VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
1
Chapter 1
■■
■■
■ Introduction .......................................................... 3
About this manual .................................................... 3
Assumptions ............................................................ 3
Background knowledge ........................................... 3
Additional literature ................................................. 4
Chapter 2
■■
■■
■ Quick start ............................................................. 5
Profibus DP ............................................................. 5
Chapter 3
■■
■■
■ The PROFIBUS option card ................................ 6
Master-controlled drives .......................................... 6
Cable lengths and number of nodes ...................... 6
Physical connection ................................................. 7
LEDs ........................................................................ 9
Address switches ................................................... 10
Chapter 4
■■
■■
■ Timing .................................................................. 12
VLT response time behaviour ................................ 12
Time behaviour during system updates ................ 12
Chapter 5
■■
■■
■ PPO description .................................................. 1 3
Communication connections ................................. 13
PPO description (overview) .................................... 13
Chapter 6
■■
■■
■ PCA interface ...................................................... 14
Chapter 7
■■
■■
■ Parameters and data type structures ............. 1 5
Chapter 8
■■
■■
■ Spontaneous messages ..................................... 17
Chapter 9
■■
■■
■ SYNC and FREEZE ..............................................17
Chapter 10
■■
■■
■ Control word/status word ................................ 19
Chapter 11
■■
■■
■ Bus reference value............................................ 2 4
Chapter 12
■■
■■
■ Examples ............................................................. 25
Example 1: PCV portion and control word /
reference value ...................................................... 25
Example 2: Process data from the VLT ................. 27
Example 3: Array treatment ................................... 28
Chapter 13
■■
■■
■ GSD file ................................................................ 29
Chapter 14
■■
■■
■ Parameters .......................................................... 30
Chapter 15
■■
■■
■ Warning and alarm messages .......................... 3 8
Warning and alarm messages ............................... 38
Spontaneous messages ......................................... 38
Additional display readings ................................... 39
Chapter 16
■■
■■
■ Parameter list...................................................... 40
Chapter 17
■■
■■
■ Appendix ............................................................. 47
Glossary................................................................. 47
Abbreviations used ................................................ 48
Subject index ........................................................ 49
Contents
MG.90.D1.02 – VL T is a register ed Danfoss trademark
2
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■■
■■
■ Introduction
Copyrights, Limitation of Liability and Revision
Rights
This publication contains information proprietary to
Danfoss A/S. By accepting and using this manual
the user agrees that the information contained
herein will be used solely for operating equipment
of Danfoss A/S or equipment from other vendors
provided that such equipment is intended for
communication with Danfoss equipment over a
INTERBUS serial communication link. This publication is protected under the Copyright laws of
Denmark and most other countries.
Danfoss A/S does not warrant that a software program produced according to the guidelines provided in this manual will function properly in every
physical, hardware or software environment.
Although Danfoss A/S has tested and reviewed the
documentation within this manual, Danfoss A/S
makes no warranty or representation, either express or implied, with respect to this documentation, including its quality, performance, or fitness
for a particular purpose.
In no event shall Danfoss A/S be liable for direct,
indirect, special, incidental, or consequential
damages arising out of the use, or the inability to
use information contained in this manual, even if
advised of the possibility of such damages. In particular, Danfoss A/S is not responsible for any
costs including but not limited to those incurred as
a result of lost profits or revenue, loss or damage
of equipment, loss of computer programs, loss of
data, the costs to substitute these, or any claims
by third parties.
Danfoss A/S reserves the right to revise this publication at any time and to make changes in its contents without prior notice or any obligation to notify
previous users of such revisions or changes.
Introduction
NB!
Note regarding Profibus FMS
This manual does not deal with Profibus
FMS, only with Profibus DP. However, in the event
that the communication is to be built up through
Profibus FMS, you should request the description
MG.10.E3.yy ”Profibus Product Manual“ which also
contains a description of the Profibus FMS functions of the Profibus option card.
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
3
■ About this manual
This manual is intended as both an instruction manual and a reference guide. It only broaches the
basics of the PROFIBUS DP protocol, and only
when it is necessary to provide a sufficient understanding of the PROFIDRIVE implementation of
the PROFIBUS profile for variable speed drives
(version 2, PNO) and of the PROFIBUS option card
for the series VLT 5000/VLT 5000 Flux/VLT 6000
HVAC/VLT 8000 AQUA by DANFOSS.
In addition, the manual is intended to serve as a
guidebook for the specification and optimization of
the existing communication system.
It is suggested that readers who are not completely
familiar with PROFIBUS DP or the profile for variable speed drives review the relevant literature on
these subjects.
Even experienced PROFIBUS programmers should
read the entire manual prior to programming, since
every chapter of the manual contains important
information.
Chapter 2 deals with the quick start of the communication parameters for the DP communication.
Chapter 3 contains details regarding the
PROFIBUS option card and the establishment of
the physical connection.
Please refer to chapter 4 for information regarding
the time behaviour.
Chapter 5 presents an overview of the PPOs (informative data telegrams).
The PCA interface as a parameter interface in the
PPO is explained in chapter 6.
Chapter 7 contains the description of the parameter and data structure.
Chapter 8 contains a description of spontaneous
messages.
The response to the ”Sync” and ”Freeze”
commands is explained in chapter 9.
The control word and status word as essential
elements of the PPOs for the operational control,
as well as the bus reference value are explained in
chapter 11.
Chapter 12 contains examples for the use of the
PPOs. It is recommended that readers review the
examples for a better understanding of the PPOs.
Comments regarding the GSD file can be found in
chapter 13.
Chapter 14 contains the VLT parameters specific to
the Profibus.
Warning and alarm messages and display readings
specific to the Profibus are described in chapter 15.
A parameter listing as an overview of all VLT 5000/
VLT 5000 Flux/VLT 6000 HVAC/VLT 8000 AQUA
parameters can be found in chapter 16.
In chapter 17 you will find the abbreviations used
in this manual. The manual concludes with a short
glossary and a detailed index for quick navigation.
If you are interested in learning more about the
PROFIBUS protocol in general, we recommend
that you consult the relevant, very comprehensive
literature for this purpose.
