Schneider Electric 61 User Manual

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Altivar 61

User’s Manual

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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

CiA402 profile

Sequence for a drive with line contactor control

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 secti on as well. The drive controls the line contactor. The following sequence must be applied:

b Step 1

• The power section line supply is not present as the line contactor is not being controlled.

• Send the "2 - Shutdown" command.

From all states

power supply

Control section

DRIVE

Bus or network

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.

• Send the "3 - Switch on" command, which will close the line contactor and switch on the power section line supply.

From all states

Bus or network

power supply

Control section

DRIVE

line supply

Power section

Disable

voltage

Shutdown

Entry into state chart

Not ready to

switch on

Switch on

Shutdown

switch on

Switch on

Switched on

Enable

operation

Operation

5 6

disabled

Ready to

enabled

Disable voltage

or Quick stop

Disable voltage

Shutdown

Disable

operation

Quick stop

or Quick stop

Fault reaction

active

Fault

Quick stop

active

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 present in the "4 - Switched on" state after a time delay[Mains V. time out] (LCt), the drive will switch to fault mode (LCF).

From all states

Bus or network

power supply

Control section

DRIVE

Power section

Entry into state chart

line supply

Shutdown

Disable

voltage

Shutdown

Switch on

operation

Not ready to

switch on

Switch on

disabled

Ready to

switch on

Switched on

Enable

Operation

5 6

enabled

Disable voltage

or Quick stop

Disable voltage

Shutdown

Disable

operation

Quick stop

or Quick stop

Fault reaction

active

Fault

Quick stop

active

Command/reference switching

Channels

A channel is the name given to the source of a command or reference.

The six Altivar 61 channels are:

• The terminals

• The graphic display terminal

• The integrated Modbus ports

• The integrated CANopen port

• A network card

• The "Controller Inside" card

The Altivar 61 has two integrated Modbus ports. The se two ports are physical ly independent of one another but together constit ute a singl e logic channel. The drive does not distinguish between commands and references that come from the Modb us network port and tho se that come from the Modbus HMI port.

With the Altivar 61 drive, it is possible to select the active command channel and the active reference channel:

• Via configuration

• Via switching at the terminals or via a communication network

Channel commands and references

All the drive’s command and reference parameters are managed on a channel-by-channel basis. Only the control word (CMd), speed reference (LFrd) and frequency reference (LFr) are switched.

It is possible to identify the last value written for each channel and each command or reference parameter:

Parameter name Parameter code

Taken into

account by the

drive Control word CMd CMd1 CMd2 CMd3 CMd4 Extended control word CMI CMI1 CMI2 CMI3 CMI4 Speed reference (rpm) LFrd LFd1 LFd2 LFd3 LFd4 Frequency reference (0.1 Hz) LFr LFr1 LFr2 LFr3 LFr4 PID regulator reference PISP PIr1 PIr2 PIr3 PIr4 Analog multiplier reference MFr MFr1 MFr2 MFr3 MFr4

Modbus CANopen

Communication

card

Controller Inside

Command/reference switching

Not separate mode

Command and reference come from the same channel.

-10V

+10V

TERMINALS

In CiA402 profile, the not separate mode is configured via the terminal:

ReferenceCommand

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Not separ.] (SIM)

Separate mode

Command and reference may come from different channels.

CANopen

Digital

reference

CANopen

ReferenceCommand

TERMINALS

In CiA402 profile, the separate mode is achieved via configuration with the terminal:

Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)

In I/O profile, the drive is automatically in separate mode.

Menu Parameter Value

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

Command/reference switching

Switching in not separate mode

Switching takes place between 2 channels simultaneously for both reference and command.

CANopen

Control register

Digital reference

CANopen

-10V

+10v

ReferenceCommand

TERMINALS

In this example, the command and reference come either from CANopen or from the terminals.

Switching in separate mode

Switching can take place between 2 channels independently for the reference and command.

-10V

+10V

CANopen

Digital reference

CANopen

ReferenceCommand

TERMINALS

In this example, the command always comes from the terminals; the reference can come either from CANopen or from the terminals.

Command/reference switching

Channel switching

Reference channel configuration

Reference channel configuration enables reference sources to be predefined, which can be modified or switched subsequently via a command.

There are 3 predefined reference channels:

• Reference channel 1

• Reference channel 1B

• Reference channel 2

Reference channels 1 and 1B are used for drive application functions. Reference channel 2 is connected directly to the reference limiting function, bypassing the application functions.

The predefined reference channels are assigned via the [Ref.1 channel] (Fr1), [Ref.1B channel] (Fr1b) and [Ref.2 channel] (Fr2) configuration parameters, which can have the following values:

• [No] (nO): Not assigned

• [AI1] (AI1): Analog input AI1

• [AI2] (AI2): Analog input AI2

• [AI3] (AI3): Analog input AI3 (if extension card present)

• [AI4] (AI4): Analog input AI4 (if extension card inserted)

• [HMI] (LCC): Graphic display terminal

• [Modbus] (Mdb): Integrated Modbus

• [CANopen] (CAn): Integrated CANopen

• [Com. card] (nEt): Communication card (if inserted)

• [C.Insid. card] (APP): Controller Inside card (if inserted)

• [RP] (PI): Frequency input (if card inserted)

• [Encoder] (PG): Encoder input (if card inserted)

Note: The "+speed/-speed" function is on reference channel 2. See the Programming Manual for more information.

Command channel configuration

Command channel configuration enables command sources to be predefined, which can be modified or switched subsequently via a command.

There are 2 predefined reference channels:

• Command channel 1

• Command channel 2

The predefined command channels are assigned via the [Cmd channel 1] (Cd1) and [Cmd channel 2] (Cd2) configuration parameters, which can have the following values:

• [Terminals] (tEr): Terminals

• [HMI] (LCC): Graphic display terminal

• [Modbus] (Mdb): Integrated Modbus

• [CANopen] (CAn): Integrated CANopen

• [Com. card] (nEt): Communication card (if inserted)

• [C.Insid. card] (APP): Controller Inside card (if inserted)

Command/reference switching

Switches

A channel switch is used to select predefined channels.

It can be:

• Defined via configuration

• Activated either via an input (terminals) or a control word bit (network)

• Written via a network during operation (modification of a configuration parameter)

The possible switch values are:

Function reference switching

[Ref 1B switching] (rCb)

Channel 1 Fr1 Fr1 Cd1

Channel 1B Fr1b

Channel 2 - Fr2 Cd2

Drive input LI1 ... LI6

Logic I/O card input LI7 ... LI10

Extended I/O card input LI11 ... LI14

Modbus command bit bit 0 = C100 ... bit 15 = C115

CANopen command bit bit 0 = C200 ... bit 15 = C215

Network command bit bit 0 = C300 ... bit 15 = C315

Controller Inside command bit bit 0 = C400 ... bit 15 = C415

The values Fr1, Fr1b, Fr2, Cd1 and Cd2 are either configured or written via the network during operation.

In I/O and CiA402 profiles (separate), independent switching is possible:

Type Channel 1 Channel 2 Switching

Reference

Command

Function reference 1

[Ref.1 channel] (Fr1)

Function reference 1 or 1B

[Ref.1 channel] (Fr1) [Ref.1B channel] (Fr1b)

Command 1

[Cmd channel 1] (Cd1)

Function reference 1B

[Ref.1B channel] (Fr1b)

Direct reference 2

[Ref.2 channel] (Fr2)

Command 2

[Cmd channel 2] (Cd2)

Direct reference switching

[Ref. 2 switching] (rFC)

- -

Function reference switching

[Ref 1B switching] (rCb)

Direct reference switching

[Ref. 2 switching] (rFC)

Command switching

[Cmd switching] (CCS)

Command switching

[Cmd switching] (CCS)

In CiA402 profile (not separate), switching is simultaneous:

Type Channel 1 Channel 2 Switching

Reference and Command

Function reference 1 or 1B

[Ref.1 channel] (Fr1) [Ref.1B channel] (Fr1b)

Command 1

[Cmd channel 1] (Cd1)

Direct reference 2

[Ref.2 channel] (Fr2)

Command 2

[Cmd channel 2] (Cd2)

Direct reference switching

[Ref. 2 switching] (rFC)

Command/reference switching

A A

Reference switching principle

A detailed description is given in the Programming Manual.

This diagram shows reference switching as applicable to all the following modes:

• I/O profile

• CiA402 profile and separate mode

• CiA402 profile and not separate mode

Reference channel 1

Fr1

AI1

I1C

I1C I2C

I2C AI2

LFr

LFr1 LFr2 LFr3 LFr4

I1C I2C

LFr

LFr1 LFr2 LFr3 LFr4

I1C I2C

LFr

LFr1 LFr2 LFr3 LFr4

AI1

AI2

Display terminal

TerminalLFr

Modbus

CANopen

Network

RØseau

Controller

Reference channel 1B

Fr1b

AI1 AI2

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 2

Fr2

AI1 AI2

Display terminal

Modbus

CANopen

Network

Controller

Function reference switching

rCb

Fr1 Fr1b LIpp C1pp C2pp C3pp C4pp

Function

Application function output reference

Direct reference 2

Direct reference switching

rFC

Fr1 Fr2 LIpp C1pp C2pp C3pp C4pp

Reference

limit

Ramp

Command/reference switching

Command switching principle

A detailed description is given in the Programming Manual.

I/O profile or CiA402 profile (separate mode)

Command channel 1

Cd1

Terminals

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3

Display

Terminal

terminal

Modbus

CANopen

RØseau

Network

ControllerCMD4

Command channel 2

Cd2

Terminals

LIx

Bornier

Display

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3

Terminal

terminal

Modbus

CANopen

Network

ControllerCMD4

CiA402 profile (not separate mode)

Reference channel 1

Fr1

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3 CMD4

AI1

AI2

Display

terminal

Modbus

CANopen

Network

Command switching

CCS

Cd1 Cd2

LIpp C1pp C2pp C3pp C4pp

(1)

Run Stop Forward Reverse

Direct reference switching

rFC

Fr1 Fr2 LIpp C111 ... C115 C211 ... C215 C311 ... C315 C411 ... C415

(1)

Run Stop Forward Reverse

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3 CMD4

Reference channel 2

Fr2

AI1 AI2

Display

terminal

Modbus

CANopen

Network

(1)

(1)In not separate mode, command switching follows reference switching. It is therefore reference switching that switches the command.

Command/reference switching

Assigning control word bits

I/O profile

The I/O profile is extremely flexible in terms of assigning and switching the 16 control word bits.

