Schneider Electric 61 User Manual

Altivar 61

User’s Manual

Retain for future use

Communication parameters Software V1.6

Contents____________________________________________________________________________________________________ 3 Document structure and directions for use__________________________________________________________________________ 5 Presentation _________________________________________________________________________________________________ 6 Software enhancements ________________________________________________________________________________________ 8

Enhancements made to version V1.2 in comparison to V1.1 _____________________________________________________ 8 Enhancements made to version V1.4 in comparison to V1.2 _____________________________________________________ 8 Enhancements made to version V1.5 in comparison to V1.4 _____________________________________________________ 9 Enhancements made to version V1.6 in comparison to V1.5 _____________________________________________________ 9

Notations___________________________________________________________________________________________________ 10

Description of parameters _______________________________________________________________________________ 10 Drive terminal displays __________________________________________________________________________________ 10

Profiles ____________________________________________________________________________________________________ 11

What is a profile? ______________________________________________________________________________________ 11 Functional profiles supported by Altivar 61 drives _____________________________________________________________ 12

I/O profile __________________________________________________________________________________________________ 13

Definition ____________________________________________________________________________________________ 13 Control word - run on state [2 wire] (2C) ____________________________________________________________________ 15 Control word - run on edge [3 wire] (3C) ____________________________________________________________________ 16 Status word (ETA) _____________________________________________________________________________________ 17

CiA402 profile_______________________________________________________________________________________________ 18

Functional description __________________________________________________________________________________ 18 CiA402 state chart _____________________________________________________________________________________ 19 Description of states ___________________________________________________________________________________ 20 Control word (CMD) ____________________________________________________________________________________ 22 Status word (ETA) _____________________________________________________________________________________ 24 Starting sequence _____________________________________________________________________________________ 25 Sequence for a drive powered by the power section line supply __________________________________________________ 26 Sequence for a drive with separate control section ____________________________________________________________ 28 Sequence for a drive with line contactor control ______________________________________________________________ 31

Command/reference switching__________________________________________________________________________________ 34

Channels ____________________________________________________________________________________________ 34 Not separate mode ____________________________________________________________________________________ 35 Separate mode _______________________________________________________________________________________ 35 Switching in not separate mode ___________________________________________________________________________ 36 Switching in separate mode ____________________________________ __________________________________________ 36 Channel switching _____________________________________________________________________________________ 37 Reference switching principle ____________________________________________________________________________ 39 Command switching principle _______________________________________________________________ _____________ 40 Assigning control word bits ______________________________________________________________________________ 41 Copy on switching _____________________________________________________________________________________ 44

Forced local mode ___________________________________________________________________________________________ 45

Definition ____________________________________________________________________________________________ 45 Forced local mode and reference switching _________________________________________________________________ 46 Forced local mode and command switching _________________________________________________________________ 47

Priority stops________________________________________________________________________________________________ 49

Priority stops on the graphic display terminal ________________________________________________________________ 49 Priority stops via the terminals or the network ________________________________________________________________ 49

Communication monitoring_____________________________________________________________________________________ 51

Principle _____________________________________________________________________________________________ 51 Network monitoring criteria ______________________________________________________________________________ 51 Behavior in the event of a network fault _____________________________________________________________________ 52 Detailed operation _____________________________________________________________________________________ 53

Assignment of references from a network _________________________________________________________________________ 55

Reference parameters __________________________________________________________________________________ 55 Without PID regulator __________________________________________________________________________________ 56 With PID regulator ___________________________________________________ __________________________________ 57

Configuration saving and switching ______________________________________________________________________________ 58

Saving the configuration ________________________________________________________________________________ 58 Restore configuration ___________________________________________________________________________________ 60 Configuration switching via control word ____________________________________________________________________ 61

Configuration switching by selection _______________________________________________________________________ 65 Parameter set switching_______________________________________________________________________________________ 67 Loading drive parameters______________________________________________________________________________________ 72

Requirement _________________________________________________________________________________________ 72

Procedure ___________________________________________________________________________________________ 72 Command parameters ________________________________________________________________________________________ 74 Setpoint parameters__________________________________________________________________________________________ 77 Status parameters ___________________________________________________________________________________________ 79

Contents

Output value parameters ______________________________________________________________________________________ 87

Output values (speed) __________________________________________________________________________________ 87

Output values (torque) ________________________________________ __________________________________________ 88

Output values (motor) __________________________________________________________________________________ 89 Reference parameters ________________________________________________________________________________________ 90

References (speed) ____________________________________________________________________________________ 90

References (regulator) _____________________________________________________________ _____________________ 91 Measurement parameters______________________________________________________________________________________ 92

Input measurements ___________________________________________________________________________________ 92

Thermal states ________________________________________________________________________________________ 93

Time ________________________________________________________________________________________________ 94 I/O parameters ______________________________________________________________________________________________ 96

Logic I/O ____________________________________________________________________________________________ 96

Analog inputs _________________________________________________________________________________________ 97

Analog outputs ________________________________________________________________________________________ 98

Encoder _____________________________________________________________________________________________ 99 Fault parameters____________________________________________________________________________________________ 100 Log parameters_____________________________________________________________________________________________ 107

Description of last fault log ________________________ ___________________________________________________ ___ 107

Log of the following faults ______________________________________________________________________________ 111 Identification parameters _____________________________________________________________________________________ 115 CiA402 standard configuration and adjustment parameters_______________________________________________ ____________ 118 ODVA standard configuration and adjustment parameters ___________________________________________________________ 122 Index of parameter codes_____________________________________________________________________________________ 123

Document structure and directions for use

Installation Manual

This manual describes:

• Assembly

• How to connect the drive

Programming manual

This manual describes:

• Functions

• Parameters

• Use of the drive terminal (integrated display terminal and graphic display terminal)

Communication Parameters Manual

This manual describes:

• The operating modes specific to communication (state chart)

• The interaction between communication and local control

• The control, reference and monitoring parameters with specific information for use via a bus or communication network

It does not include the drive adjustment and configuration parameters, which are contained in the Excel file supplied as an appendix.