■ Assumptions
The manual assumes that you are using a
DANFOSS PROFIBUS option card with field bus,
together with a DANFOSS VLT frequency converter,
that you are using a PLC or a PC with a serial
interface as master which supports all
communication services for PROFIBUS, and that
all requirements are met and all limitations are
observed which arise from the PROFIBUS standard, the PROFIBUS profile of variable speed drives, and the company-specific implementation of
PROFIDRIVE, or those of the VLT drives.
■ Background knowledge
The DANFOSS PROFIBUS option card is designed
for the communication with all masters that comply
with the PROFIBUS standard. Thus, the assumption is made that you are familiar with the PC or
PLC to be used as a master on your system. Any
questions regarding the hardware or software of
other suppliers are beyond the scope of this manual and outside the responsibility of DANFOSS.
In the event of questions concerning the configuration of the master-to-master communication or the
configuration with a slave not manufactured by
DANFOSS, you should refer to the information in
the respective manuals.
Introduction
MG.90.D1.02 – VL T is a register ed Danfoss trademark
4
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■■
■■
■ Quick start
Details regarding the programming of the usual VLT
parameters may be gathered from the manual for
the VLT 5000/VLT 5000 Flux/VLT 6000 HVAC/VLT
8000 AQUA series.
The communication is established by setting the
parameters indicated below.
Details regarding the adjustment of the master are
provided by the master manual and by those
chapters in this manual that deal with the particu-
lars of the VLT PROFIBUS interface.
The required GSD file is available on the
internet at http://www.danfoss-sc.de.
■■
■■
■ Profibus DP
Parameter 904
This selects the desired informative data telegram
(PPO).
Parameter 918
This sets the address of the VLT station – one
specific address per VLT.
Parameter 801
This determines the transmission speed in bit/s.
The standard setting is 1.5 MBaud.
Parameter 502 = ”BUS“.
As an alternative to the switching of terminal 27, the
parameter 502 may be set to ”BUS“ in the factory
setting before the motor can even be started.
Please note the logic links of the parameters 502508 to the clamping functions which are also
active in the Profibus. (See operations manual for
an explanation.)
The VLT must be switched off/on once after
the Profibus parameters have been set.
Quick start
When configuring the PPO types, a distinction
is made between module consistency and
word consistency:
Module consistency means that a specific portion
of the PPO is defined as a connected module.
The parameter interface (PCV, length of 8 bytes) of
the PPO always has module consistency.
Word consistency means that a specific portion of
the PPO is divided into individual data sectors of
word length (16 bits).
The process data of the PPO may have either
module consistency or word consistency, as
desired.
Some PLCs, such as Siemens S7, require special
functions to call modules that are longer than 4
bytes (in the case of Siemens: ”SFC”, see master
manual).
This means that the PCV interfaces of the PPOs
can only be called through the SFC functions in
the case of Siemens (S7).
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
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Maximum total bus cable length
1 segment: 2 segments: 3 segments: 4 segments:
32 nodes 64 nodes 96 nodes 128 nodes
Transmission (31 VLTs) (1 repeater, 61 VLTs) (2 repeater, 91 VLTs) (3 repeater, 121 VLTs)
speed [m] [m] [m] [m]
9,6-187,5 kBaud 1000 2000 3000 4000
500 kBaud 400 800 1200 1600
1,5 MBaud 200 400 600 800
3-12 MBaud 100 200 300 400
■ Master-controlled drives
The PROFIBUS option card allows an enormous
flexibility of the control, diagnosis and parameterization of variable speed drives. The PROFIBUS
card behaves like a part of the VLT and enables
access to all parameters that are important for the
respective application. The variable speed drive
always acts as slave and is capable of exchanging
a multitude of commands and pieces of information together with the master. Control signals such
as ”speed reference value”, ”start/stop” of the motor, ”reversion” are transmitted by the master in the
form of telegrams.
The VLT confirms the receipt by transmitting status
signals such as ”operation enabled”, ”reference
value reached”, ”motor stopped” etc. to the master.
The drive can also report errors and transmit alarm
and warning messages, e.g. ”VLT error” or ”excess
current”.
The PROFIBUS option card transmits signals in
accordance with the PROFIBUS field bus standard,
EN 50170, part 3. It can thus exchange data with all
masters that meet this standard; however, this
does not mean that all services available in the
PROFIBUS standard are supported. The PROFIBUS
profile for variable speed drives (version 2, PNO) is
a part of PROFIBUS which supports only those
services that concern applications with speed
control.
PROFIDRIVE is an implementation of the profile
developed by DANFOSS and several other firms.
Communications partner
The variable speed drive always acts as slave in a
control system and may thus exchange data with
one or more masters, depending on the type of the
application. The master may be a PLC or a PC with
a PROFIBUS communications
■ Cable lengths and number of nodes
The maximum cable length of a segment depends
on the transmission speed. The total cable length
includes stub lines, if applicable. A stub line is the
connection from the main bus cable to each node
if a ”T” connection exists instead of a direct connection of the main bus cable to the nodes; cf. the
stub line length. The following table shows the
maximum permitted cable lengths and the maximum number of nodes or VLTs with 1, 2, 3 or 4 bus
segments.
Please note that a repeater switched between two
segments represents a node in both segments. The
number of VLTs is based on a system with only one
master. In the case of multiple masters, the number of VLTs must be reduced accordingly.
The total stub line length of a segment is limited as
follows:
Stub line length
Transmission Max. stub line length
speed per segment
[m]
9,6-93,75 kBaud 96
187,5 kBaud 75
500 kBaud 30
1,5 MBaud 10
3-12 MBaud none
The PROFIBUS option card
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VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
The indicated lengths in the tables are valid on the
condition that bus cables with the following properties are used:
– Impedance: 135 to 165 Ohm at a measuring
frequency of 3 to 20 MHz
– Resistance: < 110 Ohm/km
– Capacity: < 30 pF/m
– Damping: max. 9 dB across the entire cable
length
– Cross-section: max. 0,34 mm pursuant to
AWG 22
– Wire type: twisted pair, 1 x 2 or 2 x 2 or 1 x 4
conductors
– Shielding: copper-braided or braided and
foil laminated
It is recommended to use the same cable type
throughout the entire network in order to avoid
mismatches of the impedance.
