Alti
var Process
EAV64325 11/2014
Altivar Process
Variable Speed Drives
Modbus Serial Link Manual (Embedded)
11/2014
EAV64325.01
www.schneider-electric.com
The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical,
including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2014 Schneider Electric. All rights reserved.
2 EAV64325 11/2014
Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.1 Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Profiles Supported by the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CIA402 Operating State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of Operating States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Word
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status Word
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive Powered by the Power Stage Supply . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive with Separate Control Stage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive with Mains Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Supported Modbus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
()
EtA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
()
Chapter 3 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection to the Adapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Routing Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Accessories Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4 Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the Communication Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus Address] (Add) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus baud rate] (tbr) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus format] (tFO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Modbus Time Out] (tto). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Additional Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Local Configuration of the Communication Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN1 address] (nMA1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN2 address] (nMA2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN3 address] (nMA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN4 address] (nMA4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN5 address] (nMA5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN6 address] (nMA6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN7 address] (nMA7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.IN8 address] (nMA8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out1 address] (nCA1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out2 address] (nCA2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out3 address] (nCA3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
13
16
17
18
19
20
21
23
24
25
26
27
28
29
31
33
34
35
36
42
43
44
45
47
48
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
EAV64325 11/2014 3
[Scan.Out4 address] (nCA4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out5 address] (nCA5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out6 address] (nCA6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out7 address] (nCA7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Scan.Out8 address] (nCA8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Monitoring the Communication Scanner . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In1 val.] (nM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In2 val.] (nM2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In3 val.] (nM3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In4 val.] (nM4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In5 val.] (nM5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In6 val.] (nM6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In7 val.] (nM7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.In8 val.] (nM8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out1 val.] (nC1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out2 val.] (nC2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out3 val.] (nC3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out4 val.] (nC4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out5 val.] (nC5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out6 val.] (nC6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out7 val.] (nC7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Com Scan.Out8 val.] (nC8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Fieldbus Integration Using Unity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus Master Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
Chapter 5 Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
5.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Communication Detected Error Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the Control Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the Drive for Operation in I/O Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode . . . . . . . . .
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode. . . . . . . . . .
100
100
101
102
103
104
105
Chapter 6 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checking Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus Function Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication Interruption Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
108
110
111
112
113
4 EAV64325 11/2014
Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, or maintain it. The following special messages may appear throughout this
documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this
material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.
Qualification Of Personnel
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must
have sufficient technical training, knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical,
electrical and electronic equipment of the entire system in which the product is used. All persons working
on and with the product must be fully familiar with all applicable standards, directives, and accident
prevention regulations when performing such work.
EAV64325 11/2014 5
Intended Use
This product is a drive for three-phase synchronous and asynchronous motors and intended for industrial
use according to this manual.The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.Prior to using the product, you
must perform a risk assessment in view of the planned application. Based on the results, the appropriate
safety measures must be implemented.Since the product is used as a component in an entire system, you
must ensure the safety of persons by means of the design of this entire system (for example, machine
design). Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical
equipment should be installed, operated, serviced, and maintained only by qualified personnel.
Product Related Information
Read and understand these instructions before performing any procedure with this drive.
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
z Only appropriately trained persons who are familiar with and understand the contents of this manual
and all other pertinent product documentation and who have received safety training to recognize and
avoid hazards involved are authorized to work on and with this drive system. Installation, adjustment,
repair and maintenance must be performed by qualified personnel.
z The system integrator is responsible for compliance with all local and national electrical code
requirements as well as all other applicable regulations with respect to grounding of all equipment.
z Many components of the product, including the printed circuit boards, operate with mains voltage. Do
not touch. Use only electrically insulated tools.
z Do not touch unshielded components or terminals with voltage present.
z Motors can generate voltage when the shaft is rotated. Prior to performing any type of work on the
drive system, block the motor shaft to prevent rotation.
z AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused
conductors of the motor cable.
z Do not short across the DC bus terminals or the DC bus capacitors or the braking resistor terminals.
z Before performing work on the drive system:
z Disconnect all power, including external control power that may be present.
z Place a Do Not Turn On label on all power switches.
z Lock all power switches in the open position.
z Wait 15 minutes to allow the DC bus capacitors to discharge. The DC bus LED is not an indicator
of the absence of DC bus voltage that can exceed 800 Vdc.