To switch a control word bit using:

• An input from the terminals

• Or a control word bit from another communication channel

simply configure a switched assignment for the function input (CDpp), instead of a fixed assignment (Cppp).

Inputs and bits of the same order are switched. Inputs LI1 to LI6 of the drive terminals can be used to switch control word bits 0 to 5. With a logic I/O card using inputs LI7 to LI10, control word bits 6 to 9 can also be switc hed. With an extended I/O card using inputs LI11 to LI14, control word bits 10 to 13 can al so be switched.

Once a bit has been assigned to a switchable assignment, it can no longer be assigned to a fixed assignment, and vice versa. Example: Once a function input has been assigned to CD04, it can not be assigned to LI5, C104, C204, C304 or C404.

Example

Function input A is always controlled by bit 1 of the CANopen control word. Function input B is always controlled by input LI5 on the terminals. Depending on the value of LI2, function input C is controlled:

• Either by input LI3 on the terminals

• Or by bit 2 of the CANopen control word

CANopen control word

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

Command/reference switching

The tables below show assignments on the basis of input or bit.

Run on state command [2 wire] (2C):

Fixed assignments

Switched

assignmen

Bit

bit 0 Forward bit 1 Cd01 LI2 - - C101 C201 C301 C401 bit 2 Cd02 LI3 - - C102 C202 C302 C402 bit 3 Cd03 LI4 - - C103 C203 C303 C403 bit 4 Cd04 LI5 - - C104 C204 C304 C404 bit 5 Cd05 LI6 - - C105 C205 C305 C405 bit 6 Cd06 - LI7 - C106 C206 C306 C406 bit 7 Cd07 - LI8 - C107 C207 C307 C407 bit 8 Cd08 - LI9 - C108 C208 C308 C408 bit 9 Cd09 - LI10 - C109 C209 C309 C409 bit10 Cd10 - - LI11 C110 C210 C310 C410 bit11 Cd11 - - LI12 C111 C211 C311 C411 bit12 Cd12 - - LI13 C112 C212 C312 C412 bit13 Cd13 - - LI14 C113 C213 C313 C413 bit14 Cd14 - - - C114 C214 C314 C414 bit15 Cd15 - - - C115 C215 C315 C415

Drive

terminals

Logic I/O card

Extended I/O

card

Integrated

Modbus

CANopen Network card

"Controller

Inside"

card

Run on edge command [3 wire] (3C):

Fixed assignments

Switched

assignmen

Bit

bit 0 Run authorization bit 1 Forward bit 2 Cd02 LI3 - - C102 C202 C302 C402 bit 3 Cd03 LI4 - - C103 C203 C303 C403 bit 4 Cd04 LI5 - - C104 C204 C304 C404 bit 5 Cd05 LI6 - - C105 C205 C305 C405 bit 6 Cd06 - LI7 - C106 C206 C306 C406 bit 7 Cd07 - LI8 - C107 C207 C307 C407 bit 8 Cd08 - LI9 - C108 C208 C308 C408 bit 9 Cd09 - LI10 - C109 C209 C309 C409 bit10 Cd10 - - LI11 C110 C210 C310 C410 bit11 Cd11 - - LI12 C111 C211 C311 C411 bit12 Cd12 - - LI13 C112 C212 C312 C412 bit13 Cd13 - - LI14 C113 C213 C313 C413 bit14 Cd14 - - - C114 C214 C314 C414 bit15 Cd15 - - - C115 C215 C315 C415

Drive

terminals

Logic I/O card

Extended I/O

card

Integrated

Modbus

CANopen Network card

"Controller

Inside"

card

Command/reference switching

CiA402 profile

Control word bits of the same order are switched if the function inputs are assigned to swi tchable bits. Switching may be poss ible using LI12, LI13 or LI14 on an extended I/O card.

Once a bit has been assigned to a switchable assignment, it can no longer be assigned to a fixed assignment, and vice versa. Example: Once a function input has been assigned to Cd04, it c annot be assigned to LI5, C104, C204, C304 or C404.

The table below shows assignments on the basis of input or bit.

Fixed assignments

Switched

assignmen

Bit

bit 0 - LI1 - - - - - bit 1 - LI2 - - - - - bit 2 - LI3 - - - - - bit 3 - LI4 - - - - - bit 4 - LI5 - - - - - bit 5 - LI6 - - - - - bit 6 - - LI7 - - - - bit 7 - - LI8 - - - - bit 8 - - LI9 - - - - bit 9 - - LI10 - - - - bit10 - - - LI11 - - - bit11 Cd11 - - LI12 C111 C211 C311 C411 bit12 Cd12 - - LI13 C112 C212 C312 C412 bit13 Cd13 - - LI14 C113 C213 C313 C413 bit14 Cd14 - - - C114 C214 C314 C414 bit15 Cd15 - - - C115 C215 C315 C415

Drive

terminals

Logic I/O card

Extended I/O

card

Integrated

Modbus

CANopen Network card

"Controller

Inside"

card

Command/reference switching

Copy on switching

When switching channels, it is possible to copy the re ference or command from function channel 1 to direct channel 2.

Menu Submenu

[1.6 COMMAND] (CtL-)

Parameter Possible values

[Copy channel 1 --> 2] No copy.

[No] (nO)

Copy reference

[Reference] (SP)

Copy command

[Command] (Cd)

Copy command and reference

[Cmd + ref.] (ALL)

If a copy is not made, the drive stops according to the configured stop type [Type of stop] (Stt) until the first command and reference are received.

The reference before ramp (FrH) is copied unless the direct channel 2 reference is via +/- speed. If the direct channel 2 reference is via +/- speed, the after ramp (rFr) reference is copied.

If the direct channel 2 command is via the terminals, the function channel 1 command is not copied even in pulse control (3-wire) [3 wire]

(3C).

If the direct channel 2 reference is via AI1, AI2, AI3, AI4, the encoder input or frequency input, the function channel 1 reference is not copied.

Forced local mode

Definition

Forced local mode supports switching to the terminals or display terminal. This function complements channel switching and makes it possible to make use of an existing function from the Altivar 58 range.

Forced local mode is only available in CiA402 profile, not in I/O profile.

All other communication takes priority over forced local mode.

Forced local mode can be configured via the display terminal:

Menu Submenu

[1.9 COMMUNICATION] (COM-) [FORCED LOCAL] (LCF-)

Parameter Possible values Forced local switch

[Forced local assign.] (FLO)

Forced local channel

[Forced local Ref.] (FLOC)

Function inactive:

[No] (nO)

Assignment to a logic input LI1 ... LI14:

[LI1] (LI1) ... [LI14] (LI14)

Forced local mode is active when the input is at state 1. Forced local on stop.

[No] (nO)

Assignment of the command to the terminals an d of the refe rence to one of th e analog inputs AI1 ... AI4

[AI2 ref.] (AI2), [AI3 ref.] (AI3), [AI4 ref.] (AI4)

Assignment of the command to the terminals and of the reference to the frequenc y inpu t (if card present)

[Pulse Input] (PI)

Assignment of the reference [HMI Frequency ref.] (LFr) and of the command (RUN/STOP/FWD/REV buttons) to the graphic display terminal

[HMI] (LCC)

In "forced local" state:

• Any attempts to write the parameter via one of these channels is rejected (applies to command, reference and adjustment parameters).

• However, the parameters can be read.

• The drive does not register a communication fault.

On exiting "forced local" mode:

• The drive copies the run commands, the direction and the forced local reference to the active channel (maintained).

• Monitoring of the active command and reference channels resumes followi ng a time delay [Time-out forc. local] (FLOt).

• Drive control only takes effect once the drive has received the reference and the command.

The time delay [Time-out forc. local] (FLOt) (default value = 10 s) can be configured via the remote graphic display terminal:

Menu Submenu Parameter

[1.9 COMMUNICATION] (COM-) [FORCED LOCAL] (LCF-) [Time-out forc. local] (FLOt)

Forced local mode

Forced local mode and reference switching

A detailed description is given in the Programming Manual.

This diagram shows reference switching as applicable to the following modes:

• CiA402 profile and separate mode

• CiA402 profile and not separate mode

Reference channel 1

Fr1

AI1

AI1C AI2C

LFr

LFr1 LFr2 LFr3 LFr4

AI1C AI2C

LFr

LFr1 LFr2 LFr3 LFr4

AI1C AI2C

LFr

LFr1 LFr2 LFr3 LFr4

AI1

AI2

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 1B

Fr1B

AI1 AI2

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 2

Fr2

AI1 AI2

Display terminal

Modbus

CANopen

Network

Controller

Function reference switching rCB

Fr1

Fr1b

C111 ... C115 C211 ... C215 C311 ... C315 C411 ... C415

LIpp

Function

AI1C AI2C AI3C AI4C

LFr

Application function output reference

Direct reference 2

Forced local channel

C111 ... C115 C211 ... C215 C311 ... C315 C411 ... C415

FLOC

AI1

AI1 AI2

AI2 AI3

AI3 AI4

AI4

Display terminal

Direct reference switching rFC

Fr1 Fr2

LIpp

Forced local switching FLO

LI1

...

LI14

Reference

limit

Ramp

Forced local mode

Forced local mode and command switching

A detailed description is given in the Programming Manual.

CiA402 profile (separate mode)

Command channel 1

Cd1

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3 CMD4

Terminals

Display terminal

Modbus

CANopen

Network

Controller

RUN/STOP

FWD/REV

Forced local channel

FLOC

LIx

AI1 AI2 AI3 AI4

Display terminal

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3 CMD4

Command channel 2

Cd2

Terminals

Display terminal

Modbus

CANopen

Network

Controller

Command switching CCS

Cd1 Cd2

LIpp C111 ... C115 C211 ... C215 C311 ... C315 C411 ... C415

Forced local switching FLO

Run Stop Forward Reverse

LI1 ... LI14

Forced local mode

CiA402 profile (not separate mode)

Reference channel 1 (1)

Fr1

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3 CMD4

Reference channel 2 (1)

LIx

RUN/STOP

FWD/REV

CMD1 CMD2 CMD3 CMD4

AI1

AI2

Display terminal

Modbus

CANopen

Network

Controller

Fr2

AI1 AI2

Display terminal

Modbus

CANopen

Network

Controller

LIx

RUN/STOP

FWD/REV

C111 ... C115 C211 ... C215 C311 ... C315 C411 ... C415

Forced local channel

FLOC

AI1 AI2 AI3 AI4

Display terminal

Direct reference switching rFC

Fr1

Fr2

LIpp

Forced local switching FLO

LI1

...