The figures in the following description indicate the
maximum permitted number of stations in each
segment. These figures do
not refer to the station
addresses, since each station in the network must
have an unambiguous address.
■ Physical connection
The PROFIBUS option card will be connected to
the bus line (data line) at terminals 62 and 63.
Data line ”B” (TxD/RxD-P) will be connected to
terminal 62 and data line ”A” (TxD/RxD-N) to terminal 63. A master with a voltaically insulated bus
driver and overvoltage protection (e.g. Z diode) is
recommended.
Protective measures for EMC
It is recommended to carry out the following protective measures for EMC in order to ensure a
trouble-free operation of the PROFIBUS network.
Additional notes concerning the subject of EMC
can be found in the project manual for the
VLT5000 series (MG.50.Cx.yy) and in the manual for
the Profibus master.
Segment 3
Segment 1
Segment 2
Segment 4
The applicable national and local regulations,
for example with respect to protective
earthing, must be observed.
Cable setup
The PROFIBUS communications cable must be
kept at a distance from the motor and braking
resistance cables in order to avoid high-frequency
line failures from one cable to another. As a rule, a
distance of 200 mm is sufficient. In general, it is a
good idea to keep the greatest possible distance
between the cables, especially if they run parallel
for an extended distance.
If the PROFIBUS cable has to cross a motor and
braking resistance cable, it should occur at a
90 degree angle.
The PROFIBUS option card
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
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Diagram, bus connection
Connection of the cable screening
The shielding of the PROFIBUS cable always needs
to be of a large-area, low-impedance type on both
sides. As a matter of principle, the screen should be
put up with a large area and low impedance at all
PROFIBUS stations. It is very important to have an
earth connection with low impedance even at high
frequencies. This can be achieved by connecting
the shield surface to earth, for example with the
help of a cable bow or a conductive cable
connector.
The VLT is equipped with various terminals and
supports in order to provide a flawless shielding of
the PROFIBUS cable. The shield connection is
shown in the following diagram.
Earthing
It is important to connect all stations linked to the
PROFIBUS network to the same earth potential.
The earthing must have a low high-frequency impedance. This can be achieved by connecting a
protective housing surface which is as large as
possible to earth, for example by mounting the VLT
to a conductive rear wall.
Especially in the case of large distances between
the stations of a PROFIBUS network, the additional use of potential equalization cables to connect
the individual stations to the same earth potential
may be necessary.
Bus connection
The PROFIBUS option card
MG.90.D1.02 – VL T is a register ed Danfoss trademark
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VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■ LEDs
There are four LEDs on the PROFIBUS option
card:
LD1 and LD4: Flickering (very rapid blinking),
when data are being exchanged
through the option card.
Comment: with each ”flicker” of
the LEDs, the VLT is receiving a
telegram.
LD2 and LD3: Shining, when the option card is
initialized and ready for the data
exchange, or when data are already being exchanged.
Blinking, when the function for the
automatic baud rate determination attempts to determine the
current baud rate.
Note: a faulty connection of the
data line may also cause blinking
of the LEDs. (see “Physical connection”).
It is important to terminate the bus line correctly.
Mismatches of the impedance may lead to reflections in the line and cause incorrect transmissions.
– The PROFIBUS option card is equipped with a
suitable termination which can be activated by
the switches 1 and 2 at the switch block S1
directly to the right above the terminal block
MK 1B. The bus termination is active when the
switch is in the ”ON” position.
The switches must never be set in oppo-
site directions. Both switches must be set
to ON or OFF.
– Most masters and repeaters are equipped with
their own termination.
– If an internal termination circuit in the form of
three resistors is connected to the bus line, a
5 V direct voltage must be used. Attention:
please make sure that it is voltaically separated
from the power supply cable.
The PROFIBUS option card
The PROFIBUS option card
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
9
Switches 1-7 (switch 8 is not used)
1234567
Address switch position (1 = ON, 0 = OFF)
0 0000000
1 1000000
2 0100000
3 1100000
4 0010000
5 1010000
6 0110000
7 1110000
8 0001000
9 1001000
10 0101000
11 1101000
12 0011000
13 1011000
14 0111000
15 1111000
16 0000100
17 1000100
18 0100100
19 1100100
20 0010100
21 1010100
22 0110100
23 1110100
24 0001100
Switches 1-7 (switch 8 is not used)
1234567
Address switch position (1 = ON, 0 = OFF)
25 1001100
26 0101100
27 1101100
28 0011100
29 1011100
30 0111100
31 1111100
32 0000010
33 1000010
34 0100010
35 1100010
36 0010010
37 1010010
38 0110010
39 1110010
40 0001010
41 1001010
42 0101010
43 1101010
44 0011010
45 1011010
46 0111010
47 1111010
48 0000110
49 1000110
50 0100110
51 1100110
52 0010110
53 1010110
54 0110110
55 1110110
56 0001110
57 1001110
58 0101110
59 1101110
60 0011110
61 1011110
62 0111110
63 1111110
64 0000001
65 1000001
■ Address switches
The station address can be set in parameter 918 or
through a hardware switch (S2, 1-4 and S3, 5-7 on
the PROFIBUS option card).
The setting of an address through parameter 918 is
only possible when the address switches are set to
0 or > 126.
Each slave must have an unambiguous address.
The address is the binary value set for the
switches, cf. the table below. The modification of
the address switches occurs during the next turnon procedure.