Measure the voltage on the DC bus between the DC bus terminals (PA/+, PC/-) using a properly
rated voltmeter to verify that the voltage is <42 Vdc
z If the DC bus capacitors do not discharge properly, contact your local Schneider Electric represen-
tative. Do not repair or operate the product.
z Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or serious injury.
DANGER
WARNING
UNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.
z Carefully install the wiring in accordance with the EMC requirements.
z Do not operate the product with unknown or unsuitable settings or data.
z Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Damaged products or accessories may cause electric shock or unanticipated equipment operation.
6 EAV64325 11/2014
DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.
Contact your local Schneider Electric sales office if you detect any damage whatsoever.
WARNING
LOSS OF CONTROL
z The designer of any control scheme must consider the potential failure modes of control paths and,
for critical control functions, provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.
z Separate or redundant control paths must be provided for critical control functions.
z System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
z Observe all accident prevention regulations and local safety guidelines (1).
z Each implementation of the product must be individually and thoroughly tested for proper operation
before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
(1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition),
Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed
Drive Systems.
NOTICE
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Before switching on and configuring the product, verify that it is approved for the mains voltage
Failure to follow these instructions can result in equipment damage.
EAV64325 11/2014 7
8 EAV64325 11/2014
At a Glance
Document Scope
Validity Note
About the Book
The purpose of this document is to:
z Show you how to install the Modbus fieldbus on your drive.
z Show you how to configure drive to use Modbus for monitoring and control.
z Provide examples of setup using Unity
NOTE: Read and understand this document and all related documents (see below) before
installing,operating, or maintaining your drive.
This documentation is valid for the drive Modbus fieldbus.
The technical characteristics of the devices described in this document also appear online. To access this
information online:
Step Action
1 Go to the Schneider Electric home page www.schneider-electric.com
2 In the Search box type the reference of a product or the name of a product range.
z Do not include blank spaces in the model number/product range.
z To get information on grouping similar modules, use asterisks (*).
3 If you entered a reference, go to the Product Datasheets search results and click on the reference that
interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the
product range that interests you.
4 If more than one reference appears in the Products search results, click on the reference that interests
you.
5 Depending on the size of your screen, you may need to scroll down to see the data sheet.
6 To save or print a data sheet as a .pdf file, click Download XXX product datasheet.
.
The characteristics that are presented in this manual should be the same as those characteristics that
appear online. In line with our policy of constant improvement, we may revise content over time to improve
clarity and accuracy. If you see a difference between the manual and online information, use the online
information as your reference.
EAV64325 11/2014 9
Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.schneider-electric.com
The Internet site provides the information you need for products and solutions
z The whole catalog for detailed characteristics and selection guides
z The CAD files to help design your installation, available in over 20 different file formats
z All software and firmware to maintain your installation up to date
z A large quantity of White papers, environment documents, application solutions, specifications... To
gain a better understanding of electrical systems and equipment or automation
z All the user guides related to your drive, listed below:
Title of Documentation Reference Number
Altivar Process Getting Started EAV63253
Altivar Process Installation Manual EAV64301
Altivar Process Programming Manual EAV64318
Altivar Process Modbus Serial Link Manual (Embedded) EAV64325
Altivar Process Ethernet Manual (Embedded) EAV64327
Altivar Process EtherNet/IP - Modbus TCP Manual (VW3A3720) EAV64328
Altivar Process PROFIBUS DP manual (VW3A3607) EAV64329
Altivar Process DeviceNet manual (VW3A3609) EAV64330
Altivar Process PROFINET manual (VW3A3627) EAV64333
Altivar Process CANopen Serial Link Manual (VW3A3608, 618, 628) EAV64331
Altivar Process Communication Parameters EAV64332
Altivar Process Safety Function Manual EAV64334
You can download these technical publications and other technical information from our website at
www.schneider-electric.com.