All the parameters are grouped together in an Excel file supplied as an appendix, with the following data:

-Code

-Name

- Addresses: logical, CANopen, INTERBUS, DeviceNet

- Category

- Read/write access

- Type: signed numerical, unsigned numerical, etc.

-Unit

- Factory setting

- Minimum value

- Maximum value

- Display on graphic display terminal and 7-segment integrated display terminal

- Menu concerned

This file offers the option of sorting and arranging the data according to any criterion chosen by the user.

Data relating to operation, interdependences and limits of use are described in the Programming Manual. The various documents are to be used as follows:

1. Design and programming of the drive with the Programming Manual

2. Design and programming of the communication with the Parameters Manual

3. Definition of addresses and any values of the adjustment and configuration parameters to be modified by communication with the

parameter files

The section entitled "Loading drive parameters" on page 72 describes the recommended procedure for loading parameters through communication.

Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO, Modbus Plus and DeviceNet, etc., manuals

These manuals describe:

• Assembly

• Connection to the bus or network

• Diagnostics

• Configuration of parameters specific to communication via the i ntegrated display terminal or the graphic display terminal

They describe the protocol communication services in detail.

ATV 38/ATV 61 Migration Manual

This manual describes the differences between the Altivar 61 and the Altivar 38 and explains how to replace an Altivar 38, including how to replace drives communicating on a bus or a network.

Presentation

Magelis XBT Premium

FTM FTM

ATV 31

ATV 61

Sensors Sensors

Example of configuration on the CANopen bus

The Altivar 61 drive has been designed to meet all the configuration requirements encountered within the context of industrial communication installations.

It includes Modbus and CANopen communication protocols as standard.

Two integrated communication ports enable direct access to the Modbus protocol :

• One RJ45 Modbus connector port , located on the drive front panel, which is

used to connect:

• The remote graphic display terminal

• A Magelis industrial HMI terminal

• The PowerSuite software workshop

• One RJ45 Modbus network port , located on the drive’s control terminals,

which is dedicated to control and signaling by a PLC or other type of controller. It can also be used to connect a display terminal or the PowerSuite software workshop.

The CANopen protocol can be accessed from the Modbus network port via the CANopen adapter

(1).

The Altivar 61 can also be connected to other networks and industrial communication buses by using one of the communication option cards:

• Ethernet TCP/IP

• Modbus/Uni-Telway. This card provides access to additional functions, which complement those of the integrated ports (Modbus ASCII and 4-wire RS 485)

•Fipio

• Modbus Plus

•Profibus DP

• DeviceNet

•INTERBUS

• etc. (Please refer to the catalog)

The control section can be powered separately, thus allowing communication

(monitoring, diagnostics) to be maintained even if the power supply section fails.

The main communication functions of Altivar 38 drives are compatible with the Altivar

61 (2):

- Connection

- Communication services

- Drive behavior (profile)

- Control and monitoring parameters

- Basic adjustment parameters

The PowerSuite software workshop supports the transfer of configurati ons f rom Al ti var 38 drives to Altivar 61.

(1) If the CANopen adapter is installed, Modbus will not be available on the network port . (2) Please refer to the ATV 38/ATV 61 Migration Manual supplied on the documentation CD-ROM.

Presentation

All the drive functions are accessible via the network:

• Control

• Monitoring

• Adjustment

• Configuration

If the "Controller Inside" programmable card is installe d on the drive , it s variables (%MW, etc.) can be acce ssed via the integ rated Modb us ports or the Ethernet option card.

The speed/torque control and reference can come from different sources:

• The I/O terminals

• The communication ne twork

• The "Controller Inside" programmable card

• The remote graphic display terminal

• The PowerSuite software workshop (for commissioning and maintenance) The Altivar 61 drive's advanced functions can be used to manage switching of these control and reference sources according to the application requirements.

The periodic communication variables can be selected via:

• The network configuration software (Sycon, etc.): CANopen, DeviceNet

• The Altivar 61 drive's communication scanner function: Profibus DP, Fipio, Modbus Plus

• The network's IO Scanner function: Ethernet TCP/IP

With the exception of DeviceNet, regardless of n etwork type, the Altivar 61 can be controlled:

• In accordance with the Drivecom profile (CANopen CiA DSP 402)

• In accordance with the I/O profile, whereby control is as straightforward and flexible as control via the I/O terminals The DeviceNet card supports the ODVA standard profile.

Communication is monitored according to criteria specific to each protocol. Regardless of protocol type, the reaction of the drive to a communication fault can be configured:

• Drive fault involving: Freewheel stop, stop on ramp, fast stop or braked stop

• Stop without drive fault

• Maintain the last command received

• Fallback position at a predefined speed

• Ignore the fault

A command from the CANopen bus is handled with the same priority as an input from the drive termi nals. This enables very good response times to be achieved on the network port via the CANopen adapter.