The PROFIBUS Option card
MG.90.D1.02 – VL T is a register ed Danfoss trademark
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VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
Switches 1-7 (switch 8 is not used)
1234567
Address switch position (1 = ON, 0 = OFF)
66 0100001
67 1100001
68 0010001
69 1010001
70 0110001
71 1110001
72 0001001
73 1001001
74 0101001
75 1101001
76 0011001
77 1011001
78 0111001
79 1111001
80 0000101
81 1000101
82 0100101
83 1100101
84 0010101
85 1010101
86 0110101
87 1110101
88 0001101
89 1001101
90 0101101
91 1101101
92 0011101
93 1011101
94 0111101
95 1111101
96 0000011
97 1000011
98 0100011
99 1100011
100 0010011
101 1010011
102 0110011
103 1110011
104 0001011
105 1001011
106 0101011
Switches 1-7 (switch 8 is not used)
1234567
Address switch position (1 = ON, 0 = OFF)
107 1101011
108 0011011
109 1011011
110 0111011
111 1111011
112 0000111
113 1000111
114 0100111
115 1100111
116 0010111
117 1010111
118 0110111
119 1110111
120 0001111
121 1001111
122 0101111
123 1101111
124 0011111
125 1011111
126 0111111
127 1111111
The PROFIBUS option card
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
11
■ Timing
■ VLT response time behaviour
The period for the update through the PROFIBUS
connection can be subdivided into two portions:
1) The communication period, i.e. the time required
to transmit data from the master to the slave
(VLT with PROFIBUS option), and
2) the internal update period, i.e. the time required
to transmit data between the VLT control card
and the PROFIBUS option card.
The communication period (t
com
) depends on the
respective transmission speed (baud rate) and the
type of master being used. The shortest achievable
communication period is approximately 30 µsec
per slave with the VLT PROFIBUS option when DP
communication with a data quantity of 4 bytes (PPO
type 3) at 12 Mbaud is used. The communication
period increases with more data or lower
transmission speeds.
The internal update period (t
int
) depends on the
respective data as there are different channels for
the transmission of data, with time-critical data,
such as the control word, being given the highest
priority. The inter nal update time for the respective
data types is listed below.
Update
Data time, t
int
Control word/main reference value
(Part of PPO) 2 msec.
Status word/respective output frequency
(Part of PPO) 2 msec.
Read parameter through PCD portion of PPO
Write parameter through PCD portion of PPO
Timing
■ Time behaviour during system update
The system update period is the time required to
update all slaves of the network when cyclical
communication is used.
The update time of a single slave is composed of
both the communication period (depending on the
baud rate) and the station delay (TSDR) in the
slave, and of the delay in the master associated
with the station.
The station delay (TSDR) is the delay time from the
moment when a station receives the last bit of a
telegram to the moment when it sends the first bit
of the next telegram. The station delay is defined
by two parameters: the minimum station delay
(TSDR
min
) and the maximum station delay (TSDR
max
).
Current station delay for the VLT PROFIBUS option:
– DP: 11 bit times
Current master station delay:
– This information must be provided by the manu-
facturer of the respective PROFIBUS master.
Example
– DP master with 1.5 MBaud and PPO type 3
(4 byte data); the assumption here is for 50 bit
times as master TSDR.
Time [msec] Action
0 Master starts data transmission
Last bit received in slave
Slave station delay
Slave starts data transmission
Last bit received in master
Master station delay
(50 bit times » 0.033)
Master ready for data transmission
to next slave
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VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■ PPO description
■■
■■
■ Communication connections
Communication pursuant to PROFIBUS DP, i.e.
EN50170 part 3, is supported when DP is selected
in parameter 800.
Accordingly, a master must be used that supports
PROFIBUS DP.
One of the PPOs described below must be used in
the case of DP communication.
■ PPO description (Overview)
A feature of the PROFIBUS profile for variable
speed drives is a communications object designated as ”PPO”, i.e. ”parameter process data object”.
All cyclical informative data are transmitted via
PPOs. Thus, PPOs form the framework for the data
traffic.
The selection of the PPO type takes place in
parameter 904.
A PPO may consist of a parameter portion and a
process data portion. The parameter portion may
be used for reading and/or updating of parameters
(successively).
The process data portion consists of a fixed part
(4 bytes) and a parameterizable part (8 or 16 bytes). The control word and speed reference value
are transmitted to the VLT in the fixed portion,
whereas the status word and current output frequency are transmitted by the VLT. In the parameterizable portion, the user selects which parameters are to be transmitted to the VLT (parameter
915) and which are to be transmitted by the VLT
(parameter 916).
Type 1, 2 and 5 consist of the parameter portion
and 4, 12 and 20 bytes of process data respectively.
Type 3 and 4 consist of 4 and 12 bytes of process
data respectively.
PPO description
PPO, Parameter Process Data Object
PCD Process Data
PCV Parameter Characteristics Value
PCA Parameter Characteristics (bytes 1, 2);
PCA processing see next chapter.
I ND Subindex (byte 3), (byte 4 is not used)
PVA Parameter Value (bytes 5 to 8)
CTW Control Word
STW Status Word
MR V Main Reference Value
MAV Main Actual Value
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
MG.90.D1.02 – VL T is a registered Danfoss trademark
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■ PCA processing
The master controls and monitors VLT parameters
through the PCA portion of the PPOs type 1, 2 and
5 and requests a response from the VLT (slave). In
addition to the parameter processing, the VLT can
also transmit a spontaneous message.
Requests and responses involve an acknowledgement exchange (a so-called handshake) which
cannot be worked off in stack operation. This
means that the master, when sending a read/write
request, must wait for the response before sending
a new request. A request or response is limited to
a maximum of 4 bytes, i.e. no text strings can be
transmitted.
PCA - Parameter description
Request and response
In the RC portion of the PCA word the requests of
the master to the slave are triggered. The other two
PCV fields IND and PVA must be evaluated as
well.
The PVA portion transmits parameter values in
word size with the bytes 7 and 8; double words
require the bytes 5-8, i.e. 32 bits.
If the request or response contains array elements,
the array subindex will be in IND (byte 3). In the
event of a parameter description, IND contains the
record subindex.
RC content
Request Function
0 No request
1 Request parameter value
2 Change parameter value (word)
3 Change parameter value (double word)
4 Request description element
5 Change description element
6 Request parameter value (array)
7 Change parameter value (array word)
8 Change parameter value (array
double word)
9 Request number of array elements
10-15 Not assigned
PCA interface
Response Function
0 No response
1 Transmit parameter value (word)
2 Transmit parameter value (double
word)
3 Transmit description element
4 Transmit parameter value (array word)
5 Transmit parameter value
(array double word)
6 Transmit number of array elements
7 Request not executable (with error
number, see below)
8 No operating authority for PCV inter-
face
9 Spontaneous message (word)
10 Spontaneous message (double word)
11 Spontaneous message (array word)
12 Spontaneous message (array double
word)
13-15 Not assigned
If a request from the master is not executed by the
slave, the RC word in the PPO-Read has the
value 7. The error number is in bytes 7 and 8 of the
PVA element.