Standards and Terminology
The technical terms, terminology, and the corresponding descriptions in this manual normally use the
terms or definitions in the relevant standards.
In the area of drive systems this includes, but is not limited to, terms such as error, error message, failure,
fault, fault reset, protection, safe state, safety function, warning, warning message, and so on.
Among others, these standards include:
z IEC 61800 series: Adjustable speed electrical power drive systems
z IEC 61508 Ed.2 series: Functional safety of electrical/electronic/programmable electronic safety-related
z EN 954-1 safety of machinery - Safety related parts of control systems
z EN ISO 13849-1 & 2 safety of machinery - Safety related parts of control systems.
z IEC 61158 series: Industrial communication networks - Fieldbus specifications
z IEC 61784 series: Industrial communication networks - Profiles
z IEC 60204-1: Safety of machinery - Electrical equipment of machines – Part 1: General requirements
10 EAV64325 11/2014
Alti
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Presentation
EAV64325 11/2014
Presentation
Chapter 1
Presentation
What Is in This Chapter?
This chapter contains the following topics:
Hardware Overview 12
Software Overview 13
Topic Page
EAV64325 11/2014 11
Presentation
Hardware Overview
General
The following figure shows the Modbus serial communication port:
1 Modbus serial communication port
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Software Overview
Supported Modbus Functions
The drive supports the following Modbus functions:
Function Name Code Description Remarks
Read Holding
Registers
Write One Output Word 06 06 hex Write 1 output word −
Write Multiple
Registers
Read/write Multiple
Registers
(Subfunction)
Read Device
Identification
Diagnostics 08 08 hex Diagnostics −
Presentation
Dec. Hex
03 03 hex Read N output words Maximum PDU length: 63 words
16 10 hex Write N output word Maximum PDU length: 61 words
23 17 hex Read/write multiple
43/14 2B hex/
0E hex
registers
Encapsulated interface
transport/Read device
identification
Maximum PDU length: 20 words (W),
20 words (R)
−
EAV64325 11/2014 13
Presentation
14
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Alti
var Process
Basics
EAV64325 11/2014
Basics
Chapter 2
Basics
What Is in This Chapter?
This chapter contains the following sections:
Section Topic Page
2.1 Profile 16
2.2 Modbus Functions 34
EAV64325 11/2014 15
Basics
Profile
Section 2.1
Profile
What Is in This Section?
This section contains the following topics:
Definition of a Profile 17
Functional Profiles Supported by the Drive 18
Functional Description 19
CIA402 Operating State Diagram 20
Description of Operating States 21
Summary 23
Control Word
Stop Commands 25
Assigning Control Word Bits 26
Status Word
Starting Sequence 28
Sequence for a Drive Powered by the Power Stage Supply 29
Sequence for a Drive with Separate Control Stage 31
Sequence for a Drive with Mains Contactor Control 33
Topic Page
CMd 24
()
EtA 27
()
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EAV64325 11/2014
Definition of a Profile
Types of Profiles
There are 3 types of profile:
z Communication profiles
z Functional profiles
z Application profiles
Communication Profile
A communication profile describes the characteristics of the bus or network:
z Cables
z Connectors
z Electrical characteristics
z Access protocol
z Addressing system
z Periodic exchange service
z Messaging service
z ...
A communication profile is unique to a type of fieldbus (such as Modbus, PROFIBUS DP, and so on) and
is used by various different types of device.
Functional Profile
A functional profile describes the behavior of a type of device:
z Functions
z Parameters (such as name, format, unit, type, and so on.)
z Periodic I/O variables
z State chart
z ...
A functional profile is common to all members of a device family (such as variable speed drives, encoders,
I/O modules, displays, and so on).