Software enhancements

Since the Altivar ATV 61 was first launched, it has benefited from the addition of several new functions. The software version has been updated to version V1.6. The old versions can be replaced by this new one without any modifications. Although this documentation relates t o version V1.6, it can still be used wit h earlier versions, as the updates merely involve the addition of new values and parameters and none of the previous version parameters have been modified or removed. The software version is indicated on the nameplate attached to the body of the drive.

Enhancements made to version V1.2 in comparison to V1.1

New parameters and functions

Option of operating with a BACnet communication card

[1.8 FAULT MANAGEMENT] (FLt) menu

• The external fault [EXTERNAL FAULT] (EtF-) can now be configured in positive or negative logic via [External fault config.] (LEt).

Enhancements made to version V1.4 in comparison to V1.2

Factory setting

Note: In versions V1.1 and V1.2, analog output AO1 was assigned to the motor frequency. In the new version, this output is not

assigned. With the exception of this parameter, the factory settings of versi ons V1.1 and V1.2 remai n the same in the new versi on. The new functions are inactive in the factory setting.

New parameters and functions

[1.2 MONITORING] (SUP-) menu

Addition of states and internal values relating to the new fun ctions described below.

[1.3 SETTINGS] (SEt-) menu

• [High torque thd.] (ttH)

• [Low torque thd.] (ttL)

• [Pulse warning thd.] (FqL)

• [Freewheel stop Thd] (FFt)

[1.4 MOTOR CONTROL] (drC-) menu

• Extension of the following configuratio ns to all drive ratings (p reviously limited t o 45 kW (60 HP) for ATV61pppM3X and to 75 kW (100

HP) for ATV61 braking balance [Braking balance] (bbA).

[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

• [AI net. channel] (AIC1)

• New options for assigning relays and logic outputs: torque greater than high threshold, torque lower than low threshold, motor in

forward rotation, motor in reverse rotation, measured speed threshold attained.

• Analog output AO1 can now be used as a logic output and assigned to relay functions and logic outputs.

• New option of modifying the scaling of analog outputs using t he parameters [Scaling AOx mi n] (ASLx) and [Scaling AOx max] (ASHx).

• New options for assigning analog outputs: signed motor torque and measured motor speed.

• New options for assigning alarm groups: torque greater than high threshold, torque less than low threshold, measured speed

threshold attained.

pppN4): synchronous motor [Sync. mot.] (SYn), sinus filter [Sinus fi lter] (OFI), noise reduction [Noise reduction] (nrd),

[1.7 APPLICATION FUNCT.] (Fun-) menu

• The summing, subtraction and multiplication reference functions can now be assigned to virtual input [Network AI] (AIU1).

• New parameter [Freewheel stop Thd] (FFt) used to adjust a threshold for switching to freewheel at the end of a stop on ramp or fast stop.

• The torque limitation [TORQUE LIMITATION] (tOL-) can now be configured in whole % or in 0.1% increments using [Torque

increment] (IntP) and assigned to virtual input [Network AI] (AIU1).

• New Damper control function using the [DAMPERMANAGEMENT] (dAM-) menu.

• Parameter switchi ng [PARAM. SET SWITCHING] (MLP-) can now be assigned to attained frequency thresholds [Freq. Th. attain.]

(FtA) and [Freq. Th. 2 attain.] (F2A).

Software enhancements

[1.8 FAULT MANAGEMENT] (FLt-) menu

• Option to reinitialize the drive without turning it off, via [Product reset] (rP).

• Option to reinitialize the drive via a logic input without turning it off, using [Product reset assig.] (rPA).

• The option to configure the "output phase loss" f ault [Out put Phase Loss] (OPL) to [Output cut] (OAC) has been extended to al l drive

ratings (previously limited to 45 kW (60 HP) for ATV61

• New monitoring function based on speed measurement using "Pulse input" input, via the [FREQUENCY METER] (FqF-) menu.

• The braking unit short-circuit fault can now be configured using [Brake res. f ault Mgt] bUb).

•The [Damper stuck] (Fd1) fault in the Damper control function can be configured via [DAMPER FAULT MGT.] (FdL-).

Enhancements made to version V1.5 in comparison to V1.4

Extension of the range with addition of the drives ATV61pppY for network 500 to 690 V. The ranges of adjustment and factory settings of some parameters are adapted to the new voltage.

[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

Increase in adjustment range of delay parameters for relays and logic outputs : 0 to 600 00 ms instead of 0 to 9999 ms.

[1.7 APPLICATION FUNCT.] (Fun-) menu

• New parameter [Conf. sensor flow] (LnS) allowi ng to adjust the sensor of null flow in positive or negative logic.

pppM3X and 75 kW (100 HP) for ATV61pppN4).

Enhancements made to version V1.6 in comparison to V1.5

The communication card APOGEE FLN P1 (VW3 A3 314) is fully supported with the version V1.6 and above of the Altivar 61 software.