Error no. Meaning
0 Improper PNU
1 Parameter value not changeable
2 Upper or lower value passed
3 Faulty subindex
4 No array
5 Wrong data type
6 Setting not permitted (resettable only)
7 Description element not changeable
8 No PPO-Write for IR
9 Description data not available
10 Access group
11 No parameter operating authority
12 Keyword missing
13 Text not readable in cyclical traffic
14 Name not readable in cyclical traffic
15 Text array not available
16 PPO-Write missing
17 Request temporarily unexecutable
18 Other error
19 Data not readable in cyclical traffic
RC: Request/Response Characteristics (Sector: 0-15)
SPM: Toggle bit for spontaneous messages
PNU: Parameter Number (Sector: 1-990)
15141312 11 10 9 8 76543210
RC MSP PN U
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14
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■ Parameters and data type structures
Parameter description
Parameters which are accessible through the parameter number (PNU) have additional attributes
that are a component of the accompanying descriptive element.
Writing/reading of a parameter description occurs
through the PCV portion by means of the RC
commands 4/5 and the subindex of the desired
descriptive element (see accompanying diagram).
Characteristics
The “characteristics” subindex extends the definition of the parameter description. The individual
bits 9 to 15 have the values TRUE [1] or FALSE [0]
(see table below).
Bit Meaning
15 Active parameter
14 Array
13 Parameter value resettable only
12 Factory setting of parameter changed
11 Text available
10 Additional text array available
9 No write access (read only)
8 Lower and upper limit. Standardiza-
tion and size attribute not relevant.
0-7 Data type of the parameter corre-
sponds to OD
The low byte (bit 0-7) indicates the data type of
the parameter (see following table).
The ”data type” for each parameter can be
found in the corresponding column in the
chapter parameter listing.
PNU
Caracteristics
"Sub index" 1
Element size
"Sub index" 2
Size attribute
"Sub index" 4
Lower limit
"Sub index" 7
Upper limit
"Sub index" 8
Extended features
"Sub index" 10
Data types supported by VLT
Data Object Short Description
type form
3 5 12 Integer 16
4 5 12 Integer 32
5 5 Unsigned 8
6 5 O2 Unsigned 16
7 5 O4 Unsigned 32
9 5 Visible string
10 5 Byte string
13 5 Time difference
1)
33 5 N2 Standardized value
(16 bit)
1)
35 5 V2 Bit sequence
1)
See following page for details
Example: Data type 5 = Unsigned 8
Size attribute
The size attribute is 2 bytes long.
Byte 1 incorporates the physical unit of measurement (size index), byte 2 the conversion index.
The ”conversion index” for each parameter
can be found in the corresponding column
in the chapter parameter listing.
The ”conversion index” produces the conversion
factor for each parameter.
Example:
Parameter 205: Conversion index = -3 <=> (10E-3)
Conversion factor: 0.001
15200 = 15.200 Hz
An excerpt from the PROFIDRIVE profile with
respect to the assignment of the size index and
the conversion index to the physical size can be
found on the following page.
Parameters and data type structures
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15
Time difference (to table ”Objects and data types
supported by the VLT”)
The data type time difference is a measure of time
in milliseconds.
Notation: Time difference
Value range: 0 ≤ i ≤ (2
32
-1) milliseconds [ms]
Coding: The time is represented as a binary
32 bit value (4 bytes). The first
4 (MSB) bits are always zero (see
table below).
Data coding of the data type time difference
Bi t Byte 4 Byte 3 Byte 2 Byte 1
8 0 ms 223ms 215ms 27ms
7 0 ms 222ms 214ms 26ms
6 0 ms 221ms 213ms 25ms
5 0 ms 220ms 212ms 24ms
4227ms 219ms 211ms 23ms
3226ms 218ms 210ms 22ms
2225ms 217ms 29ms 21ms
1224ms 216ms 28ms 20ms
Standardized value
A linear value
0% = 0 (0h), 100% are 2
14
(4000h)
Data type N 2
Range -200% ... 200% – 2
–14
Resolution 2
–14
= 0,0061%
Length 2 bytes
Note: Two’s complement notation
MSB is the first bit after the sign bit of the first
byte.
Sign bit = 0 = positive number
Sign bit = 1 = negative number
Bit 8 7654321
Byte 2 SIGN 214213212211210292
8
Byte 1 272625242322212
0
Physical Size Unit of Abbreviation Conversion Conversion
size index measurement index factor
0 No dimension 0 1
Second s 0 1
-1 0,1
-2 0,01
Time 4 Millisecond ms -3 0,001
Minute min 70 60
Hour h 74 3600
Day d 77 86400
Watt-hour Wh 0 1
Energy 8 Kilowatt-hour kWh 3 1000
Megawatt-hour MWh 6 10
6
Milliwatt mW -3 0,001
Power Watt W 0 1
9 Kilowatt kW 3 1000
Megawatt MW 6 10
6
Rotation 11 Revolutions per minute R PM 0 1
Torque 16 Newtonmeter Nm 0 1
Kilonewtonmeter kNm 3 1000
Temperature 17 Degree Celsius °C 0 1
Millivolt mV -3 0,001
Voltage 21 Volt V 0 1
Kilovolt k V 3 1000
Milliampere mA -3 0,001
Current 22 Ampere A 0 1
Kiloampere k A 3 1000
Milliohm mOhm -3 0,001
Resistance 23 Ohm Ohm 0 1
Kiloohm kOhm 3 1000
Relation 24 Percent % 0 1
Relative change 27 Percent % 0 1
Hertz Hz 0 1
Frequency 28 Kilohertz kHz 3 1000
Megahertz MHz 6 10
6
Parameters and data type structures
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16
VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■ Spontaneous messages
The spontaneous message is triggered by the
active parameters 538, 540 or 953.
The PCV response indicates the parameter number
(PNU) and the parameter value (PVA) of the modified active parameter that triggered the message.
Spontaneous messages are generated when active
parameters are changed, i.e. a message occurs
when a warning appears and when a warning disappears.