They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable
speed drives are:
z CiA402
z PROFIDRIVE
z CIP
DRIVECOM has been available since 1991.
CiA402 device profile for drives and motion control represents the next stage of this standard development
and is now part of the IEC 61800-7 standard.
Some protocols also support the Open DeviceNet Vendor Association profile (ODVA).
Basics
Application Profile
Application profile defines the services to be provided by the devices on a machine. For example, CiA DSP
417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device definitions.
Interchangeability
The aim of communication and functional profiles is to achieve interchangeability of the devices connected
via the fieldbus.
EAV64325 11/2014 17
Basics
Functional Profiles Supported by the Drive
I/O Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as
the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
z The terminals
z The Modbus control word
z The CANopen control word
z Ethernet Modbus TCP embedded
z The fieldbus module control word
The I/O profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, PROFIBUS DP ,PROFINET, and DeviceNet fieldbus modules).
CiA402 Profile
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11...15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore by all the communication ports (Modbus,
CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet).
The drive supports the velocity mode of CiA402 profile.
In the CiA402 profile, there are two modes that are specific to the drive and characterize commands and
references value management:
z Separate [Separate] (SEP)
z Not separate [Not separ.] (SIN),
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Functional Description
Introduction
Drive operation involves two main functions, which are illustrated in the diagrams below.
CiA402
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
The following figure shows the control diagram for drive operation:
Simplified diagram for speed control in Velocity mode:
Basics
Altivar Drive
These diagrams translate as follows for the Altivar drive.
The following figure shows the control diagram for drive operation:
Simplified diagram for speed control in Velocity mode:
EAV64325 11/2014 19
Basics
CIA402 Operating State Diagram
State Diagram
After switching on and when an operating mode is started, the product goes through a number of operating
states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions. The operating states are internally monitored and influenced by monitoring functions.
The following figure shows the CIA402 state diagram:
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EAV64325 11/2014
Description of Operating States
Drive Operating State
The operating state of the drive changes depending on whether the control word is sent
event occurs (an error detection, for example).
The drive operating state can be identified by the value of the status word
Operating State Description
1 - Not ready to switch onInitialization starts. This is a transient state invisible to the communication network.
2 - Switch on disabled The power stage is not ready to switch on.
3 - Ready to switch on The power stage is ready to switch on and awaiting power stage supply mains.
4 - Switched on Power stage is switched on.
Basics
CMd or an
()
EtA .
()
The drive is locked, no power is supplied to the motor.
For a separate control stage, it is not necessary to supply the power.
For a separate control stage with mains contactor, the contactor is not closed.
The configuration and adjustment parameters can be modified.
For a separate control stage, it is not necessary to supply the power stage, but the
system expects it in order to change to state 4 - Switched on.
For a separate control stage with mains contactor, the contactor is not closed.
The drive is locked, no power is supplied to the motor.
The configuration and adjustment parameters can be modified.
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is locked, no power is supplied to the motor.
The power stage of the drive is ready to operate, but voltage has not yet been
applied to the output.
The adjustment parameters can be modified.
If a configuration parameter is modified, the drive returns to the state 2 - Switch
on disable .
EAV64325 11/2014 21
Basics
Operating State Description
5 - Operation enabled Power stage is enabled. The drive is in running state
For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is unlocked, power is supplied to the motor.
The drive functions are activated and voltage is applied to the motor terminals.
If the reference value is zero or the Halt command is applied, no power is supplied
to the motor and no torque is applied. To perform.[Auto tuning]
tUn , the drive
()
must be in state 5 - Operation enabled.
The adjustment parameters can be modified.
The configuration parameters cannot be modified.
NOTE: The command 4 - Enable operation must be taken into consideration
only if the channel is valid. In particular, if the channel is involved in the command
and the reference value, transition 4 is possible only after the reference value has
been received once.