Notations

Description of parameters

Identification

A parameter is defined by means of various character strings:

• Code: 4 charac

brt, tLIG

• Name: Description in plain text (used by the PowerSuite software workshop)

• Terminal name: Character string in square brackets for the graphic display terminal [Gen. torque lim]

Addresses

There are 4 formats for specifying parameter addresses:

• Logic address: Address for Modbus messaging (RS485 and Ethernet TCI /IP) and the PKW indexed periodic v ariables (Fipio, Profibus

DP), in decimal and hexadecimal (preceded by 16#) format. To optimize Modbus messaging performance, two addresses are given for the control word and the status word. The addresses annotated "speed" are for use in rpm; the addresses annotated "frequency" are for use in Hz.

• CANopen index: CANopen index/subindex in hexadecimal, to be used f or PDO and SDO messaging variable assignment.

• INTERBUS index: Index/subindex in hexadecimal for PCP messaging.

• DeviceNet path: Class/instance/attribute i n hexadecimal.

Read/write

• R: Read only

• R/W: Read and write

• R/WS: Read and write, but write only possible when motor is at standstill

ters max. The code makes it possible to identify the parameter on the integrated 7-segment display terminal (Examples:

)

Type

• WORD (bit register): Word where each bit represents an item of command, monitoring or configuration information

• WORD (listing): Word where each value represents a possible choice for a configuration or state

• INT: Signed integer

• UINT: Unsigned integer

• DINT: Signed double integer

• UDINT: Unsigned double integer

Format

Hexadecimal values are written as follows: 16#pppp

Drive terminal displays

The menus that appear on the graphic display terminal are shown in square brackets. Example: [1.9 COMMUNICATION] The menus that appear on the integrated 7-segment display terminal always end with a dash and appear between round brackets. Example: (COM-)

Parameter names are displayed on the remote graphic display terminal in square brackets. Example: [Fallback speed] The parameter codes displayed on the integrated 7-segment display terminal are shown in round brackets. Example: (LFF)

Profiles

What is a profile?

There are three types of profile:

• Communication profiles

• Functional profiles

• Application profiles

Communication profiles

A communication profile describes the characteristics of the bus or network:

• Cables

• Connectors

• Electrical characteristics

• Access protocol

• Addressing system

• Periodic exchange service

• Messaging service

•etc. A communication profile is unique to a type of network (Fipio, Profibus DP, etc.) and is used by various different types of device.

Functional profiles

A functional profile describes the behavior of a type of device. It defines:

• Functions

• The parameters (name, format, unit, type, etc.)

• The periodic I/O variables

• State chart(s)

•etc.

A functional profile is common to all members of a device family (variable speed drives, encoders, I/O modules, displays, etc.). Ideally, functional profiles should be network-independent, but in reality they are not. They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable speed drives are:

• CiA402

• PROFIDRIVE

•CIP

DRIVECOM has been available since 1991. CiA402 "Device profile for drives and motion control" represents the next stage of this standard’s development and is maintained by Can In Automation. Some protocols also support the ODVA (Open DeviceNet Vendor Association) profile.

Application profiles

Application profiles define in their entirety the servi ces to be provided by the de vices on a machine. E.g. prof ile for elevators "CiA DSP 4172 V 1.01 part 2: CANopen application profile for lift control syst ems - virtual device definitions".

Interchangeability

The aim of communication and functional profiles is to achieve interchangeability of the devices connected via the network. Although this aim is not always achieved, the profiles facilitate free competition.

Profiles

Functional profiles supported by Altivar 61 drives

I/O profile

Using the I/O profile simplifies PLC programming.

When controlling via the terminals or the display terminal, the I/O profile is used without knowing it. With an Altivar 61, the I/O profile can also be used when controlling via a network.

The drive starts up as soon as the run command is sent. The 16 bits of the control word can be assigned to a function or a terminal input.

This profile can be developed for simultaneous control of the drive via:

• The terminals

• The Modbus control word

• The CANopen control word

• The network card control word

• The "Controller Inside" control word

The I/O profile is supported by the drive itself and therefore in turn by all the communication ports (integrated Modbus, CANopen and the Ethernet, Fipio, ModbusPlus, Modbus, Uni-Telway, Profibus DP, DeviceNet, and INTERBUS communication cards).

CiA402 profile

The drive only starts up following a command sequence. The control word is standardized. 5 bits of the control word (bits 11 to 15) can be assigned to a function or a terminal input.

The CiA402 profile is supported by the drive itself and therefore in turn by all the communication ports (integrated Modbus, CANopen and the Ethernet, Fipio, ModbusPlus, Modbus, Uni-Telway, Profibus DP, DeviceNet, and INTERBUS communication cards).

The Altivar 61 supports the CiA402 profile’s "Velocity mode".

In the CiA402 profile, there are two modes that are specific to the Altivar 61 and characterize command and reference management (see section

“Command/reference switching”, page 34):

• Separate mode [Separate] (SEP)

• Not separate mode [Not separ.] (SIM)

ODVA profile

The drive starts up as soon as the run command is sent. The control word is standardized.

The ODVA profile is supported by the DeviceNet communication card.

I/O profile

Definition

The behavior of the drive is identical whether via the network or via the terminals. The I/O profile is achieved via the following configuration:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

As well as to logic inputs of the terminals, drive functio n s can be assigned to control word bits. A function input can be assigned to:

• A terminal input (LI2 to LI14)

• A Modbus control word bit (C101 to C115)

• A CANopen control word bit (C201 to C215)

• A network card control word bit (C301 to C315)

• A Controller Inside control word bit (C401 to C415)

• A switched bit (Cd00 to Cd15): See "Command/reference switching" section.

