with an appropriately sized external 24V DC power
source that is connected to the 24V DC control bus terminals that are located in
the control bay and the input bay of 755T products.

Figure 1 - TLink Modules in Linear Network

Ring Topology

A TLink ring topology network allows you to choose a new leader without
changing fiber-optic connections. An auxiliary power supply can be used as in
a linear network to maintain communication when a drive between the leader
and any other follower is powered down. Ring networks are unidirectional.

Figure 2 shows TLink option modules in a ring network. There is one leader
device and up to three followers, which supports four drives. The following
illustration shows a TLink network with three drives that are connected
through TLink option modules. TLink option module A is the leader TLink
option module. TLink option modules B and C are the followers. TLink module
Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 9
Chapter 1 Getting Started

B is connected to an optional external power supply to allow pass-thru of data

to TLink module C even if the drive that TLink option module B is installed in
is not powered.

Data flows from the leader to the followers and back to the leader from the last
follower.

Figure 2 - TLink Modules in Ring Network

A

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 Chapter 2

Configuring the TLink Option Module

This chapter provides instructions and information for setting the parameters
to configure the TLink option module.

For a list of parameters in the TLink option module, see Appendix A,

Parameter List.

Access Parameters with TLink option module parameters are accessed through an enhanced
the PowerFlex Human PowerFlex® 20-HIM-A6 or 20-HIM-C6S HIM.
Interface Module (HIM) 1. Display the Status screen, which is shown on HIM power-up.
2. Use the or key to scroll to the Port in which the option module
is installed.
3. Display the Jump to Parameter # entry popup box by pressing the PAR#
soft key.
4. Use the numeric keys to enter the desired parameter number, or use the
up or down soft key to scroll to the desired parameter number.

For details on how to view and edit parameters, see the PowerFlex 20-HIM-A6/
-C6S HIM (Human Interface Module) User Manual,
publication 20HIM-UM001.

TLink Option Module See Appendix A for a list of parameters that are used for configuring the TLink
Configuration Parameters Option Module parameters.

Configure a Source for Leader or Follower Data

The leader drive is configured to output data through the TLink card using two
selector switches, 201[TLink Out Sel 1] and 202[TLink Out Sel 2], one for each
data word in Mode A.

Example User Setup

Install TLink Option Modules

1. Install TLink option module in port 4, 5, or 6 of the leader drive.
2. Install TLink options modules in additional follower drives with fiber-
optic cables between drives.
3. Power on the drives.

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Chapter 2 Configuring the TLink Option Module

Configure TLink Leader Drive

4. Leader - TLink option module appears in the port corresponding to the
card port number with parameters set to these default values, where nn is
the port where the TLink option module is located:
• nn: 1[TLink Mode] = 0 ‘Bypass’
• nn: 2[TLink Role] = 1 ‘Follower’
• nn: 3[TLink Status] = 0 ‘Inactive’
• nn: 201[TLink Out Sel 1] = 0 ‘Trq Ref Out’
• nn: 202[TLink Out Sel 2] = 0 ‘TrqRef Out’
• nn: 10[TLink Comm Loss Action] = 0 ‘Zero Data’
5. Set nn: 1[TLink Mode] = 1 ‘Mode A’
6. Set nn: 2[TLink Role = 0 ‘Leader’
7. Configure the TLink option module port per the desired application
• Set nn: 201[TLink Out Sel 1] = 0 ‘Trq Ref Out’
• Set nn: 202[TLink Out Sel 2] = 3 ‘VRef Ramped’

Configure Follower Drives

8. Follower - Configure all follower drives by setting TLink mode = A and
TLink Role = Follower
9. Configure port 10 per the desired application
• Set 10:[Trq Ref A Sel] = nn: 203[TLink In 1]
• Set 10:[VRef A Sel] = nn: 206[TLink In 2]
10. Set nn: [Data 1 Factor] of follower drives to the desired value.
11. Set nn: [Data 2 Factor] of follower drives to the desired value.
12. Verify transmission of data by leader drive in leader
nn: 3[TLink Status] = 1 ‘Tx Active’.
13. Verify that all follower drives are synchronized to the leader drive in
follower nn: 3[TLink Status] = 3 ‘In Sync’.
14. Start application by coordinating run of all drives.