LI14

Run Stop Forward Reverse

(1)In not separate mode, command switching follows reference switching. It is therefore reference switching that switches the command.

Priority stops

Priority stops on the graphic display terminal

If the graphic display terminal is not the active command channel, pressing the STOP key on the graphic display terminal causes a freewheel stop if:

• The

[Stop Key priority]

If the graphic display terminal is the active command channel, the STOP key causes a stop according to the type of stop configured in the

[Type of stop] (Stt) parameter, regardless of the value of the [Stop Key priority] (PSt) parameter.

The effect of the graphic display terminal does not depend on the profile.

Priority stops via the terminals or the network

I/O profile

In the I/O profile:

Stop and fault commands, configured as fixed assignments (LIpp, C1pp, C2pp, C3pp, C4pp), on terminal inputs or control word bits, have priority even if the channel is not active.

Commands, configured as switched assignments (Cd00 ... Cd15), are active if and only if the channel is active.

(PSt) parameter in the

[1.6 - COMMAND]

(CtL-) menu is configured to

[Yes]

(YES) (factory setting).

Fixed assignments are configured by the following values:

Channel

Drive terminals LI2 ... LI6 LI3 ... LI6 Logic I/O card LI7 ... LI10 Extended I/O card LI11 ... LI14 Integrated Modbus C101 ... C115 C102 ... C115 CANopen C201 ... C215 C202 ... C215 Communication card C301 ... C315 C302 ... C315 "Controller Inside" card C401 ... C415 C402 ... C415

Command Configuration = 0 = 1 Value for starting

Freewheel stop [Freewheel stop ass.] (nSt) Stop No stop 1 Fast stop [Fast stop assign.] (FSt) Stop No stop 1 DC injection braking [DC injection assign.] (dCI) No braking Braking 0 External fault [External fault ass.] (EtF) No fault Fault 0

(1)

If the assignment is fixed, the value necessary for starting, even if another channel is active.

In run on edge command, configured by [3 wire] (3C): The stop command (run enable) is assigned by construction to switched order 0 (equivalent to Cd00):

• It is active at the terminals (LI1) only if the terminals are active

• It is active via the network (bit 0) only if the network is active

Run on state command

[2 wire] (2C)

Run on edge command

[3 wire] (3C)

(1)

Priority stops

CiA402 profile

In the CiA402 profile, separate or not separate mode:

External stop and fault commands, configured as fixed assig nments (LIpp, C1pp, C2pp, C3pp, C4pp), on terminal inputs or control word bits, have priority even if the channel is not active.

Commands, configured as switched assignments (Cd11 ... Cd15), are active if and only if the channel is active.

Fixed assignments are configured by the following values:

Channel

Drive terminals LI2 ... LI6 LI3 ... LI6 Logic I/O card LI7 ... LI10 Extended I/O card LI11 ... LI14 Integrated Modbus C111 ... C115 CANopen C211 ... C215 Communication card C311 ... C315 "Controller Inside" card C411 ... C415

Cp11 is assigned by default to the reverse direction command [Reverse assign.] (rrS).

Run on state command

[2 wire] (2C)

Run on edge command

[3 wire] (3C)

At the terminals:

Command Configuration = 0 = 1

Freewheel stop Fast stop [Fast stop assign.] (FSt) Stop No stop 1 4-Switched on DC injection braking External fault [External fault ass.] (EtF) No fault Fault 0 8-Fault

(1)

If the assignment is fixed, the value necessary for starting, even if another channel is active.

In run on edge command, configured by [3 wire] (3C), the stop command (run enable) is assigned by construction to LI1. This command is active even if the terminals are not the active channel.

Via the network:

Command Configuration = 0 = 1

Fast stop [Fast stop assign.] (FSt) No stop Stop 0 4-Switched on DC injection braking External fault [External fault ass.] (EtF) No fault Fault 0 8-Fault

(1)

If the assignment is fixed, the value necessary for starting, even if another channel is active.

[Freewheel stop ass.]

(nSt)

[DC injection assign.]

(dCI)

[DC injection assign.]

(dCI)

Stop No stop 1 2-Switch on disabled

No braking Braking 0 5-Operation enabled

Value for

starting

Value for

starting

State reached from

(1)

5-Operation enabled

State reached from

(1)

5-Operation enabled

In the CiA402 profile, the freewheel stop comma nd [Freewheel stop ass.] (nSt) cannot be assigned to the control word. Freewheel stop is obtained via the "5-Disable operation" or "Halt" command with the Type of Stop [Type of stop] (Stt) parameter configured t o [Freewheel]

(nSt).

Communication monitoring

The Altivar 61 drive incorporates communication monitoring mechanisms.

Principle

Following initialization (power-up), the drive waits until at least one command or reference parameter has been written for the first time by the network.

Then, the network is monitored and if a network fault occurs, the drive reacts according to the con figuration (ignore fault, stop on drive f ault, speed maintenance, fallback speed, or stop without fault).

The drive can start only once all the command and reference parameters of the active network have been written.

Network monitoring criteria

The network is monitored in accordance with protocol-specific criteria, which are summarized in the table below and specified in the corresponding protocol manual.

Protocol Network problem Related drive fault (1)

Integrated Modbus ports • Adjustable time-out for received requests destined for the drive [Modbus com.] (SLF1)

•Bus Off

• Life Guarding

Integrated CANopen port

Modbus TCP/IP Ethernet card

Fipio card

Modbus Plus card

Modbus card Uni-Telway card • Fixed time-out (10 s) for master polling

Profibus DP card

INTERBUS card

DeviceNet card

• CANoverrun

• Heartbeat

• NMT state machine transition Network management fault:

• FDR fault

• IP address duplication fault Communication fault:

• Adjustable time-out for received control word (I/O scanning or messaging)

• Network overload

• Non-adjustable time-out for received periodic variables dest ined for the drive

• Adjustable time-out:

• Either for received periodic variables (Peer cop) desti ned for the drive

• Or for Modbus messages destined for the drive, if no periodic variables (Peer cop) configured

• Fixed time-out (10 s) for received requests destined for the drive

• Adjustable time-out (via the network configuration software) for received periodic variables (PZD and PKW) destined for the drive

• Time-out for received periodic variables destined for the drive

Communication fault:

• Adjustable time-out:

• Either for received periodic variables (Polling and COS) destined for the drive

• Or for network activity, if no periodic variables configured

Configuration fault:

• The drive configuration is incompatible with the selected ass embl y devices

[CANopen com.] (COF)

[External fault com.]

[Com. network] (CnF)

[External fault com.]

(EPF2)

(1) If the drive is configured to trip on a fault in the event of a network fault.

If an anomaly is detected, the port or network card indicates a network fault.

Communication monitoring

Behavior in the event of a network fault

In the event of a network fault (on a monitored channel), the drive reacts as specified in the

MANAGEMENT]

•

[Modbus fault mgt]

•

[CANopen fault mgt]

•

[Network fault mgt]

The Modbus TCP/IP Ethernet card can also trigger an external fault (in the event of an FDR fault or IP address duplication fault), to which the drive reacts as specified in the

mgt]

(EPL) parameter.

The drive can react in five possible ways:

1. Drive fault

[Freewheel] (YES): Freewheel stop (factory setting) [Ramp stop] (rMP):Stop on ramp [Fast stop] (FSt): Fast stop [DC injection] (dCI): DC injection stop

The fault displayed will depend on the source of the communication fault.

•

[Modbus com.]

•

[CANopen com.]

•

[Com. network]

•

[External fault com.]

The CiA402 state chart changes to "7 - Fault reaction active" and then to "8 - fault".

2. Stop without fault

(CLL-) submenu) by the following parameters:

(SLL) for integrated Modbus

(COL) for CANopen

(CLL) for a network card

[1.8 - FAULT MANAGEMENT]

(SLF1) for integrated Modbus

(COF) for CANopen

(CnF) for a network card

(EPF2) for Ethernet card FDR and IP faults

(FLt-) menu (

[1.8 - FAULT MANAGEMENT]

[EXTERNAL FAULT]

(EtF-) submenu) by the

(FLt-) menu (

[COM. FAULT

[External fault

[Per STT] (Stt): Stop according to configuration of [Type of stop] (Stt).

There is no drive fault.

If the CiA402 state chart is in "5 - Operation enabled", it changes to "4 - Switched on" after stopping.

3. Ignore fault

[Ignore] (nO): Fault ignored

4. Speed maintenance

[Spd maint.] (rLS): The drive maintains the speed at the time the fa ult occurred, as long as the fault persists and the run command has

not been removed.

There is no drive fault.

If the CiA402 state chart is in "5 - Operation enabled", it remains there.

5. Fallback speed

[Fallback spd] (LFF): Change to fallback speed, maintained as long as the fault persists and the run command has not been removed.

There is no drive fault.

If the CiA402 state chart is in "5 - Operation enabled", it remains there.

The fallback speed can be configured in the [1.8 - FAULT MANAGEMENT] (FLt-) menu using the [Fallback speed] (LFF) parameter.

Note: The drive will not start up immediately at the fallback speed. If there is a l oss of co mmuni cat ion, th e dri ve wi ll o nly run at th e f al lba ck speed if the run command was present when the communication fault occurred. In the event of a control system being used to ensure switchover to an act ive safe state if there is a loss of communicati on, drives that ha ve been stopped must always be left in the run state (5 - Operation enabled) with zero reference to ensure that they change to the fallback speed.

Communication monitoring

Detailed operation

Monitoring of communication channels

• The drive monitors all its communication channels.

• Communication problems are indicated on the LEDs on the card or drive or on the graphic display te rminal. However, a problem d oes not always trigger a network fault or a drive fault.

- Example: If a drive is controlled via the I/O and only monito red via an Ethernet network, an Ethernet commun ication problem does not cause a fault.

• As soon as a command or reference parameter has been written for the first time on a communication cha nnel, this channel is said to be connected.

• A channel is said to be participant if it tran smits a command or referenc e parameter nece ssary for controlling th e drive (see list in the table below).