Schematic diagrams:

Fixed assignment on CANopen:

CANopen control word

bit 9

bit 8

bit 11

bit 13

bit 15

bit 14

Fixed assignment to terminals and on CANopen:

bit 12

bit 10

bit 7

CANopen control word

bit 9

bit 8

bit 11

bit 13

bit 15

bit 14

bit 12

bit 10

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

C201

C202

C201

C202

Function

Terminals

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI12

LI14

LI13

LI11

LI1

LI2

I/O profile

Fixed assignment to terminals, on CANopen and on "Controller Inside" card:

CANopen control word

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 11

bit 13

bit 15

bit 14

bit 12

bit 10

bit 2

bit 1

bit 0

Function

Terminals

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI12

LI14

LI13

LI11

LI3

"Controller Inside" control word

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 11

bit 13

bit 15

bit 14

Fixed assignment to terminals and on CANopen with command switching:

bit 12

bit 10

bit 2

CANopen control word

LI2

bit 1

LI1

bit 0

C201

C202

LI2

C401

Fast stop

Stop

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

C201

Cd02

Function

bit 11

bit 13

bit 15

bit 14

bit 12

bit 10

bit 2

Command

switching CCS

CANopen

Terminals

LI2

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI12

LI14

LI13

LI11

LI1

LI5

I/O profile

Control word - run on state [2 wire] (2C)

Please refer to the [1.5 INPUTS / OUTPUTS CFG] (I-O-) section of the Programming Manual.

The forward run command is automatically assigned to input LI1 and to bit 0 of the various control words. This assignment cannot be modified. The run command is active on state 1:

• Of input LI1, if the terminals are active

• Of bit 0 of the control word, if the network is active

Bits 1 to 15 of the control words can be assigned to drive functions.

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Configurable Configurable Configurable Configurable Configurable Configurable Configurable Forward

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Configurable Configurable Configurable Configurable Configurable Configurable Configurable Configurable

In the case of a [2 wire] (2C) run on state command and I/O profile, fixed assignment of a function input is possible using the following codes:

Fixed assignments

Bit

Drive terminals Logic I/O card

bit 0 Forward bit 1 LI2 - - C101 C201 C301 C401 bit 2 LI3 - - C102 C202 C302 C402 bit 3 LI4 - - C103 C203 C303 C403 bit 4 LI5 - - C104 C204 C304 C404 bit 5 LI6 - - C105 C205 C305 C405 bit 6 - LI7 - C106 C206 C306 C406 bit 7 - LI8 - C107 C207 C307 C407 bit 8 - LI9 - C108 C208 C308 C408 bit 9 - LI10 - C109 C209 C309 C409 bit10 - - LI11 C110 C210 C310 C410 bit11 - - LI12 C111 C211 C311 C411 bit12 - - LI13 C112 C212 C312 C412 bit13 - - LI14 C113 C213 C313 C413 bit14 - - - C114 C214 C314 C414 bit15 - - - C115 C215 C315 C415

Extended I/O

card

Modbus CANopen Network card

"Controller Inside"

card

For example, to assign the operating direction command to bit 1 of CANopen, simply conf igure the [Reverse ass ign.] (rrS) parameter with the value [C201] (C201).

I/O profile

Control word - run on edge [3 wire] (3C)

Please refer to the [1.5 INPUTS / OUTPUTS CFG] (I-O-) section of the Programming Manual.

The stop command is automatically assigned to input LI1 and to bit 0 of the control words. This assignment cannot be modified. This command enables running on state 1:

• Of input LI1, if the terminals are active

• Of bit 0 of the control word, if the network is active

The forward run command is automatically assigned to input LI2 and to bit 1 of the control words. This assignment cannot be modified. The forward run command is active if the stop command is at 1 and on a rising edge (0 V 1):

• Of input LI2, if the terminals are active

• Of bit 1 of the control word, if the network is active

Bits 2 to 15 of the control words can be assigned to drive functions.

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Configurable Configurable Configurable Configurable Configurable Configurable Forward Stop

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Configurable Configurable Configurable Configurable Configurable Configurable Configurable Configurable

In the case of a [3 wire] (3C) run on state command and I/O profile, fixed assignment of a function input is possible using the following codes:

Fixed assignments

Bit

Drive terminals Logic I/O card

bit 0 Authorization to run (Stop) bit 1 Forward bit 2 LI3 - - C102 C202 C302 C402 bit 3 LI4 - - C103 C203 C303 C403 bit 4 LI5 - - C104 C204 C304 C404 bit 5 LI6 - - C105 C205 C305 C405 bit 6 - LI7 - C106 C206 C306 C406 bit 7 - LI8 - C107 C207 C307 C407 bit 8 - LI9 - C108 C208 C308 C408 bit 9 - LI10 - C109 C209 C309 C409 bit10 - - LI11 C110 C210 C310 C410 bit11 - - LI12 C111 C211 C311 C411 bit12 - - LI13 C112 C212 C312 C412 bit13 - - LI14 C113 C213 C313 C413 bit14 - - - C114 C214 C314 C414 bit15 - - - C115 C215 C315 C415

Extended I/O

card

Modbus CANopen Network card

"Controller Inside"

card

For example, to assign the operating direction command to bit 2 of CANopen, simply conf igure the [Reverse ass ign.] (rrS) parameter with the value [C202] (C202).