Setting a Fault Action TLink option modules do not stop the drives due to faults. They report
problems to the drive and continue to operate until the drive signals to stop
communicating if necessary.

The parameters related to TLink fault actions are shown in the TLink Option
Module Faults and Alarms table. TLink option module parameters are
described in Appendix A.

Set the TLink fault actions in your drives according to your application needs.

Updating Firmware The interface firmware is contained within the PowerFlex 755T drive firmware.
The interface firmware can be updated over the network.

When updating firmware over the network, you can use the Allen-Bradley®
ControlFLASH™ software tool.

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 Chapter 2 Configuring the TLink Option Module

To obtain a firmware update for this interface, go to rok.auto/pcdc.This

website contains all firmware update files and associated Release Notes that
describe the following items:
• Firmware update enhancements and anomalies
• How to determine the existing firmware revision
• How to update the firmware using ControlFLASH™ software

Setting a Fault Action TLink option modules do not stop the drives due to faults. They report
problems to the drive and continue to operate until the drive signals to stop
communicating if necessary.

The fault-related parameters are 10[CommLossAction],

11[CommWatchdogCfg], 12[SysCommLossCfg], 13[FibOfflineCfg],
14[ExtPwrLossCfg], and 15[OverTempCfg].

See Appendix A for a complete list of TLink parameters and settings.

Set the TLink fault actions in your drives according to your application needs.

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Chapter 2 Configuring the TLink Option Module

Notes:

14 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Chapter 3

Troubleshooting

Status Indicators The TLink option module has four light-emitting diode (LEDs) used to signal
the following events:

DS1:
• Red continuous when the fiber-optic cable is disconnected (receiver
side).
• Green continuous when fiber-optic cable is connected (receiver side).
• Green blinking when packets are incoming (transmission is on).

DS2:
• Green continuous: TLink module role is Leader. Transmitting is enabled.
• Green blinking: Transmission (packets are being transmitted, TLink role:
leader).
• Off: The TLink is not configured as a leader

DS3:
• On (green): External power supply connected
• Off: external power supply not connected

DS4:
• Green blinking: TLink FPGA is powered on, normal operation
• Red blinking: TLink FPGA detected an unexpected condition during
communication/operation. Card status is sent to drive.

Transceiver Cage
DS1 DS2 DS3 DS4
Receive

Transmit Plug for

Optional 24V
Power Supply

Edge Connector

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Chapter 3 Troubleshooting

Faults and Alarms Faults and alarms are applied to drive conditions/status rather than the TLink
module. If there is an error in a TLink modules operation, the condition is
flagged to the drive. The TLink module keeps working until its stopped by the
drive.
TLink Option Module Faults and Alarms
External
Fault/ Fault/ Configuration Detection
Alarm Alarm Text Condition Name Response Type Fault/Alarm Definition Actions Source
Parameter Mechanism
Code
The temperature a TLink
card has reached the Check the ambient Raised when
Alarm Temperature of
High temperature. Check the board_ot_alarm bit is
1 High Temp Alarm 1 — 75 °C (167 °F). Possible Card
Temperature condition of cabinet air set in the alarm_reg
causes include high filters. register of the card
ambient temperature
and obstructed airflow.
The temperature of
aTLink card has reached Check the ambient Raised when
the Fault Temperature of
Over temperature. Check the board_ot_fault bit is
2 Over Temp Configurable 15 [OverTempCfg] 80 °C (176 °F). Possible Card
Temperature condition of cabinet air set in the alarm_reg
causes include high filters. register of the card
ambient temperature
and obstructed airflow.
Check if the fiber-optic
transceiver is firmly
inserted into the TLink
card. Check all fiber-optic
Follower configuration: cables starting from this
Message timeout on drive and going up to
fiber-optic interface was leader drive. Check if the
detected. Possible Raised when one of
leader drive is operating
causes are broken fiber- following bits is set in
and is configured
Comm Communications Configurable 11 optic link, card failure, or card's alarm_reg
3 correctly. Check if all
preceding follower drives Card
Watchdog Watchdog [CommWatchdogDfg] leader drive failure, register:
fiber-optic transceiver fo_data_pkt_loss
are operating and are
failure. leader and (follower only)
configured correctly; if fiber_txd_fault_ms
bypass configurations: any of the preceding
Fiber-optic transceiver followers are powered
failure. down, check if the
external power supply is
provided to its TLink card.
Replace the fiber-optic
transceiver.
Can be ignored in leader
drive when ring topology is
not used. Otherwise check
all fiber-optic cables
Rx fiber-optic cable is starting from this drive
not connected to TLink and going up to leader
card or the preceding Raised, when
drive. Check if leader drive
node is not sending any fiber_rx_loss_ms bit
is operating and is
data. Possible causes are is set in card's
configured correctly.
4 Fiber Offline Fiber Offline Configurable 13 [FibOfflineCfg] disconnected or Card alarm_reg register. In
Check if all preceding
damaged fiber-optic leader, it can be used
follower drives are
cable or transceiver, to detect when ring
operating and are
failure of one of the was broken.
configured correctly; if
preceding TLink cards or any of the preceding
drives. followers is powered down
check if external power
supply is provided to its
TLink card.