The reaction of the drive to a Disable operation command depends on the
value of the [Dis. operat opt code]
z If the [Dis. operat opt code]
dOtd parameter:
()
dOtd parameter is set to 0, the drive changes
()
to operating state 4 - Switched on and stops in freewheel stop.
z If the [Dis. operat opt code]
dOtd parameter is set to 1, the drive stops on
()
ramp and then changes to operating state 4 - Switched on.
6 - Quick stop active The drive performs a fast stop and remains locked in the operating state 6-Quick
stop active. Before restarting the motor, it is required to go to the operating state
2-switch on disabled.
During fast stop, the drive is unlocked and power is supplied to the motor.
The configuration parameters cannot be modified.
The condition for transition 12 to state 2 - Switch on disabled depends on the
value of the parameter
Quick stop mode (QStd):
If the Quick stop mode parameter has the value FST2, the drive stops according
to the fast stop ramp and then changes to state 2 - Switch on disabled .
If the Quick stop mode parameter has the value FST6, the drive stops according
to the fast stop ramp and then remains in state 6 - Quick stop active until:
z A Disable voltage command is received or
z The STOP key is pressed or
z A freewheel stop command via the digital input of the terminal.
7 - Fault reaction
active
Transient state during which the drive performs an action corresponding to the
selected error response.
8 - Fault Error response terminated. Power stage is disabled.
The drive is locked, no power is supplied to the motor.
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Summary
Device Status Summary
Basics
Operating State Power Stage Supply for
Separate Control Stage
1 - Not ready to
switch on
2 - Switch on
disabled
3 - Ready to
switch on
4 - Switched on Required No Yes, return to 2 - Switch on
5 - Operation
enabled
6 - Quick stop
active
7 - Fault reaction
active
8 - Fault Not required No Yes
Not required No Yes
Not required No Yes
Not required No Yes
Required Yes No
Required Yes, during fast stop No
Depends on error response
configuration
Power Supplied to
Motor
Depends on error
response configuration
Modification of Configuration
Parameters
disabled operating state
−
EAV64325 11/2014 23
Basics
Control Word
Bit Mapping
CMd
()
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Fault reset Reserved
0 to 1
transition =
Error is
reset (after
cause of
error is no
longer
active)
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer
specific
assignable
(=0)
Manufacturer
specific
assignable
Reserved
(=0)
Manufacturer
specific
assignable
Reserved
(=0)
Manufacturer
specific
assignable
Enable
operation
1 = Run
command
Manufacturer
specific
0 = Forward
direction
asked
1= Reverse
direction
asked
Quick stop Enable
0 = Quick
stop active
voltage
Authorization
to supply AC
power
Reserved
(=0)
Reserved
(=0)
Switch on
Mains
contactor
control
Halt
Halt
Command State
Transition
Shutdown 2, 6, 8 3 - Ready
Switch on 3 4 -
Enable
operation
Disable
operation
Disable
voltage
Quick stop 11 6 - Quick
Fault
reset
X: Value is of no significance for this command.
0[gs56] 1: Command on rising edge.
4 5 -
5 4 -
7, 9, 10, 12 2 - Switch
7, 10 2 - Switch
15 2 - Switch
Final
Operating
State
to switch
on
Switched
on
Operation
enabled
Switched
on
on
disabled
stop
active
on
disabled
on
disabled
Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Example
Fault
Reset
X X 1 1 0 0006 hex
X X 1 1 1 0007 hex
X 1 1 1 1 000F hex
X 0 1 1 1 0007 hex
X X X 0 X 0000 hex
X X 0 1 X 0002 hex
0 [gs56] 1 X X X X 0080 hex
Enable
Operation
Quick
Stop
Enable
Voltage
Switch
On
Value
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EAV64325 11/2014
Stop Commands
Halt Command
The Halt command enables movement to be interrupted without having to leave the 5 - Operation
enabled state. The stop is performed in accordance with the [Type of stop]
If the Halt command is active, no power is supplied to the motor and no torque is applied.