I/O profile

Status word (ETA)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Alarm

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Direction of

rotation

The status word is identical in the I/O profile and the CiA402 profile. For more detailed information, refer to section “CiA402 profile”, page 18.

Reserved

(= 0 or 1)

Stop via STOP

key

Reserved (= 1)

Reserved (= 0) Reserved (= 0)

Power section

line supply

present

Fault Running Ready

Reference

outside limits

Reference

reached

Command or reference via

network

Reserved

(= 0 or 1)

Reserved (= 0)

CiA402 profile

Functional description

b The operation of the drive can be summarized by 2 main functions, described by the foll owing 2 diagrams (the values i n brackets are the

CANopen addresses of the parameters):

• Control diagram:

controlword

(6040)

State machine

statusword (6041)

• Simplified diagram of the speed control in "Velocity" mode:

vl_target_velocity

(6042)

Limit Ramp

vl_velocity_demand

(6043)

Power device

vl_velocity_min_max amount (6046)

b The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in brackets are the parameter

codes).

These diagrams translate as follows for the Altivar system:

vl_velocity_acceleration (6048) vl_velocity_acceleration (6049)

vl_control_effort

(6044)

• Control diagram:

Control word

(CMD)

State machine

Status word (ETA)

• Simplified diagram of the speed regulation in "Velocity" mode:

Speed reference

(LFRD)

Reference limit Ramp

Acceleration - Speed delta (SPAL)

Minimum speed (SMIL)

Maximum speed (SMAL)

Acceleration - Time delta (SPAT) Deceleration - Speed delta (SPDL) Deceleration - Time delta (SPDT)

Speed reference

after ramp

(FRHD)

Power

module

Output speed

(RFRD)

CiA402 profile

CiA402 state chart

Power section line supply present or absent

Entry into

state chart

Not ready to switch on

Switch on disabled

Disable voltage CMD=16#0000 or STOP key or freewheel stop at the terminals or Power Removal

Shutdown

CMD=16#0006

Ready to switch on

Disable voltage CMD=16#0000 or Quick stop CMD=16#0002 or STOP key

Fault disappeared

and faults reset CMD=16#0080

Disable voltage CMD=16#0000 or Quick stop CMD=16#0002 or STOP key or freewheel stop at the terminals or modification of a configuration parameter

Fault

From all states

Fault

Fault reaction active

Fault

If Quick stop option code = 2:

transition after stop. If Quick stop option code = 6:

Disable voltage

CMD=16#0000

STOP key

freewheel stop at

the terminals

Shutdown CMD=16#0006

Switch on

CMD=16#xxxF

Key:

Switch on

CMD=16#0007

Shutdown CMD=16#0006

Switched on

Disable

Enable

operation

CMD=16#xxxF

operation CMD=16#0007 or fast stop

Operation enabled

Examples:

ETA=16#0637: Stop or forward, speed reached ETA=16#8637: Stop or reverse, speed reached ETA=16#0237: For w ar d, acce le ra ti ng or dece le r ati n g ETA=16#8237: Reverse, accelerating or decelerating

Power section line supply present

State

Switched on

Value of status word

Quick stop

CMD=16#0002

Quick stop active

AC power absent

CMD=16#xxxF

Transition condition

with example of command

Enable

operation

State display on graphic display terminal

AC power present

AC power absent or present

CiA402 profile

Description of states

Each state represents an internal reaction by the drive. This chart will change depending on whether the control word is sent (CMD) or an event occurs (a fault, for example). The drive state can be identified by the value of the status word (ETA).

1 - Not ready to switch on

Initialization starts. This is a transient state invisible to the communication network.

2 - Switch on disabled

The drive is inactive. The drive is locked, no power is supplied to the motor. For a separate control section, it is not necessary to supply AC power to the power section. For a separate control section with line contactor, the contac tor is not controlled.

The configuration and adjustment parameters can be modified.

3 - Ready to switch on

Awaiting power section line supply. For a separate control section, it is not ne cessa ry to s uppl y AC power to the p ower sec tion, b ut the sy ste m wil l expe ct it i n o rder to chan ge to state "4 For a separate control section with line contactor, the contac tor is not controlled.

- Switch on".

The drive is locked, no power is supplied to the motor.

The configuration and adjustment parameters can be modified.

4 - Switched on

The drive is supplied with AC power but is stationary. For a separate control section, the power section line supply must be present. For a separate control section with line contactor, the contac tor is controlled.

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. Modification of a configuration parameter returns the drive to state "2 - Switch on disabled".

5 - Operation enabled

The drive is running. For a separate control section, the power section line supply must be present. For a separate control section with line contactor, the contac tor is controlled.

The drive is unlocked, power is supplied to the motor. The drive functions are activated and voltage is applied to the motor terminals. However, in the case of an open-loop drive, if the reference is zero or the "Halt" command i s applied, no power is suppli ed to the motor and no torque is applied. Auto-tuning (tUn) requires an injection of current into the motor. The drive must therefore be in state "5 - Operation enabled" for this command.

The adjustment parameters can be modified. The configuration parameters cannot be modified.

Note: The "4 - Enable operation" command must be taken into consideration only when the channel is valid (see Communication

monitoring page 51). In particular, if the channel is involved in the command and the reference, transiti on 4 will take place only after the reference has been received for the first time.