If the channel is the active command channel

If the channel is the active reference channel

Whatever the channel state

Channel state Parameter Assignment

Control word (CMd)

Frequency reference (LFr) or Speed reference (LFrd)

Control word (CMd) containing a command or reference switch

Frequency reference (LFr) or Speed reference (LFrd), either summing or subtracting

PID regulator reference (PISP) [Ref.1 channel] (Fr1) Network analog input [Network AI] (AIU1)

Reference multiplication coefficient (MFr)

[Cmd channel 1] (Cd1)

or [Cmd channel 2] (Cd2)

[Ref.1 channel] (Fr1)

or [Ref.1B channel] (Fr1b) or [Ref.2 channel] (Fr2)

[Cmd switching]

[Ref 1B switching]

[Ref. 2 switching]

[Summing ref. 2] (SA2)

or [Summing ref. 3] (SA3) or [Subtract ref. 2] (dA2) or [Subtract ref. 3] (dA3)

[PID feedback ass.] (PIF)

or [AI net. channel] (AIC1)

[Multiplier ref. 2] (MA2)

or [Multiplier ref. 3] (MA3)

(CCS)

(rFC)

(rCb)

- Example: If the operation on reference function [REF. OPERATIONS] (OAI-) is active and a summing reference [Summing ref. 2] (SA2) has been assigned to [Modbus] (Mdb), the Modbus reference plays a part in control.

• If a communication problem occurs on a connected participant channel, then the dri ve triggers a network fault. The drive reacts according to the network fault configuration (drive fault, stop without fault, ignore fault, maintai n speed or fallback speed).

• If a communication problem occurs on a non-participant or disco nnected channel, the dri ve does not trigger a netwo rk fault or a drive fault. This in particular avoids the occurrence of spurious faults when installations are powered up.

- Example: A drive is controlled via CANopen and is powered-up. The PLC is powered up but is not in RUN mode. The network is operational but no parameter has been sent to the drive yet. If the drive is disconnected from the CANopen network, a communication prob lem occurs, but no fault.

• The channel disconnects in the event of a communication problem.

Note: A control word (CMd) of a channel other than the active channel with fixed bit assignments, other than channel switches (fast stop, preset speeds, etc.) is not considered to be participant. A communicati on problem will not cause a network fault.

- Example: A drive is equipped with a "Controller Inside" card and an Ethernet card. The "Controller Inside" card controls the drive (command and reference). One bit of the Ethernet control word is assigned to "fast stop". If the drive is disconnected from the Ethernet ne twork, th e drive can no longer be stopped via Ethernet (however, a drive fault is not triggered).

Communication monitoring

Enabling of communication channels

• A communication channel is enabled if all its parameters assigned to drive functions have been received.

- Example: A drive is in I/O profile with speed control. Modbus constitutes both the command and reference channel. The Modbus channel will be enabled as soon as the control word and speed reference have been received.

• The drive is only able to start if all participant channels are enabled.

- Example 1: A drive in CiA402 profile is connected to Modbus, which is the active channel. Unless the reference has been written at least once, it will n ot be possible to p roceed to "5 - Operati on enabled" state, even if the "4 - Enable operation" command is sent.

- Example 2: A drive is connected to Modbus. The terminals are both the reference and command channel. The operation on reference function [REF. OPERATIONS] (OAI-) is active and summing input 2 is assi gned to Modbus. The drive will not start until the reference has been supplied by Modbus.

- Example 3: A drive is configured for switching between the terminals and CANopen. If the command switch is assigned to the Ethernet card, start-up is only possible once the Ethernet channel is enabled.

• A communication problem disables a communication channel.

• When switching from an enabled channel to a disabled channel, th e drive immediately triggers a network fault.

Communication

problem and

non-participant

channel

Communication

problem and

non-participant

channel

Command or

reference

parameter

received

All parameters

assigned to drive

functions have been

Channel

disconnected

Connected

channel

Channel

enabled

=1 7

Communication

problem and

participant

channel

Network fault

Communication

problem and

participant

channel

Special case involving Modbus TCP/IP Ethernet card

• The Ethernet card can generate 2 types of network fault: Network management fault and communication fault.

• If a network management fault (IP address dupli cation or FDR faul t) occurs, a drive fault i s generated reg ardless of the s tate (active, participant, etc.) of this channel.

Assignment of references from a network

Reference parameters

The Altivar 61 supports a number of reference parameters, which must be selected according to the functions used in the drive.

Function used Input to be assigned Value Reference to be sent via the network

Speed reference (rpm)

Frequency reference (0.1 Hz or high resolution)

Sum [Summing ref. 2] (SA2)

Subtraction [Subtract. ref. 2] (dA2)

Multiplication [Mul tip li er ref. 2] (MA 2)

PID regulator [Ref.1 channel] (Fr1)

[Ref.1 channel] (Fr1) [Ref.2 channel] (Fr2) [Ref.1B channel] (Fr1b)

[Summing ref. 3] (SA3)

[Subtract. ref. 3] (dA3)

[Multiplier ref. 3] (MA3)

[Ref.1B channel] (Fr1b)

[PID feedback ass.] (PIF) [Network AI] (AIU1) PID regulator feedback (AIU1) [AI net. channel] (AIC1) [Modbus] (Mdb) or

[Modbus] (Mdb) or [CANopen] (CAn) or [Com. card] (nEt)

[Modbus] (Mdb) or [CANopen] (CAn) or [Com. card] (nEt) or [Network AI] (AIU1)

[Modbus] (Mdb) or [CANopen] (CAn) or [Com. card] (nEt)

[CANopen] (CAn) or [Com. card] (nEt)

Speed reference (LFRD)

Frequency reference (LFR)

Speed reference (LFRD) or Frequency reference (LFR)

[Multiplying coeff.] (MFr)

PID regulator reference (PISP)

Example 1:

The drive is to be controlled by sending the speed reference to the PID regulator via CANopen. No application fu nction is used. The following must be assigned: [Ref.1 channel] (Fr1) = [CANopen] (CAn) The following must be sent: Speed reference (LFRD)

Example 2:

The drive is to be controlled by sending the PID regulator reference via Modbus. The following must be assigned: [Ref.1 channel] (Fr1) = [Modbus] (Mdb) The following must be sent: PID regulator reference (PISP)

Example 3:

The drive is to be controlled by sending the PID regulator reference and the feedback via the Ethernet card. The following must be assigned:

- [Ref.1 channel] (Fr1) = [Com. card] (nEt)

- [PID feedback ass.] (PIF) = [Network AI] (AIU1)

- [AI net. channel] (AIC1) = [Com. card] (nEt)

The following must be sent:

- PID regulator reference (PISP)

- PID regulator feedback (AIU1)

Assignment of references from a network

Without PID regulator

[Ref 1B switching]

H/>

[Ref.1 channel]

2H$

2H$>

[Ref.1B channel]

[Summing ref. 2]

FRA

;-%

[Summing ref. 3]

;-&

[Subtract. ref. 2]

@-%

[Subtract. ref. 3]

@-&

[Multiplier ref. 2]

8-%

[Multiplier ref. 3]

8-&

Network references

Fr1, Fr1b, Fr2:

• LFr or LFrd

SA2, SA3, dA2, dA3:

• LFr, LFrd, or AIU1

MA2, MA3:

•MFr or AIU1

(FRA + SA2 + SA3 - dA2 - dA3) x MA2 x MA3

[Ref.2 channel]

Preset speeds

(SP1) SP2

SP16

2H%

[PID REGULATOR]

Key:

Graphic display

+/- speed around a

reference

PID not assigned

Parameter: The black square represents the factory setting assignment

72H

:52

Channel 2

H2/

[Ref. 2 switching]

nO AI1 AI2 AI3

AI4

LCC

Jog

operation

Channel 1

279/

Note: Forced local is not active in [I/O profile].

[High

speed]

HSP

LSP

FrH

FrHd

[Low speed]

279

Forced local

Ramps

ACC DEC

AC2 DE2

FrO FrOd

Power stage

rFr

rFrd

Assignment of references from a network

With PID regulator

[Ref 1B switching]

H/>

[Ref.1 channel]

2H$

2H$>

[Ref.1B channel]

[Summing ref. 2]

;-%

[Summing ref. 3]

;-&

[Subtract. ref. 2]

@-%

[Subtract. ref. 3]

@-&

PIP1

PIP2

FRA + SA2 + SA3 - dA2 - dA3

72H

Graphic

display

AI1 AI2 AI3 AI4

LCC

279/

Note: Forced local is not active in [I/O profile].

Network references

Fr1, Fr1b:

•PISP

SA2, SA3, dA2, dA3:

• LFr, LFrd or AIU1

Fr2, FPI:

• LFr or LFrd

Network feedback

•AIU1

PII

Internal reference

[Encoder] (PG)

rPI

AI1

.....

AI4

[RP] (PI)

[Network AI]

YES

PIF

Preset PID references

PID feedbac k

[Ref.2 channel]

2H%

Pr2 Pr4

rP2 rP3 rP4

Manual

reference

PID

See the table

below

Ramp

PrP

Scaling

PIF1 / PIF2 PIP1 / PIP2

Preset manual references

SP2

rPF

rPC

Channel 1

Channel 2

Error

inversion

PIC

rPE

[Ref. 2 switching]

x(-1)

YES

Predictive speed reference

FPI

H2/

279

Forced local

Restart (wake-

up) feedback or

error threshold

tLS

rSL

UPP

x PSr

[Low speed]

Gains

Key:

[High speed]

HSP

LSP

rdG

rPG

rIG

Ramps (1)

ACC DEC FrH FrHd

AC2 DE2

POH

POL

Ramps

ACC DEC

AC2

(1)

FrO FrOd

rPO

Power stage

rFrd

rFr

Auto/

Manual

PAU

(manu)

SP16

(1)The ramp AC2 is active only at startup of the PID function and during PID "wake-ups".

Parameter: The black square represents the factory setting assignment

Configuration saving and switching

Saving the configuration

When a parameter is modified via the drive’s integrated display terminal or graphic display terminal, this parameter is automatically saved to the EEPROM non-volatile memory.

Display

terminal

Current

configuration

(RAM)

Configuration 0

(EEPROM)

When a parameter is modified using a PLC or an HMI terminal via a network (Modbus, CANopen or a network card), this parameter is written to the current configuration in the RAM volatile memory. It is not saved to the EEPROM non-volatile memory. If the drive control voltage is disconnected, when it is reconnected, the parameter reverts to the initial value and the setting is lost.

Display

terminal

Current

configuration

(RAM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Modbus

CANopen

Network

Factory settings

Industrial

HMI

terminal

PLC

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Configuration saving and switching

To save the parameter, a save command must be executed using bit 1 of the extended control word (CMI).

Display

terminal

Current

configuration

(RAM)

Extended control word:

Save (CMI,1)

Configuration 0

(EEPROM)

The save command is only active if the drive is stopped, and not in "5-Operati on enabled" state.

Configuration 1

(EEPROM)

Modbus

CANopen

Set to 1

Network

Configuration 2

(EEPROM)

Industrial

HMI

terminal

PLC

Factory settings

Configuration saving and switching

Restore configuration

The restore configuration command is executed using bit 2 of the extended cont rol word (CMI).