Regardless of the assignment of the [Type of stop]
()
remains in the 5 - Operation enabled state.
Fast Stop Command
A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes
a change to the 4 - Switched on
Freewheel Command
A Freewheel Stop command using a digital input of the terminal or a bit of the control word assigned
to Freewheel Stop causes a change to operating state 2 - Switch on disabled.
FSt ,[Ramp stop]
rMP , [Freewheel]
()
Stt parameter [Fast stop assign]
()
nSt , or [DC injection assign.]
()
Stt parameter.
()
dCI ), the drive
()
Basics
EAV64325 11/2014 25
Basics
Assigning Control Word Bits
Function Codes
In the CiA402 profile, fixed assignment of a function input is possible using the following codes:
Bit Integrated Modbus Serial
Bit 11 C111
Bit 12 C112
Bit 13 C113
Bit 14 C114
Bit 15 C115
For example, to assign the DC injection braking to bit13 of Modbus serial, simply configure the[ DC
injection assign.]
Bit 11 is assigned by default to the operating direction command [Reverse assign.]
dCI parameter with the [C113]
()
C113 value.
()
rrS .
()
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EAV64325 11/2014
Basics
Status Word
Bit Mapping
EtA
()
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Warning Switch on
A warning is
active
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
Manufacturer
-specific
Direction of
rotation
Operating
State
1 -Not
ready to
switch on
2 -Switch
on
disabled
3 -Ready
to switch
on
4 Switched
on
5 Operation
enabled
6 -Quick
stop
active
7 -Fault
reaction
active
8 -Fault 0XX1000
(1)
This mask can be used by the PLC program to test the diagram state.
(2)
detected error following operating state 6 - Quick stop active.
X: In this state, the value of the bit can be 0 or 1.
disabled
Power stage
supply
disabled
Manufacturerspecific Stop
via STOP key
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 ETA
Switch On
Disabled
0XX0000−
1 X X 0 0 0 0 0040 hex
0 1 X 0 0 0 1 0021 hex
0 1 1 0 0 1 1 0023 hex
0 1 11 0 1 1 1 0027 hex
0 0 0 1 1 1 0007 hex
0XX1111−
Quick stop Voltage
0 = Quick
stop is active
Reserved
(=0)
Quick
Stop
enabled
Power stage
supply
present
Reserved
(=0)
Voltage
Enabled
Detected
error
Detected
error
Internal limit
active
Reference
value outside
limits
Fault Operation
Enabled
Operation
enabled
Running Ready 1 = Awaiting
Target
reached
Reference
value
reached
Switched OnReady to
Switched on Ready to
Remote Reserved (=0)
Command
or reference
value via
fieldbus
Switch On
switch on
power
Stage
supply
Masked by
(1)
006F H
0008 hex
.0028 hex
(2)
..
EAV64325 11/2014 27
Basics
Starting Sequence
Description
The command sequence in the state diagram depends on how power is being supplied to the drive.
There are 3 possible scenarios:
Power stage
supply
Control stage
supply
(1)
The power stage supplies the control stage.
Direct Direct Mains contactor controlled by the
Not separate
(1)
drive
Separate Separate
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EAV64325 11/2014
Sequence for a Drive Powered by the Power Stage Supply
Description
Both the power and control stages are powered by the power stage supply.
If power is supplied to the control stage, it has to be supplied to the power stage as well.
The following sequence must be applied:
Step 1
Apply the 2 - Shut down command
Basics
Step 2
z Check that the drive is in the operating state 3 - Ready to switch on.
z Then apply the 4 - Enable operation command.
z The motor can be controlled (send a reference value not equal to zero).
EAV64325 11/2014 29
Basics
NOTE: It is possible, but not necessary to apply the 3 - Switch on command followed by the 4 -
Enable Operation command to switch successively into the operating states 3 - Ready to Switch
on, 4 - Switched on and then 5 - Operation Enabled. The 4 - Enable operation command
is sufficient.
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