The reaction of the drive to a "Disable operation" command depends on the value of the "Disable operation opti on code" (DOTD) parameter:

• If the "Disable operation option code" parameter has the value 0, the drive goes to "4 - Switched on" and stops in freewheel stop

• If the "Disable operation option code" parameter has the value 1, the drive stop s on ramp and then goes to "4 - Switched on"

CiA402 profile

6 - Quick stop active

Emergency stop

The drive performs a fast stop, after which restarting will only be possible once the drive has changed to the "Switch on disabled" state. 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 the state "2 - Switc h on disabled" depends on the value of the parameter "Quick st op option code" (QSTD):

• If the "Quick stop option code" parameter has the value 2, the dri ve stops according to t he fast stop ramp and then goes into the stat e "2 - Switch on disabled".

• If the "Quick stop option code" parameter has the value 6, the drive stops according to the fast stop ramp and then remains in the state "6 - Quick stop active" until:

- A "Disable voltage" command is received

- Or the STOP key is pressed

- Or there is a freewheel stop command via the terminals

7 - Fault reaction active

Transient state during which the drive performs an action appropriate to the type of fault.

The drive function is activated or deactivated according t o the type of reaction configured in the fault management parameters.

8 - Fault

Drive faulty.

The drive is locked, no power is supplied to the motor.

Summary

State

1 - Not ready to switch on Not required No Yes

2 - Switch on disabled Not required No Yes 3 - Ready to switch on Not required No Yes

4 - Switched on Required No

5 - Operation enabled Required

6 - Quick stop active Required Yes, during fast stop No

7 - Fault reaction active

8 - Fault Not required No Yes

Power section line supply for

separate control section

Depends on fault management

configuration

Power supplied to motor

Yes, apart from an open-loop

drive with a zero reference or in

the event of a "Halt" command

for an open-loop drive.

Depends on fault management

configuration

Modification of configuration

Yes, return to "2 - Switch on

disabled" state

parameters

CiA402 profile

Control word (CMD)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Fault reset

Reserved (= 0)Reserved (= 0)Reserved (=

Ack. fault

Assignable Assignable Assignable Assignable

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Enable operation

Run command

By default, direction of

rotation

command.

Quick stop Enable voltage

Emergency

stop

Reserved (= 0) Reserved (= 0)

Authorization

to supply AC

power

Switch on

Contactor

control

Halt

Command

Shutdown 2, 6, 8

Switch on 3 4 - Switched on x x 1 1 1 16#0007

Enable

operation

Disable

operation

Disable voltage 7, 9, 10, 12

Quick stop

Fault reset 15

x: Value is of no significance for this command.

0 V 1: Command on rising edge

Transition

address

5 4 - Swit c h ed on x 0 1 1 1 16#0007

7, 10

Final state

3 - Ready to

switch on

5 - Operation

enabled

2 - Switch on

disabled

6 - Quick stop

active

2 - Switch on

disabled

2 - Switch on

disabled

bit 7 bit 3 bit 2 bit 1 bit 0

Fault reset

x x 1 1 0 16#0006

x 1 1 1 1 16#000F

x x x 0 x 16#0000

x x 0 1 x 16#0002

0 V 1 x x x x 16#0080

Enable

operation

Quick

stop

Enable voltage

Switch on

Example value

CiA402 profile

Stop commands:

The "Halt" command enables movement to be int errupted wi t hout ha vin g t o leave t he "5 - Operat ion ena bl ed" stat e. The st op is performed in accordance with the [Type of stop] (Stt) parameter.

In the case of an open-loop drive, if the "Halt" command is active, no power is supplied to the motor and no torque is applied. In the case of a closed-loop drive, if the "Halt" command is active , power c ontinues t o be supplie d to the motor and t orque is appl ied during stopping.

Regardless of the assignment of the [Type of stop] (Stt) parameter ([Fast stop] (FSt), [Ramp stop] (rMP), [Freewheel] (nSt), [DC injection]

(dCI)), the drive remains in the "5 - Operation enabled" state.

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" state. A "Halt" command does not cause this transition. A Freewheel Stop command at the terminals or using a bit of the control word assigned to Freewheel Stop causes a change to the "2 Switch on disabled" state.

WARNING

RISK OF EQUIPMENT DAMAGE

When the braking loop is configured, it is necessary to use the "Halt" command (bit 8 of CMD command word) to stop.

Failure to follow these instructions can result in death, serious injury or equipme nt damage.

Assigning control word bits

In the CiA402 profile, fixed assignment of a function input is po ssible using the following codes:

Bit Integrated Modbus CANopen Network card "Controller Inside" card bit 11 C111 C211 C311 C411 bit 12 C112 C212 C312 C412 bit 13 C113 C213 C313 C413 bit 14 C114 C214 C314 C414 bit 15 C115 C215 C315 C415

For example, to assign the DC injection braking to bit 13 of CANopen, simply configure the [DC injection assign.] (dCI) parameter with the [C213] (C213) value.

Bit 11 is assigned by default to the operating direction command [Reverse assign.] (rrS).