At the same time, the VLT modifies the SPM bit (11)
of the PCV word (see ”PCA processing”).
The spontaneous messages are transmitted until
the master has confirmed the receipt of the message and changed the SPM bit.
Spontaneous messages are only activated
when the parameter 917 is in the ”ON”
position.
In the event of an activated spontaneous message,
the parameter channel is blocked until the spontaneous message has been acknowledged by the
master.
Example of a spontaneous message
Observation of the parameter channel (PCV) from the PPO (without index field):
PCV (Hex) PVA (Hex) from from Description
Master VLT
12 08 00 00 00 00 x the master requests the current of the VLT
12 08 00 00 00 F0 x VLT current value: 2.4 Amp (parameter 520)
12 08 00 00 00 00 x the master requests the current of the VLT
AC 1A 00 00 00 0A x VLT has a spontaneous message, the spontaneous message
bit is set, the PNU 538 (alarm word) has the value 000A (Hex)
1C 08 00 00 00 00 x the master requests the current of the VLT and acknowledges
the spontaneous message by ”toggling” the SPM in the PCV
1C 08 00 00 00 F0 x VLT current value: 2.4 Amp, the spontaneous message bit
remains at ”1” until the next spontaneous message; the
spontaneous message is acknowledged.
Spontaneous messages
The VLT saves up to 16 consecutively transmitted
SPMs in a FIFO buffer. If only one SPM is in the
FIFO buffer, the VLT immediately resumes normal
operations after the master has acknowledged it
(and the cause of the SPM has been eliminated). If
there is more than one SPM in the FIFO buffer, the
transmission takes place one after the other following the acknowledgement. Additional SPMs that
are generated while the buffer is full will be
ignored.
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■■
■■
■ SYNC and FREEZE
The control commands SYNC/UNSYNC
(SYNCHRONIZE/CANCEL SYNCHRONIZATION)
and FREEZE/UNFREEZE are broadcast functions. SYNC/UNSYNC is used to transmit synchronized control commands and/or speed reference
values to all connected slaves. FREEZE/UNFREEZE
is used to freeze the status actual value in the
slaves in order to receive a synchronized actual
value from all connected slaves.
The SYNC and FREEZE commands refer to the
PCD and PCV portions of the PPO.
SYNC and FREEZE
SYNC/UNSYNC
By using SYNC/UNSYNC, simultaneous responses
of several slaves can be generated, e.g. synchronized start, stop, or change of the speed. In the
event of a SYNC command, the current control
word and the speed reference value are frozen. Incoming process data are saved, but are only applied when a new SYNC command or an UNSYNC
command is made.
The following example shows the speed reference
value sent by the master in the left column and the
respective effective speed reference value for the
three slaves in the three columns to the right.
Current speed reference value slave
VLT VLT VLT
From DP master to address: Address 3 Address 4 Address 5
1. Speed reference value = 50% to address 3 ⇒ 50% 0 % 0 %
2. Speed reference value = 50% to address 4 50 % ⇒ 50 % 0 %
3. Speed reference value = 50% to address 5 50 % 50 % ⇒ 50 %
4. SYNC command to all addresses ⇒ 50% ⇒ 50 % ⇒ 50 %
5. Speed reference value = 75% to address 3 ⇒ 50 % 50% 50 %
6. Speed reference value = 75% to address 4 50 % ⇒ 50 % 50%
7. Speed reference value = 75% to address 5 50 % 50 % ⇒ 50 %
8. SYNC command to all addresses ⇒ 75% ⇒ 75 % ⇒ 75 %
9. Speed reference value = 100% to address 3 ⇒ 75% 75 % 75 %
10. Speed reference value = 50% to address 4 75% ⇒ 75 % 75%
11. Speed reference value = 25% to address 5 75 % 75 % ⇒ 75 %
12. UNSYNC command to all addresses ⇒ 100 % ⇒ 50 % ⇒ 25 %
13. Speed reference = 0% to address 3 ⇒ 0% 50% 25%
14. Speed reference = 0% to address 4 0% ⇒ 0% 25%
15. Speed reference = 0% to address 5 0% 0 % ⇒ 0%
FREEZE/UNFREEZE
By using FREEZE/UNFREEZE, simultaneous
reading of process data, e.g. output current, by
several slaves can be brought about. At a FREEZE
command, the actual current values are frozen.
When instructed, the slave will send back the
value in effect at the time the FREEZE command
Actual output current slave
VLT VLT VLT
DP master reads address: Address 3 Address 4 Address 5
1. Address 3 output current = 2 A ⇐ 2A 3A 4A
2. Address 4 output current = 5 A 2 A ⇐ 5A 2A
3. Address 5 output current = 3 A 3 A 2 A ⇐ 3A
4. FREEZE command to all addresses ⇒ 1A ⇒ 3A ⇒ 3A
5. Address 3 output current = 1 A ⇐ 4A 2A 5A
6. Address 4 output current = 3 A 2 A ⇐ 2A 2A
7. Address 5 output current = 3 A 3 A 1 A ⇐ 2A
8. UNFREEZE command to all addresses ⇒ 2A ⇒ 3A ⇒ 4A
Readout same as for 1, 2 and 3
was issued. The respective values are updated
when a new FREEZE command or an UNFREEZE
command is issued.
The following example shows the current values
read by the master in the left column and the
respective effective value of the output current for
the three slaves in the three columns to the right.
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VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■ Control word / status word
The bits of the ”control word” tell the VLT how to
respond, while the status of the bits in the ”status
word” transmits information about the VLT to the
master.
One can select through parameter 512 whether the
control word and status word are to be defined
according to ”Profidrive” (field bus) or according to
”FC Drive (Danfoss)”. ”FC Drive (Danfoss)” is the
factory setting.
■■
■■
■ Control word according to Profidrive standard
(Parameter 512 = field bus)
The control word is used to send commands from a
master (e.g. a PC) to a slave.
Master ➝ Slave
1514131211109876543210Bit no.