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 Chapter 3 Troubleshooting

TLink Option Module Faults and Alarms (Continued)

External
Fault/ Fault/ Configuration Detection
Alarm Alarm Text Condition Name Response Type Fault/Alarm Definition Actions Source
Parameter Mechanism
Code
Raised when the
system lost
communication with
the card OR the
external_event_timeo
ut bit is set by ICB OR
Backplane interface the follower's Control
failure was detected. Power down drive before FW doesn't receive a
Communication between Card
removing or inserting a valid data but bit
System drive and TLink card is ICB
System TLink card. Check if card fo_data_pkt_loss isn't
5 Comm Loss Communications Configurable 12[SysCommLossCfg] lost. Possible causes FPGA
is inserted firmly into DSP Sys set in the card's
Loss include poor connection backplane port. Replace alarm_reg register OR
on backplane's FW
the card with a new one one of the following
connector or damaged bits is set in the
card. card's alarm_reg
register:
sep_sec_pkt_fault
cep_pkt_fault
system_event_lost
control_event_lost
External power supply is Can be ignored when
not provided. It doesn't external power supply is Raised, when bit
affect normal operation
Ext Pwr External Power not used. Otherwise, check Card ext_ps_loss is set in
6 Configurable 14 [ExtPwrLossCfg] but the link to the
Loss Loss if external power supply is card's alarm_reg
succeeding drives will be connected. Check if power register.
broken if the drive is supply is operating.
powered down.
Follower drive is
configured differently
than the leader drive. A
follower drive issues this Check if parameter TLink Raised when bit
alarm when the format of
Sys System Mode is configured to the Card fo_mode_mismatch_f
7 Misconfiguration Alarm 2 N/A the received data from
Misconfig same value in leader and ault is set in card's
the leader drive does not follower drives. alarm_reg register.
match the expected
format for the mode that
is selected in the
follower drive.
The selected and active
motor control mode is Make sure to use a flux
not compatible with the vector control mode when
TLink card. The TLink enabling the TLink card.
card is only compatible See parameter 0:65 [Pri Raised when selected
Drive Drive with flux vector control MtrCtrl Mode], 66 [Pri control mode is not
8 Misconfiguration Alarm 2 — Sys FW
Misconfig modes. It is not MtrCtrl Act], 67 [Sec compatible with
compatible with scalar MtrCtrl Mode], 68 [Sec TLink.
modes such as volts per MtrCtrl Act], 75 [Motor Ctrl
Hertz or sensorless Sel] and 75 [Mtr Ctrl Sel
vector. Not detected in Act].
bypass configuration.

Viewing Option Module View diagnostic items with any of these drive configuration tools:
Diagnostic Items • PowerFlex® 20-HIM-A6 or 20-HIM-C6S HIM
• Connected Components Workbench™ software, release 10 or later

For details on how to view diagnostic items with the HIM, see the PowerFlex
20-HIM-A6/-C6S HIM (Human Interface Module) User Manual, publication
20HIM-UM001.