Display

terminal

Current

configuration

(RAM)

Extended control word:

Restore configuration (CMI,2)

Configuration 0

(EEPROM)

The return to factory settings command is executed usi ng bit 0 o f the extend ed control word (CMI). The type of setting is determined by the active macro configuration parameter [Macro configuration] (CFG) and by the [PARAMETER GROUP LIST] (FrY) parameter which defines the parameter groups concerned.

Configuration 1

(EEPROM)

Modbus

CANopen

Set to 1

Network

Configuration 2

(EEPROM)

Industrial

HMI

terminal

PLC

Factory settings

Display

terminal

Current

configuration

(RAM)

Extended control word: Factory setting (CMI,0)

Configuration 0

(EEPROM)

The restore command is only active if the drive is stopped, and not in "5-Operation enabled" state.

Configuration 1

(EEPROM)

Modbus

CANopen

Network

Set to 1

Configuration 2

(EEPROM)

[Macro configuration]

(CFG)

Industrial

HMI

terminal

PLC

Factory settings

Configuration saving and switching

Configuration switching via control word

The configuration or motor switching function (see the Programming Manual) can be used via the network or via the terminals.

Display

terminal

Current

configuration

(RAM)

Configuration switching

Terminal

[2 Configurations](CnF1) [3 Configurations](CnF2)

Active

configuration

(CNFS)

Configuration 0

To use this function via a network, simply assign one or two bits of the control word to the motor or configuration switching command via the [2 Configurations] (CnF1) and [3 Configurations] (CnF2) parameters. The active configuration can be read in the [Config. active] (CNFS) parameter.

00 01

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

Display

terminal

Current

configuration

(RAM)

Control word:

Configuration switching

[2 Configurations](CnF1) [3 Configurations](CnF2)

Modbus

CANopen

Network

Set to 0/1

10 11

Factory settings

(EEPROM)

Industrial

HMI

terminal

PLC

Active

configuration

(CNFS)

Configuration 0

(EEPROM)

00 01

Configuration 1

(EEPROM)

10 11

Configuration 2

(EEPROM)

Factory settings

Configuration saving and switching

When the configuration or motor switching function is configured on inputs or on control word bits, to save a configuration that is already active, set bit 1 of the extended control word (CMI) to 1.

Display

terminal

Current

configuration

(RAM)

Extended control word:

Save configuration (CMI,1)

Active

configuration

(CNFS)

When the configuration or motor switching funct i on i s co nfigu re d on in puts o r on c ontro l wo rd bits, b it 2 of th e ext en ded contr ol wo rd (CMI) must be set to 1.

1 2 3

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Modbus

CANopen

Set to 1

Network

Configuration 2

(EEPROM)

Industrial

HMI

terminal

PLC

Factory settings

Display

terminal

Current

configuration

(RAM)

Extended control word:

Restore configuration (CMI,2)

Active

configuration

(CNFS)

The configuration switching commands are only active if the drive is st opped, and not in "5-Operation enabled" state.

1 2 3

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Modbus

CANopen

Network

Set to 1

Configuration 2

(EEPROM)

Industrial

HMI

terminal

PLC

Factory settings

Configuration saving and switching

Function parameters

Code Description

CNF1 Parameter name: Assignment for 2 configurations

Terminal display: [2 Configurations] Logic address: 8021 = 16#1F55 Type: WORD (listing) CANopen index: 2032/16 Read/write: R/WS INTERBUS index: 5FBC/9C Factory setting : 0 DeviceNet path: 9C/01/9C See next page.

CNF2 Parameter name: Assignment for 3 configurations

Terminal display: [3 Configurations] Logic address: 8022 = 16#1F56 Type: WORD (listing) CANopen index: 2032/17 Read/write: R/WS INTERBUS index: 5FBC/9D Factory setting : 0 DeviceNet path: 9C/01/9D See next page.

CNFS Parameter name: Active configuration

Terminal display: [Config. active] Logic address: 8020 = 16#1F54 Type: WORD (listing) CANopen index: 2032/15 Read/write: R INTERBUS index: 5FB9/D1 DeviceNet path: 89/01/15

0 = The parameter set switching function is not configured 1 = (CNF0): Configuration no. 0 active 2 = (CNF1): Configuration no. 1 active 3 = (CNF2): Configuration no. 2 active

Value of the control bit assigned by [2 Configurat ions] (CnF1) 0 1 0 1 Value of the control bit assigned by [3 Configurat ions] (CnF2) 0 0 1 1 Value of [Config. active] (CnFS) 1 2 3 3 Active configuration 0 1 2 2

Configuration saving and switching

Assignment of logic inputs and control bits for CNF1 and CNF2

Value Assignment Description/Condition

0 Not assigned

129

134 135

138 139

142 187

191 203

207 219

223 235

239

[LI1] (LI1)

[LI6] (LI6) [LI7] (LI7)

[LI10] (LI10) [LI11] (LI11)

[LI14] (LI14)

[C111] (C111)

[C115] (C115) [C211] (C211)

[C215] (C215) [C311] (C311)

[C315] (C315) [C411] (C411)

[C415] (C415)

Logic inputs

Drive with or without option Logic inputs

With VW3A3201 logic I/O card Logic inputs

With VW3A3202 extended I/O card Control bit

With integrated Modbus regardless of configuration Control bit

With integrated CANopen regardless of configuration Control bit

With a communication card regardless of configuration Control bit

With Controller Inside card regardless of configuration

Note: In [I/O profi le] (IO) configuration, LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C); LI2 cannot be accessed either.

Configuration saving and switching

Configuration switching by selection

The current configuration can be saved in one of the 3 non-volatile configurations in EEPROM using the "Save configuration" (SCS) parameter. In this case, it is not necessary to assign a function in the control word.

Display

terminal

Current

configuration

(RAM)

Save configuration (SCS)

Modbus

CANopen

Network

Write

Industrial

HMI

terminal

PLC

1 2 3

Configuration 0

(EEPROM)

One of the 3 non-volatile configurations in EEPROM can be restored to the current configuration using the "Restore configuration" (FCS) parameter. Note: Value 64 controls the return to factory settings.

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Display

terminal

Current

configuration

(RAM)

Restore configuration

(FCS)

1 2 3 64

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Modbus

CANopen

Network

Write

Configuration 2

(EEPROM)

Industrial

HMI

terminal

PLC

Factory settings

[Macro configuration]

(CFG)

The configuration switching commands are only active if the drive is st opped, and not in "5-Operation enabled" state.

Configuration saving and switching

Function parameters

Code Description

SCS Parameter name: Save configuration

Logic address: 8001 = 16#1F41 Type: WORD (listing) CANopen index: 2032/2 Read/write: R/WS INTERBUS index: 5FBC/9A DeviceNet path: 9C/01/9A

0 =No save 1 = Save to configuration no. 0 2 = Save to configuration no. 1 3 = Save to configuration no. 2

FCS Parameter name: Restore configuration

Logic address: 8002 = 16#1F42 Type: WORD (listing) CANopen index: 2032/3 Read/write: R/WS INTERBUS index: 5FBC/9B DeviceNet path: 9C/01/9B

0 = No restore 1 = Restore configuration no. 0 2 = Restore configuration no. 1 3 = Restore configuration no. 2

64 = Factory setting

FrY Parameter name: Parameter groups

Terminal display: [PARAMETER GROUP LIST] Logic address: 3022 = 16#OBCE Type: WORD (bit register) CANopen index: 2000/17 Read/write: R/WS INTERBUS index: 5FBC/06 Factory setting: 0 DeviceNet path: 70/01/17

Selection of menus to be loaded

bit 0: = 1: [All] (ALL): All parameters bit 1: = 1: [Drive menu] (drM): The [1 DRIVE MENU] menu without [1.9 COMMUNICATION] and [1.14 CONTROL

INSIDE MENU]. In the [7 DISPLAY CONFIG.] menu, [Return std name] returns to [No]

bit 2: = 1: [Settings] (SEt): The [1.3 SETTINGS] menu without the [IR compensation] (UFr), [Slip compensation] (SLP)

and [Mot. therm. current] (ItH) parameters

bit 3: = 1: [Motor param] (MOt): Motor parameters:

[Rated motor power] (nPr) - [Rated motor volt.] (UnS) - [Rated mot. current] (nCr) - [Rated motor freq.] (FrS) - [Rated motor speed] (nSP) [F5] (F5) - [V. constant power] (UCP) - [Freq. Const Power] (FCP) - [Nominal I sync.] (nCrS) - [Nom motor spdsync] (nSPS) - [Pole pairs] (PPnS) - [Syn. EMF constant] (PHS) - [Autotune L d-axis] (LdS) - [Autotune L qaxis] (LqS) - [Cust. stator R syn] (rSAS) - [IR compensation] (UFr) - [Slip compensation] (SLP) - the motor

parameters that can be accessed in [Expert] mode

The following options can only be accessed if [Config. Source] (FCSI) = [Macro-Conf] (InI):

bit 4: = 1: [Comm. menu] (COM): The [1.9 COMMUNICATION] menu without either [Scan. IN1 address] (nMA1) to

[Scan. IN8 address] (nMA8) or [Scan.Out1 address] (nCA1) to [Scan.Out8 address] (nCA8)

bit 5: = 1: [Control Inside menu] (PLC): The [1.14 CONTROL INSIDE MENU] menu bit 6: = 1: [Monitor config.] (MOn): The [6 MONITORING CONFIG.] menu bit 7: = 1: [Display config.] (dIS): The [7 DISPLAY CONFIG.] menu

bits 8 to 15: Reserved (= 0 or 1)

- [Auto tuning] (tUn) - [Auto tuning state] (tUS) - [U0] (U0) to [U5] (U5) - [F1] (F1) to

Parameter set switching

The parameter set switching function (see the Programming Manual) can be used via the network or via the terminals.

To use this function via a network, simply assign one or two bits of the control word to para meter set switching via the [2 Parameter sets]

(CHA1) and [3 Parameter sets] (CHA2) parameters.

The active set can be read in the "Active parameter set" (CFPS) parameter.

The parameter sets can be written via a network.

The parameter sets can be switched with the motor running.

Function parameters

Code Description

CHA1 Parameter name: Assignment for 2 sets

Terminal display: [2 Parameter sets] Logic address: 12902 = 16#3266 Type: WORD (listing) CANopen index: 2063/3 Read/write: R/WS INTERBUS index: 5FBD/3A Factory setting: 0 DeviceNet path: A1/01/67 See next page.