Bi t Bit = 0 Bit =1
00 OFF 1 ON 1
01 OFF 2 ON 2
02 OFF 3 ON 3
03 Coasting No coasting
04 Quick stop Ramp
05 Save output frequency Ramp possible
06 Ramp stop Start
07 Without function Reset
08 Jogging speed 1 OFF O N
09 Jogging speed 2 OFF O N
10 Data not valid Valid
11 Without function Frequ. correction
DOWN (reduce)
12 Without function Frequ. correction UP
(increase ref. value)
13 Selection setup 1 (lsb)
14 Selection setup 2 (msb)
15 Without function Reversion
If ”Profidrive” has been selected, then a twopart start command has to be observed when
the start is released (turn-on lock-out: bit 0).
For this it is necessary to first predetermine
Hex 047E and then Hex 047F in the control word,
for example.
15 14 1 3 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit no.
0 4 7 E (Hex)
0 4 7 F (Hex)
Bit 00, OFF 1/ON 1
Normal ramp stop using the ramp times of the
parameters 207/208 or 209/210.
Bit 00 = “0” leads to the stop and activation of the
output relay 01 or 04 if the output frequency is
0 Hz if Relay 123 has been selected in parameter
323 or 326.
In the case of bit 00 = “1”, the frequency converter
can start if the other start conditions are satisfied.
Bit 01, OFF 2/ON 2
Coasting stop
In the case of bit 01 = “0”, a coasting stop and
activation of the output relay 01 or 04 occurs if the
output frequency is 0 Hz if Relay 123 has been
selected in parameter 323 or 326.
In the case of bit 01 = “1”, the frequency converter
can start if the other start conditions are satisfied.
Bit 02, OFF 3/ON 3
Quick stop using the ramp time of parameter 212.
In the case of bit 02 = “0”, a quick stop and activation of the output relay 01 or 04 occurs if the
output frequency is 0 Hz if Relay 123 has been
selected in parameter 323 or 326.
In the case of bit 02 = “1”, the frequency converter
can start if the other start conditions are satisfied.
Bit 03, Coasting/No coasting
Coasting stop
Bit 03 = “0” leads to a stop.
In the case of bit 03 = “1”, the frequency converter
can start if the other start conditions are satisfied.
Note: The selection in parameter 502 determines
how bit 03 is linked with the corresponding function of the digital inputs.
Bit 04, Quick stop/Ramp
Quick stop using the ramp time of parameter 212.
In the case of bit 04 = “0”, a quick stop occurs.
In the case of bit 04 = “1”, the frequency converter
can start if the other start conditions are satisfied.
Note: The selection in parameter 503 determines
how bit 04 is linked with the corresponding function of the digital inputs.
Control
word
Bus
reference
Control
word
Bus
reference
Control word / Status word
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Bit 05, Save output frequency/Ramp possible
In the case of bit 05 = “0”, the current output frequency is being maintained even if the reference
value is modified.
In the case of bit 05 = “1”, the frequency converter
can perform its regulating function again; operation
occurs according to the respective reference value.
Bit 06, Ramp stop/Start
Normal ramp stop using the ramp times of the
parameters 207/208 or 209/210.
In addition, activation of the output relay 01 or 04 if
the output frequency is 0 Hz if Relay 123 has been
selected in parameter 323 or 326.
Bit 06 = “0” leads to a stop.
In the case of bit 06 = “1”, the frequency converter
can start if the other start conditions are satisfied.
Note: The selection in parameter 505 determines
how bit 06 is linked with the corresponding function of the digital inputs.
Bit 07, Without function/Reset
Reset after switching off.
In the case of bit 07 = “0”, no reset occurs.
In the case of a slope change of bit 07 to “1”, a
reset occurs after switching off.
Bit 08, Fixed speed 1 OFF/ON
Activation of the preprogrammed speed in parameter 509 (bus JOG 1). JOG 1 is only possible if
bit 04 = “0” and bit 00 - 03 = “1”.
Bit 09, Fixed speed 2 OFF/ON
Activation of the preprogrammed speed in parameter 510 (bus JOG 2). JOG 2 is only possible if
bit 04 = “0” and bit 00 - 03 = “1”.
If both JOG 1 and JOG 2 are activated (bit 08 and
09 = “1”), then JOG 1 has the higher priority, i.e.
the speed programmed in parameter 509 will be
used.
Bit 10, Data not valid/valid
Is used to notify the VLT5000 series whether the
process data channel (PCD) should respond to
modifications by the master (bit 10 = 1) or not. The
function can be inverted in parameter 805.
NB!
In the case of bit 10 = 0, the VLT does not
respond to the control word or the main re-
ference value.
Bit 11, Without function/Frequency correction
DOWN
Is used to reduce the speed reference value by the
amount given in parameter 219.
In the case of bit 11 = “0”, no modification of the
reference value occurs.
In the case of bit 11 = “1”, the reference value is
reduced.
Bit 12, Without function/Frequency correction UP
Is used to increase the speed reference value by
the amount given in parameter 219.
In the case of bit 12 = “0”, no modification of the
reference value occurs.
In the case of bit 12 = “1”, the reference value is
increased.
If both – slowing down and accelerating – are
activated (bit 11 and 12 = ”1”), slowing down has
priority, i.e. the speed reference value will be reduced.
Bit 13/14, Setup selection
Bit 13 and 14 are used to choose between the four
parameter setups according to the following table:
Setup Bit 14 Bit 13
10 0
20 1
31 0
41 1
The function is only possible if External Selection
has been chosen in parameter 004.
The selection in parameter 507 determines how bit
13/14 is linked with the corresponding function of
the digital inputs.
Bit 15, Without function/Reversion
Reversion of the rotational direction of the motor.
In the case of bit 15 = “0”, no reversion occurs.
In the case of bit 15 = “1”, a reversion takes place.
Please note that the reversion in the factory setting
in parameter 506 has been selected as ”terminal”.
Bit 15 only causes a reversion if bus, bus or termi-
nal or bus and terminal has been selected (bus and
terminal only in connection with terminal 9, how-
ever).
NB!
Unless otherwise indicated, the bit of the control word is linked with the corresponding
function of the digital inputs as a logical ”or” function.
Control word / Status word
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VLT® 5000/5000 Flux/6000 HVAC/8000 AQUA PROFIBUS
■■
■■
■ Status word according to Profidrive standard
The status word is used to notify a master (e.g. a
PC) about the status of a slave
Slave ➝ Master
1514131211109876543210Bit no.