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 17

Chapter 3 Troubleshooting

Notes:

18 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Appendix A

Parameter List

TLink Option Module The following table contains new parameters that are used with TLink based
Parameters systems. For details on the parameters and how to program PowerFlex® 755T
Drives, see the PowerFlex Drives with TotalFORCE® Control User Manual,
publication 750-PM100.
TLink Option Module Parameters
No. Name Description Port Settings Default
Sets TLink mode of operation. Enumerations: 0 = Bypass
1 TLink Mode 0) ‘Disabled’ - TLink not operating, single drive. 4, 5, and 6 0
1 = Mode A
1) ‘Mode A’ - Leader sends 2 words, synchronized 50 mµ updates.
Sets TLink role for the drive. Enumeration: 0 = Leader
2 TLink Role 0) ‘Leader’ - sources data to nodes. 4, 5, and 6 1
1 = Follower
1) ‘Follower’ - consumes data from the leader
TLink status field values are: 0 = Inactive
Bit 0 - ‘Inactive’, TLink is not operating. 1 = Tx Active
TLink Status Bit 1 - ‘Tx Active’, leader only, TLink is sending data to nodes.
3 4, 5, and 6 2 = Wait Sync 0
Bit 2 - ‘Wait Sync’, follower only, synchronization in progress. 3 = In Sync
Bit 3 - ‘In Sync’, follower only, synchronized with leader. 4 = Lost Sync
Bit 4 - ‘Lost Sync’, follower only, lost synchronization with leader.
CommLossAct Configures how drive behaves when no valid data is coming to the TLink card. It's valid only for 0 = Zero Data
10 follower drive. 'Zero data' (0) - Set reference to 0 'Hold last' (1) - Continue using last valid data 4, 5, and 6 0
ion 1 = Hold Last
received
0 = Ignore
Configures how drive reacts to a timeout condition on fiber optic interface. Affects only follower 1 = Alarm
node. ‘Ignore’ (0) – No action is taken. ‘Alarm’ (1) – Type 1 alarm indicated. ‘Flt Minor’ (2) – Minor
Comm 2 = Flt Minor
11 WatchdogCfg fault indicated. If running, drive continues to run. 'FltCoastStop' (3) - Major fault indicated. Coast 4, 5, and 6 3
3 = FltCoastStop
to Stop. 'Flt RampStop' (4) - Major fault indicated. Ramp down to Stop. 'Flt CL Stop' (5) - Major fault 4 = Flt RampStop
indicated. Current Limit Stop. 5 = Flt CL Stop
0 = Ignore
Configures how drive reacts to an error on internal (backplane) communication. ‘Ignore’ (0) – No 1 = Alarm
SysCommLoss action is taken. ‘Alarm’ (1) – Type 1 alarm indicated. ‘Flt Minor’ (2) – Minor fault indicated. If 2 = Flt Minor
12 running, drive continues to run. 'FltCoastStop' (3) - Major fault indicated. Coast to Stop. 'Flt 4, 5, and 6 3
Cfg 3 = FltCoastStop
RampStop' (4) - Major fault indicated. Ramp down to Stop. 'Flt CL Stop' (5) - Major fault indicated. 4 = Flt RampStop
Current Limit Stop. 5 = Flt CL Stop
0 = Ignore
Configures how drive reacts to a disconnection of RX fiber optic cable. ‘Ignore’ (0) – No action is 1 = Alarm
taken. ‘Alarm’ (1) – Type 1 alarm indicated. ‘Flt Minor’ (2) – Minor fault indicated. If running, drive 2 = Flt Minor
13 FibOfflineCfg continues to run. 'FltCoastStop' (3) - Major fault indicated. Coast to Stop. 'Flt RampStop' (4) - 4, 5, and 6 0
3 = FltCoastStop
Major fault indicated. Ramp down to Stop. 'Flt CL Stop' (5) - Major fault indicated. Current Limit 4 = Flt RampStop
Stop. 5 = Flt CL Stop
ExtPwrLossCf Configures how drive reacts to a lack of external power supply. ‘Ignore’ (0) – No action is taken. 0 = Ignore
14 ‘Alarm’ (1) – Type 1 alarm indicated. ‘Flt Minor’ (2) – Minor fault indicated. If running, drive 4, 5, and 6 1 = Alarm 0
g continues to run. 2 = Flt Minor
0 = Ignore
Configures how drive reacts to an overtemperature condition. ‘Ignore’ (0) – No action is taken. 1 = Alarm
‘Alarm’ (1) – Type 1 alarm indicated. ‘Flt Minor’ (2) – Minor fault indicated. If running, drive 2 = Flt Minor
15 OverTempCfg continues to run. 'FltCoastStop' (3) - Major fault indicated. Coast to Stop. 'Flt RampStop' (4) - 4, 5, and 6 3
3 = FltCoastStop
Major fault indicated. Ramp down to Stop. 'Flt CL Stop' (5) - Major fault indicated. Current Limit 4 = Flt RampStop
Stop. 5 = Flt CL Stop