CHA2 Parameter name: Assignment for 3 sets

Terminal display: [3 Parameter sets] Logic address: 12903 = 16#3267 Type: WORD (listing) CANopen index: 2063/4 Read/write: R/WS INTERBUS index: 5FBD/3B Factory setting: 0 DeviceNet path: A1/01/68 See next page.

CFPS Parameter name: Active parameter set

Logic address: 12900 = 16#3264 Type: WORD (listing) CANopen index: 2063/1 Read/write: R INTERBUS index: 5FB9/EB DeviceNet path: A1/01/65

0 = The parameter set switching function is not configured 1 = [Set 1 active] (CFP1): Parameter set no. 1 active 2 = [Set 2 active] (CFP2): Parameter set no. 2 active 3 = [Set 3 active] (CFP3): Parameter set no. 3 active

Value of the control bit assigned by [2 Parameter sets] (CHA1) 0 1 0 1 Value of the control bit assigned by [3 Parameter sets] (CHA2) 0 0 1 1 Value of "Active parameter set" (CFPS) 1 2 3 3 Active parameter set 1 2 3 3

Parameter set switching

CHA1 and CHA2 assignment values

Value Assignment Description/Condition

0 [No] (nO) Not assigned 4 [Freq. Th. attain.] (FtA) Switching via [Freq. threshold] (Ftd)

13 [FreqTh.att.2] (F2A) Switching via [Freq. threshold 2] (F2d)

129

134 135

138 139

142 160

170 171

175 177

186 187

191 193

202 203

207 209

218 219

223 225

234 235

239

[LI1] (LI1)

[LI6] (LI6) [LI7] (LI7)

[LI10] (LI10) [LI11] (LI11)

[LI14] (LI14)

[CD00] (Cd00)

[CD10] (Cd10) [CD11] (Cd11)

[CD15] (Cd15)

[C101] (C101)

[C110] (C110) [C111] (C111)

[C115] (C115) [C201] (C201)

[C210] (C210) [C211] (C211)

[C215] (C215) [C301] (C301)

[C310] (C310) [C311] (C311)

[C315] (C315) [C401] (C401)

[C410] (C410) [C411] (C411)

[C415] (C415)

Logic inputs

Drive with or without option Logic inputs

With VW3A3201 logic I/O card Logic inputs

With VW3A3202 extended I/O card Switchable bit

In [I/O profile] (IO) configuration Switchable bit

Regardless of configuration Control bit

With integrated Modbus in [I/O profile] (IO) configuration Control bit

With integrated Modbus regardless of configuration Control bit

With integrated CANopen in [I/O profile] (IO) configuration Control bit

With integrated CANopen regardless of configuration Control bit

With a communication card in [I/O profile] (IO) configuration Control bit

With a communication card regardless of configuration Control bit

With Controller Inside card in [I/O profile] (IO) configuration Control bit

With Controller Inside card regardless of configuration

Note: In [I/O profile] (IO) configurat ion, LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C), LI2, C101, C2 01, C301 and C401 cannot be accessed either.

Parameter set switching

Parameter sets can be loaded via the following parameters:

Address table:

No. Code Logic address: CANopen index: INTERBUS index: DeviceNet path:

1 AD01 12911 = 16#326F 2063/C 5FBF/6A 9F/01/8C 2 AD02 12912 = 16#3270 2063/D 5FBF/6B 9F/01/8D 3 AD03 12913 = 16#3271 2063/E 5FBF/6C 9F/01/8E 4 AD04 12914 = 16#3272 2063/F 5FBF/6D 9F/01/8F 5 AD05 12915 = 16#3273 2063/10 5FBF/6E 9F/01/90 6 AD06 12916 = 16#3274 2063/11 5FBF/6F 9F/01/91 7 AD07 12917 = 16#3275 2063/12 5FBF/70 9F/01/92 8 AD08 12918 = 16#3276 2063/13 5FBF/71 9F/01/93

9 AD09 12919 = 16#3277 2063/14 5FBF/72 9F/01/94 10 AD10 12920 = 16#3278 2063/15 5FBF/73 9F/01/95 11 AD11 12921 = 16#3279 2063/16 5FBF/74 9F/01/96 12 AD12 12922 = 16#327A 2063/17 5FBF/75 9F/01/97 13 AD13 12923 = 16#327B 2063/18 5FBF/76 9F/01/98 14 AD14 12924 = 16#327C 2063/19 5FBF/77 9F/01/99 15 AD15 12925 = 16#327D 2063/1A 5FBF/78 9F/01/9A

Table of values for set no. 1:

No. Code Logic address: CANopen index: INTERBUS index: DeviceNet path:

1 S101 12931 = 16#3283 2063/20 5FBF/79 9F/01/9B

2 S102 12932 = 16#3284 2063/21 5FBF/7A 9F/01/9C

3 S103 12933 = 16#3285 2063/22 5FBF/7B 9F/01/9D

4 S104 12934 = 16#3286 2063/23 5FBF/7C 9F/01/9E

5 S105 12935 = 16#3287 2063/24 5FBF/7D 9F/01/9F

6 S106 12936 = 16#3288 2063/25 5FBF/7E 9F/01/A0

7 S107 12937 = 16#3289 2063/26 5FBF/7F 9F/01/A1

8 S108 12938 = 16#328A 2063/27 5FBF/80 9F/01/A2

9 S109 12939 = 16#328B 2063/28 5FBF/81 9F/01/A3 10 S110 12940 = 16#328C 2063/29 5FBF/82 9F/01/A4 11 S111 12941 = 16#328D 2063/2A 5FBF/83 9F/01/A5 12 S112 12942 = 16#328E 2063/2B 5FBF/84 9F/01/A6 13 S113 12943 = 16#328F 2063/2C 5FBF/85 9F/01/A7 14 S114 12944 = 16#3290 2063/2D 5FBF/86 9F/01/A8 15 S115 12945 = 16#3291 2063/2E 5FBF/87 9F/01/A9

Parameter set switching

Table of values for parameter set no. 2:

No. Code Logic address: CANopen index: INTERBUS index: DeviceNet path:

1 S201 12951 = 16#3297 2063/34 5FBF/88 9F/01/AA

2 S202 12952 = 16#3298 2063/35 5FBF/89 9F/01/AB

3 S203 12953 = 16#3299 2063/36 5FBF/8A 9F/01/AC

4 S204 12954 = 16#329A 2063/37 5FBF/8B 9F/01/AD

5 S205 12955 = 16#329B 2063/38 5FBF/8C 9F/01/AE

6 S206 12956 = 16#329C 2063/39 5FBF/8D 9F/01/AF

7 S207 12957 = 16#329D 2063/3A 5FBF/8E 9F/01/B0

8 S208 12958 = 16#329E 2063/3B 5FBF/8F 9F/01/B1

9 S209 12959 = 16#329F 2063/3C 5FBF/90 9F/01/B2 10 S210 12960 = 16#32A0 2063/3D 5FBF/91 9F/01/B3 11 S211 12961 = 16#32A1 2063/3E 5FBF/92 9F/01/B4 12 S212 12962 = 16#32A2 2063/3F 5FBF/93 9F/01/B5 13 S213 12963 = 16#32A3 2063/40 5FBF/94 9F/01/B6 14 S214 12964 = 16#32A4 2063/41 5FBF/95 9F/01/B7 15 S215 12965 = 16#32A5 2063/42 5FBF/96 9F/01/B8

Table of values for set no. 3:

No. Code Logic address: CANopen index: INTERBUS index: DeviceNet path:

1 S301 12971 = 16#32AB 2063/48 5FBF/97 9F/01/B9

2 S302 12972 = 16#32AC 2063/49 5FBF/98 9F/01/BA

3 S303 12973 = 16#32AD 2063/4A 5FBF/99 9F/01/BB

4 S304 12974 = 16#32AE 2063/4B 5FBF/9A 9F/01/BC

5 S305 12975 = 16#32AF 2063/4C 5FBF/9B 9F/01/BD

6 S306 12976 = 16#32B0 2063/4D 5FBF/9C 9F/01/BE

7 S307 12977 = 16#32B1 2063/4E 5FBF/9D 9F/01/BF

8 S308 12978 = 16#32B2 2063/4F 5FBF/9E 9F/01/C0

9 S309 12979 = 16#32B3 2063/50 5FBF/9F 9F/01/C1 10 S310 12980 = 16#32B4 2063/51 5FBF/A0 9F/01/C2 11 S311 12981 = 16#32B5 2063/52 5FBF/A1 9F/01/C3 12 S312 12982 = 16#32B6 2063/53 5FBF/A2 9F/01/C4 13 S313 12983 = 16#32B7 2063/54 5FBF/A3 9F/01/C5 14 S314 12984 = 16#32B8 2063/55 5FBF/A4 9F/01/C6 15 S315 12985 = 16#32B9 2063/56 5FBF/A5 9F/01/C7

Parameter set switching

Code Description

VAL Parameter name: Load parameter set command

Logic address: 12901 = 16#3265 Type: WORD (listing) CANopen index: 2063/02 Read/write: R/W INTERBUS index: DeviceNet path: A1/01/66

0 = Function not used or a new set of parameters has been taken into account 1 = Request to write a new set of parameters 2 = A new set of parameters is being written

Procedure:

• Write the addresses and values of the sets.

• Set VAL to 1.

• Once the new sets have been taken into account, the drive resets (VAL) to 0.

Loading drive parameters

Requirement

Certain applications require parameters to be downloaded:

• When the installation starts up

• When the manufacturing range is changed

• When a faulty device is replaced

Neither the integrated ports nor the network cards of the drive provide a parameter file loading procedure (ex cept for the "FDR" faulty device replacement mechanism of the VW3 A3 310 Modbus Ethernet TCP/IP card).

Parameter loading is therefore based on write requests that have to be programmed in the controller (PLC, etc.).

If the controller is limited to writing para meters sequentially, the final configuration risks not being identical to the one desired. The differences between the configuration to be loaded and the real configuration result from cons istency checking of the drive parame ters. The drive checks relationships between the parameters, and if they are not correct:

• It automatically modifies a parameter which is offered for writing (pedestal, deadband) or

• Writing of the parameter is rejected

Examples illustrating this problem are given on page 73.

The controller must therefore follow a procedure that includes a phase of disabling the consistency check function.

Procedure

All the operations described below must be carried out with the motor stopped, with no run command to the drive.

Saving the reference configuration

1. Identify the parameters of the reference drive whic h are different from the factory sett ing. These parameters can be identified easily using the PowerSuite software (parameter list display).