CiA402 profile

Status word (ETA)

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Warning

Alarm

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Direction of

rotation

Switch on

disabled

Power section

line supply

disabled

Stop via

STOP key

Quick stop

Emergency

stop

Reserved (= 0)Reserved (=

Voltage enabled

Power section

line supply

present

Fault

Internal limit

active

Reference

outside limits

Operation

enabled

Running Ready

Target

reached

Reference

reached

Switched on

Remote

Command or reference via

network

Ready to

switch on

Awaiting

power section

line supply

Reserved (= 0)

bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Status

1 -Not ready to

switch on

2 -Switch on

disabled

3 -Ready to

switch on

4 -Switched on 0 1 1 0 0 1 1 16#0023 5 -Operation

enabled

6 -Quick stop

active

7 - Fault reaction

active

8 -Fault 0 x x 1 0 0 0

x: In this state, the value of the bit can be 0 or 1.

(1)

This mask can be used by the PLC program to test the chart state.

Switch on

disabled

0 x x 0 0 0 0 -

1 x x 0 0 0 0 16#0040

0 1 x 0 0 0 1 16#0021

0 1 1 0 1 1 1 16#0027

0 0 1 0 1 1 1 16#0007

0 x x 1 1 1 1 -

Quick

stop

Voltage enabled

Fault

Operation

enabled

Switched onReady to

switch on

ETA

masked by

16#006F

16#0008

or 16#0028

(1)

(2)

Fault following state "6 - Quick stop active".

CiA402 profile

Starting sequence

The command sequence in the state chart depends on how power is being supplied to the drive. There are three possible s cen a r io s :

Power section

line supply

Control section

power supply

line supply

Power section

power supply

Control section

line supply

Power section

power supply

Control section

DRIVE DRIVE DRIVE

M MM M

Line contactor

Direct

Not separate

(1)

Direct

Separate

line supply

Power section

controlled

by the drive

Separate

(1)

The power section supplies the control section.

CiA402 profile

Sequence for a drive powered by the power section line supply

Both the power and control sections are powered by the power section line supply. If power is supplied to the control section, it has to be supplied to the power section as well. The following sequence must be applied:

b Step 1

• Send the "2 - Shutdown" command

From all states

Bus or network

DRIVE

Power section

line supply

Disable

voltage

Shutdown

Entry into state chart

Shutdown

Switch on

Enable

operation

5 6

Not ready to

switch on

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Disable voltage or Quick stop

Disable voltage

or Quick stop

Shutdown

Disable operation

Quick stop

Fault reaction

active

Fault

Quick stop

active

CiA402 profile

b Step 2

• Check that the drive is in the "3 - Ready to switch on" state.

• Then send the "4 - Enable operation" command.

• The motor can be controlled (send a reference not equal to zero).

From all states

Bus or network

DRIVE

line supply

Power section

Disable

voltage

Shutdown

Switch on

Enable

operation

Entry into state chart

Not ready to

switch on

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Disable voltage

or Quick stop

Shutdown

Disable

operation

Disable voltage

or Quick stop

Quick stop

Fault reaction

active

Quick stop

active

Fault

Note: It is possible, but not necessary, to send the "3 - Switch on" command and then the "4 - Enable Operation" command to go

successively into the states "3 The "4 - Enable operation" command is sufficient.

- Ready to Switch on", "4 - Switched on" and then "5 - Operation Enabled".

CiA402 profile

Sequence for a drive with separate control section

Power is supplied separately to the power and control sections. If power is supplied to the control section, it does not have to be supplied to the power section as well. The following sequence must be applied:

b Step 1

• The power section line supply is not necessarily present.

• Send the "2 - Shutdown" command.

From all states

power supply

Control section

Bus or network

DRIVE

Power section

line supply

Disable

voltage

Shutdown

Switch on

Enable

operation

5 6

Entry into state chart

Not ready to

switch on

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Disable voltage

or Quick stop

Shutdown

Disable

operation

Disable voltage

or Quick stop

Quick stop

Fault reaction

Quick stop

active

Fault

active

CiA402 profile

b Step 2

• Check that the drive is in the "3 - Ready to switch on" state.

• Check that the power section line supply is present ("Voltage enabled" of the status word).

Power section line supply Terminal display Status word

Absent nLP 16#pp21

Present rdY 16#pp31

• Send the "3 - Switch on" command.

From all states

power supply

Control section

Bus or network

DRIVE

Power section

line supply

Disable

voltage

Shutdown

Entry into state chart

Not ready to

switch on

Switch on

disabled

Shutdown Disable voltage

Switch on

Enable

operation

Ready to

switch on

Switched on

Operation

5 6

enabled

or Quick stop

Shutdown

Disable

operation

Disable voltage

or Quick stop

Quick stop

Fault reaction

active

Quick stop

active

Fault

CiA402 profile

b Step 3

• Check that the drive is in the "4 - Switched on" state.

• Then send the "4 - Enable operation" command.

• The motor can be controlled (send a reference not equal to zero).

• If the power section line supply is still not pre sent in the "4 - Switched on" st ate after a t ime delay [Mains V. time out] (LCt), the drive will switch to fault mode (LCF).

From all states

Bus or network

Control section

power supply

DRIVE

Power section

line supply

Disable

voltage

Shutdown

Entry into state chart

Not ready to

switch on

Switch on

disabled

Shutdown Disable voltage

Switch on

Enable

operation

Ready to

switch on

Switched on

Operation

5 6

enabled

or Quick stop

Shutdown

Disable

operation

Quick stop

Disable voltage

or Quick stop

Fault reaction

active

Fault

Quick stop

active

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