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 19

Appendix A Parameter List

TLink Option Module Parameters

No. Name Description Port Settings Default
TLink data output word 1 selector. Select the source of the data transmitted by the first output.
‘Trq Ref Out’ (0) – Selects the torque reference output, which is parameter 10:2072 [Trq Ref Out].
‘Trq Ref Sel’ (1) – Selects the selected torque reference, which is parameter 10:2076 [Trq Ref 0 = Trq Ref Out
Selected]. 1 = Trq Ref Sel
201 TLink Out Sel 1 ‘TrqRefFiltIn’ (2) – Selects the unfiltered torque reference, which is parameter 10:2150 [Trq Ref 4, 5, and 6 2 = TrqRefFiltIn 0
Filt In]. 3 = VRef Ramped
‘VRef Ramped’ (3) – Selects the ramped velocity reference output, which is parameter 10:1923
[VRef Ramped].
TLink data output word 2 selector. Select the source of the data transmitted by the second
output.
‘Trq Ref Out’ (0) – Selects the torque reference output, which is parameter 10:2072 [Trq Ref Out]. 0 = Trq Ref Out
TLink Out Sel ‘Trq Ref Sel’ (1) – Selects the selected torque reference, which is parameter 10:2076 [Trq Ref TLink 4, 5, 1 = Trq Ref Sel
202 Selected].
2 and 6 2 = TrqRefFiltIn 0
‘TrqRefFiltIn’ (2) – Selects the unfiltered torque reference, which is parameter 10:2150 [Trq Ref 3 = VRef Ramped
Filt In].
‘VRef Ramped’ (3) – Selects the ramped velocity reference output, which is parameter 10:1923
[VRef Ramped].
This parameter is a placeholder for torque and velocity reference indirect selectors to select the
first input of the TLink option module. This parameter always displays 0. This parameter is TLink 4, 5,
203 TLink IN 1 — 0
useful as a torque reference or velocity reference. It can be selected as a reference from and 6
parameter 10:2000 [Trq Ref A Sel] or 10:1800 [VRef A Sel].
TLink INput Displays as a real number the first input of the TLink option module. TLink 4, 5,
204 — 0.00
Data 2 and 6
This parameter is a placeholder for torque and velocity reference indirect selectors to select the
second input of the TLink option module. This parameter always displays 0. This parameter is TLink 4, 5,
206 TLink In 2 — 0.00
useful as a torque reference or velocity reference. It can be selected as a reference from and 6
parameter 10:2000 [Trq Ref A Sel] or 10:1800 [VRef A Sel].
TLink 4, 5,
207 TLink In 2 Real Displays as a real number the second input of the TLink option module. — 0.00
and 6

20 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Appendix B

Block Diagrams

TLink Control Overview Figure 3 shows the control overview using data selectors.

Figure 3 - TLink Option Module Control Overview

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 21

Appendix B Block Diagrams

Notes:

22 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 Appendix C

Load Sharing Applications

Droop Droop is the simplest form of load sharing to set up and, therefore, the least
precise and less flexible. The precision of this control is dependent on three
factors, the drives control algorithm, the motor characteristics, and the type of
load being controlled.

Flux vector modes must be used to get data when using TLink option modules
in droop applications. The leader drive must provide data on the fiber
connection to use the send speed reference with TLink option module.

When two motors are coupled to the same load each slips according to its
portion of load, forcing the load to be picked up by the other motor. In this
regard, a high slip motor is better for load sharing applications. However in a
general sense, the slip of a motor is representative of its efficiency rating. High
slip motors tend to have high starting torque but have low efficiency. Though
high efficiency motors will slip when loaded, they may not have enough slip at
full load to achieve a reasonable degree of load sharing. For this reason, many
drives offer a feature that is called “Droop”.