2. Reserve a parameter image ta ble in the controller (PLC, etc.). Th is image table is a series of addresses and val ues. The last parameter to be loaded is identified by an address equal to -1.

3. Enter the addresses of the modified parameters into the controller's image table by copying the list given by the PowerSuite software.

4. Initialize the values in the image table. There are two possible methods:

- Enter the values manually.

- Program an automatic read function in the controller. Connect the controller to the reference drive. Save the reference configuration in the image table.

Load the configuration

The program in the controller (PLC, etc.) must perform the following operations:

1. Command a drive factory setting: Write the value 16#0001 to the extended control word (8504-CMI).

2. Disable the parameter consistency check function: Write the value 16#8000 to the extended control word (8504-CMI).

3. Load the configuration: Write the parameters one after another using the image table.

4. Enable the parameter consistency check function: Write the value 16#0000 to the extended control word (8504-CMI).

5. Check the drive configuration: Read and compare the parameters one after another against the image table.

Loading drive parameters

Inconsistency examples

The 2 adjustment par am e t ers [Low speed] (3105-LSP) and [High speed] (3104-HSP) comply with the consistency rule: 0 y [Low speed] (3105-LSP) y [High speed] (3104-HSP) y 10000.

Example 1

Initial configuration V Configuration to be loaded:

[High speed] (3104-HSP) = 30 Hz V [High speed] (3104-HSP) = 60 Hz [Low speed] (3105-LSP) = 20 Hz V [Low speed] (3105-LSP) = 40 Hz

• "Request n: Request writing of [Low speed] (3105-LSP) to 40 Hz

• "Consistency check: The consistency rule [Low speed] (3105-LSP) y [High speed] (3104-HSP) is not complied with:

-The [Low speed] (3105-LSP) parameter actually written into the drive is 30 Hz.

• "Request n+1: Request writing of [High speed] (3104-HSP) = 60 Hz

• "Consistency check: The consistency rules are complied with:

-The [High speed] (3104-HSP) parameter is correctly written to 60 Hz in the driv e.

The configuration loaded is different from the configuration to be loaded:

[Low speed] (3105-LSP) = 30 Hz instead of [Low speed] (3105-LSP) = 40 Hz

The drive can operate between 30 Hz and 40 Hz, which is not desired.

Example 2

Initial configuration V Configuration to be loaded:

[High speed] (3104-HSP) = 60 Hz V [High speed] (3104-HSP) = 30 Hz [Low speed] (3105-LSP) = 40 Hz V [Low speed] (3105-LSP) = 0 Hz

• "Request n: Request writing of [High speed] (3104-HSP) to 30 Hz

• "Consistency check: The consistency rule [Low speed] (3105-LSP) y [High speed] (3104-HSP) is not complied with:

-The [High speed] (3104-HSP) parameter actually written into the drive is 40 Hz.

• "Request n+1: Request writing of [Low speed] (3105-LSP) = 0 Hz

• "Consistency check: The consistency rules are complied with :

-The [Low speed] (3104-HSP) parameter is correctly written to 0 Hz in the drive.

The configuration loaded is different from the configuration to be loaded:

[High speed] (3104-HSP) = 40 Hz instead of [High speed] (3104-HSP) = 30 Hz

The drive can operate between 30 Hz and 40 Hz, which is not desired.

Command parameters

Code Description

CMd Parameter name: Control wo rd

Terminal display: [Cmd value] CiA402 name: controlword DRIVECOM name: Control word Logic address: 8601 = 16#2199

or 8501 = 16#2135 (1) CANopen index: 6040/0 Read/write: R/W INTERBUS index: 5FB6/1B DeviceNet path: B7/01/01

(1)Note: This parameter is available at 2 logic addresses to optimize exchanges via Modbus messaging (Modbus function

16 = 16#10 Write Multiple Registers):

- If the drive has to be controlled in terms of speed, it is preferable to use address 8601 since the speed reference is at address 8602.

- If the drive has to be controlled in terms of frequency, it is preferable to use address 8501 since the frequency reference is at address 8502.

Parameter conforming to the CiA402 profile Possible values in the IO profile

On state command [2 wire] (2C)

bit 0: Forward (on state) command

= 0: No forward command = 1: Forward command

The assignment of bit 0 cannot be mod ified. It corresp onds to the assignment of the terminals. It can be switched. Bit 0

(Cd00) is only active if the channel of this control word is

active.

Type: WORD (bit register)

On edge command [3 wire] (3C)

bit 0: Stop (run authorization)

= 0: Stop = 1: Run is authorized, on a forward or reverse command

bit 1: Forward (on 0 V 1 rising edge) command

The assignment of bits 0 and 1 cannot be modified. It corresponds to the assignment of the terminals. It can be switched. Bits 0 (Cd00) and 1 (Cd01) are only active if the

channel of this control word is active. Bits 1 to 15 can be assigned to commands. Bits 2 to 15 can be assigned to commands. For example, to change the direction of operation using bit 2 of the control word of the active channel, simply configure the

[Reverse assign.] (rrS) parameter:

• To the value [C102] (C102) ... [C402] (C402) for a fixed assignment

• To the value [CD02] (Cd02) for a switched assignment

The stop commands:

• Freewheel stop [Freewheel stop ass.] (nSt)

• Fast stop [Fast stop assign.] (FSt) are active at value 0, in the same way as on the terminals. = 0: Stop = 1: No stop command

DC injection braking [DC injection assign.] (dCI) is active at value 1, in the same way as on the terminals.

= 0: No braking command = 1: Braking

If a fixed assignment is made [C101] (C101) to [C115] (C115) ... [C401] (C401) to [C415] (C415), the freewheel stop, fast stop and DC injection braking commands are always active, even if the channel is not active.If these commands are configured as fixed assignments, the following settings must be made in order to start, even if another channel is active:

• Freewheel stop = 1

• Fast stop = 1

• DC injection braking = 0

If a switched assignment is made [CD00] (Cd00) to [Cd15] (Cd15), the freewheel stop, fast stop and DC injection braking commands are only active if the channel is active.

Command parameters

Code Description

Possible values in CiA402 profile, separate or not separate mode

bit 0: "Switch on"/Contactor command bit 1: "Disable voltage"/Authorization to supply AC power bit 2: "Quick stop"/Emergency stop bit 3: "Enable operation"/Run command

bit 4: Reserved (set to 0) bit 5: Reserved (set to 0) bit 6: Reserved (set to 0) bit 7: "Fault reset"/Fault acknowledgment active on 0 V 1 rising edge

bit 8: "Halt"/Halt. Stop according to the [Type of stop] (Stt) parameter without leaving the 5 - Operation enabled state.

bit 9: Reserved (set to 0) bit 10: Reserved (set to 0) bit 11: Direction of rotation command. Default assignment; this bit can be assigned to another command.

= 0: Forward rotation = 1: Reverse rotation

bit 12: Can be assigned to a command bit 13: Can be assigned to a command bit 14: Can be assigned to a command bit 15: Can be assigned to a command

For the description of bits 0, 1, 2, 3, 7 and 8, see the "CiA402 profile" section.

The CiA402 standard enables the drive manufacturer to use bits 11 to 15 in a specific way. On the Altivar 61, they can be assigned to function commands. Bit 11 is assigne d by default t o control the di rection of rotation, al though it can be assigned to another command. A new assignment deletes the assig nment to the di rection of ro tation co mmand. Bits 12 t o 15 have no default assignment. For example, to control DC injection braking using bit 12 of the Modbus control word, simply set the [DC

injection assign.] (dCI)) parameter to value [C212] (C212).

The fast stop command configured by [Fast stop assign.] (FSt) is active at 1:

= 0: No stop command = 1: Stop

The DC injection braking command configured by [DC injection assign.] (dCI) is active at 1:

= 0: No braking command = 1: Braking

With a fixed assignment ([C1pp], [C2pp], [C3pp] or [C4pp]), the fast stop and DC injection braking commands are priority stops, even if the channel is not active. If thes e commands are co nfigu red as fixe d assignment s, the f ollowing se ttin gs must be made in order to start, even if another channel is active:

• Fast stop command = 0

• DC injection braking command = 0

With a switched assignment ([Cdpp]), the fast stop and DC injection braking commands are only operational if the channel is active.

The freewheel stop [Freewheel stop ass.] (nSt) command cannot be assigned in CiA402 profile.

Command parameters

Code Description

CMI Parameter name: Extended control word

Logic address: 8504 = 16#2138 Type: WORD (bit register) CANopen index: 2037/5 Read/write: R/W INTERBUS index: 5FB6/1E DeviceNet path: 8B/01/69

bit 0: Command for a RAM factory setting according to the [PARAMETER GROUP LIST] (FrY) parameter (active at 1).

If it is also wished to make an EEPROM factory setting, bit 1 must also be set to 1 (the two commands can be executed simultaneously).

bit 1: Save configuration to EEPROM non-volatile memory command (active at 1).

This bit automatically changes to 0 after the reque st is ta ken into accou nt. Th e command is only a ctive i f the dri ve is stopped, and not in "5-Operation enabled" state. Note: If CMI is a periodic network variable, the PLC program must write it to 0 after the first request is taken into

account. The life of the EEPROM memory is limited to 100,000 write operat ions.

Note: If the motor or configuration switching function is active, the configuration in the RAM is saved to the

EEPROM in the configuration designated by [Config. active] (CnFS).

bit 2: Restore configuration to EEPROM non-volatile memory command (active on 0 to 1 rising edge).

This bit automatically changes to 0 after the request is taken into account. The command is only active if the drive is stopped, and not in "5-Operation enabled" state. Note: If CMI is a periodic network variable, the PLC program must write it to 0 after the first request is taken into

account. This does not adversely affect the life of the EEPROM memory, but permanently copies the configuration in the memory to the current configuration.