Bi t Bit = 0 Bit = 1
00 Control not ready Ready
01 VLT not ready Ready
02 Coasting Enable
03 No error Trip
04 ON 2 OFF 2
05 ON 3 OFF 3
06 Start possible Start not possible
07 No warning Warning
08 Speed ≠ reference Speed = reference
09 Local operation Bus control
10 Not in operating range Frequency limit OK
11 No operation Operation
12 VLT OK Stopped, autostart
13 Voltage OK Limit exceeded
14 Torque OK Limit exceeded
15 Timer OK Limit exceeded
Bit 00, Control not ready/ready
In the case of bit 00 = “0”, bit 00, 01 or 02 of the
control word is “0” (OFF 1, OFF 2 or OFF 3) – or
the frequency converter has switched off (trip).
In the case of bit 00 = “1”, the frequency converter
control is ready, but there is not necessarily a
supply to the power unit present (in the case of
external 24 V supply of the control system).
Bit 01, VLT not ready/ready
Same significance as bit 00, however, there is a
supply of the power unit. The frequency converter
is ready when it receives the necessary start
signals.
Bit 02, Coasting/Enable
In the case of bit 02 = “0”, bit 00, 01 or 02 of the
control word is “0” (OFF 1, OFF 2 or OFF 3 or
coasting) – or the frequency converter has
switched off (trip).
In the case of bit 02 = “1”, bit 00, 01 or 02 of the
control word is “1”; the frequency converter has not
tripped.
Output
frequency
Status
word
Bit 03, No error/Trip
In the case of bit 03 = “0”, no error condition of the
frequency converter exists.
In the case of bit 03 = “1”, the frequency converter
has tripped and requires a reset signal before it
can start.
Bit 04, ON 2/OFF 2
In the case of bit 04 = “0”, bit 01 of the control
word is “1”
In the case of bit 04 = “1”, bit 01 of the control
word is “0”
Bit 05, ON 3/OFF 3
In the case of bit 05 = “0”, bit 02 of the control
word is “1”
In the case of bit 05 = “1”, bit 02 of the control
word is “0”
Bit 06, Start possible/Start not possible
Bit 06 is always ”0” if FC Drive has been selected
in parameter 512. If Profidrive has been selected in
parameter 512, bit 06 will be ”1” after a switch-off
acknowledgement, after activation of OFF2 or
OFF3, and after switching on the mains voltage.
Start not possible will be reset, with bit 00 of the
control word being set to ”0” and bit 01, 02 and 10
being set to ”1”.
Bit 07, No warning/Warning
In the case of bit 07 = “0”, no unusual situation
exists. In the case of bit 07 = “1”, an unusual status
of the frequency converter has occurred. All warnings are described in the operations manual.
Bit 08, Speed ≠ reference / Speed = reference
In the case of bit 08 = “0”, the current speed of the
motor deviates from the set speed reference value.
This may occur, for example, when the speed is
being changed during start/stop through ramp up/
down.
In the case of bit 08 = “1”, the current speed of the
motor corresponds to the set speed reference
value.
Bit 09, Local operation/Bus control
Bit 09 = “0” indicates that the frequency converter
has been stopped by means of the stop switch of
the control panel, or that Local has been selected
in parameter 002.
In the case of bit 09 = “1”, the frequency converter
can be controlled through the serial interface.
Control word / Status word
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Bit 10, Not in operating range/Frequency limit OK
In the case of bit 10 = “0”, the output frequency is
outside the limits set in parameter 225 and parameter 226 (Warnings: frequency low or frequency
high).
In the case of bit 10 = “1”, the output frequency is
within the indicated limits.
Bit 11, No operation/Operation
In the case of bit 11 = “0”, the motor does not turn.
In the case of bit 11 = “1”, the frequency converter
has a start signal, or the output frequency is higher
than 0 Hz.
Bit 12, VLT OK/Stopped, autostart
In the case of bit 12 = “0”, there is no temporary
overloading of the inverter.
In the case of bit 12 = “1”, the inverter has stopped due to overloading. However, the frequency
converter has not switched off (trip) and will start
again after the overloading has ended.
Bit 13, Voltage OK/Limit exceeded
In the case of bit 13 = “0”, the voltage limits of the
frequency converter are not exceeded.
In the case of bit 13 = “1”, the direct voltage in the
intermediate circuit of the frequency converter is
too low or too high.
Bit 14, Moment OK/Limit exceeded
In the case of bit 14 = “0”, the motor current is below the moment limit selected in parameter 221.
In the case of bit 14 = “1”, the moment limit selected in parameter 221 is exceeded.
Bit 15, Timer OK/Limit exceeded
In the case of bit 15 = “0”, the timers for the thermal motor protection and thermal VLT protection
(description on page 67) have not exceeded 100%.
In the case of bit 15 = “1”, one of the timers has
exceeded 100%.
■■
■■
■ Control word according to VLT standard
(Parameter 512 = FC Drive)
The control word is used to send commands from a
master (e.g. a PC) to a slave.
Master➝ Slave
15 14 1 3 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit no.
Bi t Bit = 0 Bit =1
00 Reference value external
selection lsb
01 Reference value external
selection msb
02 DC brake Ramp
03 Freewheel No freewheel
04 Quick stop Ramp
05 Holding Ramp possible
06 Ramp stop Start
07 Without function Reset
08 Without function Jog
09 Ramp 1 Ramp 2
10 Data not valid Valid
11 Without function Relay 01 active
12 Without function Relay 04 active
13 Parameter setup
selection lsb
14 Parameter setup
selection msb
15 Without function Reversion
Bit 00/01
The bits 00 and 01 are used to choose between
the four preprogrammed reference values (parameters 215-218)
according to the following table:
Progr. ref. val. Parameter Bit 01 Bit 00
1 215 0 0
2 216 0 1
3 217 1 0
4 218 1 1
Bit 02, DC brake
Bit 02 = “0” leads to direct voltage braking and
stop. Braking current and duration are set in parameter 125 and 126.
Bit 02 = “1” results in Ramp.
Control
word
Bus
reference
Control word / Status word
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