The Droop feature enhances the natural slip of the motor by reducing the
output frequency in proportion to load current. Ideally it is only the torque-
producing component of the load current that determines the droop. The
amount of droop can usually be programmed in the drive in hertz or % speed.

Torque Follower This type of load sharing requires a drive that can operate in “torque mode”,
such as the 1336 IMPACT™ drive. If speed regulation is required, one of the
drives may be in “speed mode” (called the “leader”). The drive in speed mode
still calculates torque reference value to achieve given speed (that is, velocity).
While in speed mode the speed regulator provides a torque command output.
This torque command output can be distributed to the other drives on the
system (called the “followers” or “Torque Followers”). This torque signal may be
scaled at the leader output or the follower input to divide the load sharing in
any ratio desired. As the leader’s torque decreases, the followers torque must
increase to equalize the torque reference.

In this case, it is possible to have drive and motor sets of varying horsepower
sizes each pulling load to the extent of their capability. For example, a 100
horsepower and a 75 horsepower drive and motor set each running at 86% of
its power rating could power a system requiring 150 horsepower. The ratio of
load sharing can be adjusted such that each motor and drive set pulls a
proportional amount of load under all conditions.

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 23

Appendix C Load Sharing Applications

Notes:

24 Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021

 TLink Option Module User Manual

Additional Resources
These documents contain additional information concerning related products from Rockwell Automation.

Resource Description
TLink Option Module Installation Instructions, publication 750COM-IN100. Provides installation information for the TLink option module.
PowerFlex 20-750-TLINK-1 TLink Fiber Optic Cables Product Information, Provides basic safety precautions for fiber-optic cables that are used with TLink option
publication 750COM-PC100. modules.
PowerFlex 750-Series Products with TotalFORCE Control Installation Describes steps for mechaniccal installation and for connecting incoming power, the motor,
Instructions, publication 750-IN100 and basic I/O to the PowerFlex 750-Series Adjustable Frequency AC drive.
PowerFlex Drives with TotalFORCE Control Programming Manual, Describes I/O, control, and feedback options. Describes parameters, programming, faults,
publication 750-PM100 alarms, and troubleshooting for the PowerFlex Drives with TotalFORCE Control.
PowerFlex 750-Series Products with TotalFORCE Control Technical Data, Provides detailed information on drive specifications, option specifications, and fuse and
publication 750-TD100 circuit breaker ratings.
Describes how to configure and use EtherNet/IP™ devices to communicate on the EtherNet/
EtherNet/IP Network Devices User Manual, ENET-UM006 IP network.
Ethernet Reference Manual, ENET-RM002 Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
Provides guidance on how to conduct security assessments, implement Rockwell
System Security Design Guidelines Reference Manual, SECURE-RM001 Automation products in a secure system, harden the control system, manage user access,
and dispose of equipment.
Industrial Components Preventive Maintenance, Enclosures, and Contact Provides a quick reference tool for Allen-Bradley industrial automation controls and
Ratings Specifications, publication IC-TD002 assemblies.
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides
Safety Guidelines for the Application, Installation, and Maintenance of general guidelines for the application, installation, and maintenance of solid-state control in
Solid-State Control, publication SGI-1.1 the form of individual devices or packaged assemblies incorporating solid-state
components.
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 Provides general guidelines for installing a Rockwell Automation industrial system.
Product Certifications website, rok.auto/certifications. Provides declarations of conformity, certificates, and other certification details.

You can view or download publications at rok.auto/literature.

Rockwell Automation Publication 750COM-UM100A-EN-P - June 2021 25

Rockwell Automation Support
Use these resources to access support information.

Technical Support Center Find help with how-to videos, FAQs, chat, user forums, and product notification updates. rok.auto/support
Knowledgebase Access Knowledgebase articles. rok.auto/knowledgebase
Local Technical Support Phone Numbers Locate the telephone number for your country. rok.auto/phonesupport
Literature Library Find installation instructions, manuals, brochures, and technical data publications. rok.auto/literature
Product Compatibility and Download Center Get help determining how products interact, check features and capabilities, and find rok.auto/pcdc
(PCDC) associated firmware.

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Allen-Bradley, expanding human possibility, Connected Components Workbench, ControlFLASH, PowerFlex, Rockwell Automation, Rockwell Software, and TotalFORCE are trademarks of Rockwell
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