Note: If the motor or configuration switching function is active, the configuration in the EEPROM designated by

[Config. active] (CnFS) is copied to the RAM.

bit 3: Reserved (= 0)

bit 4: Reserved (= 0)

bit 5: Reserved (= 0)

bit 6: Reserved (= 0)

bit 7: Reserved (= 0)

bit 8: Reserved (= 0)

bit 9: Definition of the frequency reference (LFr) and output frequency (rFr) unit:

= 0: 0.1 Hz = 1: Standardized value 16 signed bits based on the maximum frequency. The value 32767 corresponds to [Max

frequency] (tFr). The default value of [Max frequency] (tFr) is 60 Hz, and the resolution is then approximately

0.0018 Hz.

This function has no effect on the speed reference (LFrd) or the output speed (rFrd). bit 10: Fast stop command (active at 1) bit 11: DC injection braking command (active at 1). This command must not be used if [Motor control type] (Ctt) =

[Sync.

mot.] (SYn).

bit 12: Direction of rotation command

= 0: Forward

= 1: Reverse bit 13: Reserved (= 0) bit 14: Reserved (= 0) bit 15: Parameter consistency check

= 0: The check is activated. Each time a parameter is written, the drive checks the relationship between the written

parameter and the configuration in the drive. For example, the [High speed] (HSP) parameter must be less than the [Max frequency] (tFr) parameter. If an attempt is made to write a val ue greater than the [Max frequency ] (tFr) parameter to the [High speed] (HSP) parameter, the write operation is accepted, but the value i s limited to th at of

[Max frequency] (tFr).

= 1: The check is deactivated. The drive is locked in stop mode. In this drive state, the configuration can be written

parameter by parameter and the drive does not modify the values that are written.

1V0: The change from 1 to 0 triggers a calculation of the consistency of the configuration. Some parameters can be

modified automatically by the drive.

Setpoint parameters

See section “Assignment of references from a network”, page 55

Code Description

LFRD Parameter name: Speed reference

CiA402 name: vl target velocity DRIVECOM name: Speed-Setpoint Logic address: 8602 = 16#219A Type: INT CANopen index: 6042/0 Read/write: R/W INTERBUS index: 6042/0 Unit: rpm DeviceNet path: 2A/01/08 (1)

8C/01/03 (2)

Parameter conforming to CiA402 and ODVA profiles

Signed value. This parameter changes the direction of operation according to its si gn.

LFR Parameter name: Frequency reference

Terminal display: [Frequency ref.] Logic address: 8502 = 16#2136 Type: INT CANopen index: 2037/3 Read/write: R/W INTERBUS index: 5FB6/1C Unit: 0.1 Hz or standardized 16 DeviceNet path: 8B/01/67

Signed value. The unit depends on the value of bit 9 of the extended control word (CMI):

= 0: 0.1 Hz

= 1: High resolution: Standardized value at maximum frequency on 16 signed bits. The value 32767 = 16 # 7FFF

corresponds to [Max frequency] (tFr). The default value of [Max frequency] (tFr) is 60 Hz, and the resolution is then approximately 0.0018 Hz.

(1) ODVA standard path. It can be used for explicit messaging. Do not use it for configuri ng an assembly. (2) Altivar path. To ensure better interchangeability, avo id using it for expl icit messaging. This is the path that must be used for configuring

an assembly.

signed bits based on the maximum frequency (TFR)

Setpoint parameters

Code Description

PISP Parameter name: PID regulator reference

Logic address: 8503 = 16#2137 Type: INT CANopen index: 2037/4 Read/write: R/W INTERBUS index: 5FB6/1D Unit: 1 DeviceNet path: 8B/01/68 Signed value.

If the PID regulator is to be controlled via a network, this reference must be written, in accordance with the protocol:

• Either via messaging

• Or by assigning this parameter in the periodic variables

AIU1 Parameter name: Network analog input

Terminal display: [Network AI] Logic address: 5281 = 16 #14A1 Type: INT CANopen index: 2016/52 Read/write: R/W INTERBUS index: 5FB9/43 Unit: 1 DeviceNet path: 7B/01/52

MFr Parameter name: Multiplying coefficient

Terminal display: [Multiplying coeff.] Logic address: 11831 = 16#2E37 Type: UINT CANopen index: 2058/20 Read/write: R/W INTERBUS index: 5FB6/38 Unit: 1% DeviceNet path: 9C/01/20

Status parameters

Code Description

ETA Parameter name: Status word

CiA402 name: Statusword DRIVECOM name: Statusword Logic address: 8603 = 16#219B

or 3201 = 16#0C81 (1) CANopen index: 6041/0 Read/write: R INTERBUS index: 6041/0 DeviceNet path: 71/01/02

(1)Note: This parameter is available at 2 logic addresses to optimize exchanges via Modbus messaging (Modbus function

4 = 16#04 Read Input Registers):

- If the drive has to be monitored in terms of speed, it is preferable to use address 8603 since the output speed is at address 8604.

- If the drive has to be monitored in terms of frequency, it is preferable to use address 3201 since the output frequency is at address 3202.

Parameter conforming to CiA402 profile Possible values in the IO profile

Note: The value is identical in the CiA402 profile and the I/O profile. In the I/O profile, the description of the values is

simplified and does not refer to the CiA402 (Drivecom) state chart.

bit 0: Reserved bit 1: Ready

= 0: Not ready, = 1: Ready

bit 2: Running

= 0: The drive will not start if a reference other than zero is applied. = 1: Running, if a reference other than zero is applied, the drive can start.

bit 3: Fault

= 0: No fault, = 1: Fault

Type: WORD (bit register)

bit 4: Power section line supply present

= 0: Power section line supply absent, = 1: Power section line supply present

bit 5: Reserved bit 6: Reserved bit 7: Alarm

= 0: No alarm, = 1: Alarm

bit 8: Reserved bit 9: Command via a network

= 0: Command via the terminals or the graphic display terminal, = 1: Command via a network

Note: The network can be integrated Modbus, CANopen, a communication card or the Controller Inside card. This is not necessarily the network via which the status word is read. Therefore if the command comes from CANopen (CANopen command channel active) and the status word (ETA) is read via an Ethernet card, the data item "Command via a network" = 1. This does not mean that control can be carried out v ia the Ethernet card. For more information, see the "Active command channel" (CCC) and "Active reference channel" (CRC) parameters.

bit 10: Reference reached

= 0: The reference is not reached, = 1: The reference has been reached

bit 11: Reference outside limits

= 0: The reference is within the limits, = 1: The reference is not within t he limits When the drive is in speed mode, the limits are defined by the "Low speed (LSP)" and "High speed (HSP)" parameters. When the torque function is activated, refer to the description of this function (see the Programming Manual).

bits 12 and 13: Reserved

bit 14: Stop via STOP key

= 0: STOP key not pressed, = 1: Stop triggered by the STOP key on the graphic display terminal

bit 15: Direction of rotation

= 0: Forward rotation at output, = 1: Reverse rotation at output

Status parameters

Code Description

Possible values in CiA402 profile

bit 0: "Ready to switch on", awaiting power section line supply bit 1: "Switched on", ready bit 2: "Operation enabled", running bit 3: "Fault"

= 0: No fault = 1: Fault

bit 4: "Voltage enabled", power section line supply present

= 0: Power section line supply absent = 1: Power section line supply present When the drive is powered by the power section only, this bit is always at 1.

bit 5: "Quick stop"/Emergency stop bit 6: "Switched on disabled", power section line supply locked bit 7: "Warning", alarm

= 0: No alarm = 1: Alarm

bit 8: Reserved bit 9: "Remote", command or reference via the network

= 0: Command or reference via the terminals = 1: Command or reference via the network

bit 10: "Target reached", reference reached

= 0: The reference is not reached = 1: The reference has been reached When the drive is in speed mode, this is the speed reference. When the torque function is activated, refer to the description of this function (see the Programming Manual). Wh en the drive stops, the reference has been reached.

bit 11: "Internal limit active", reference outside limits

= 0: The reference is within the limits = 1: The reference is not within the limits When the drive is in speed mode, the limits are defined by the "Low speed (LSP)" and "High speed (HSP)" parameters. When the torque function is activated, refer to the description of this function (see the Programming Manual).

bit 12: Reserved bit 13: Reserved bit 14: "Stop key", STOP via stop key

= 0: STOP key not pressed = 1: Stop triggered by the STOP key on the graphic display terminal

bit 15:"Direction", direction of rotation

= 0: Forward rotation at output = 1: Reverse rotation at output

The combination of bits 0, 1, 2, 4, 5 and 6 defines the state in the DSP 402 state chart (see the CiA402 profile section).

Status parameters

Code Description

ETI Parameter name: Extended status word

Logic address: 3206 = 16#0C86 Type: WORD (bit register) CANopen index: 2002/7 Read/write: R INTERBUS index: 5FB9/08 DeviceNet path: 71/01/07

bit 0: = 1: Access to the EEPROM non-volatile memory in progress bit 1: = 0: No parameter consistency check

= 1: Parameter consistency check

bit 2: = 0: The drive is not in fault state or a fault is present

= 1: The drive is in fault state but the fault is no longer present (not acknowledged)

bit 3: Reserved

bit 4: = 1: Drive in speed regulation mode bit 5: = 1: DC injection braking (identical to LSR4, bit 11) bit 6: = 0: Drive in steady state

= 1: Drive in transient state

bit 7: = 1: Motor thermal state threshold reached for the active motor

bit 8: = 1: Overbraking (identical to LSR5, bit 1)

bit 9: = 1: Acceleration in progress (identical to LSR4, bit 13) bit 10: = 1: Deceleration in progress (identical to LSR4, bit 14) bit 11: = 1: Current or torque limiting in progress

bit 12: = 1: Fast stop in progress (identical to LSR4, bit 15) bit 13: bit 13 = 0 and bit 14 = 0: Command via the terminals bit 14: bit 13 = 1 and bit 14 = 0: Command via the graphic display terminal

bit 13 = 0 and bit 14 = 1: Command via Modbus bit 13 = 1 and bit 14 = 1: Command via CANopen, the network card or the "Controller Inside" card

bit 15: = 0: Forward operation applied before the ramp

= 1: Reverse operation applied before the ramp

LRS1 Parameter name: Extended status word 1

Logic address: 3250 = 16#0CB2 Type: WORD (bit register) CANopen index: 2002/33 Read/write: R INTERBUS index: 5FB9/1E DeviceNet path: 71/01/33

bit 0: Reserved

bit 1: = 1: The drive is in fault state

bit 2: = 0: The drive is locked, the motor is not powered

= 1: The drive is unlocked, power can be supplied to the motor (RUN state)

bit 3: = 1: The output contactor is controlled

bit 4: = 1: Frequency threshold (ftd) reached: [Freq. Th. attained] (FtA)

bit 5: = 1: High speed (HSP) reached: [HSP attained] (FLA)

bit 6: = 1: Current threshold (Ctd) reached: [Current Th. attained] (CtA)

bit 7: = 1: Frequency reference reached: [Frequency ref. att.] (SrA)

bit 8: = 1: Motor 1 thermal state threshold [Motor therm. level] (ttd) reached: [Motor th. state att.] (tSA)

bit 9: Reserved bit 10: = 1: PID regulator error alarm: [PID error al] (PEE) bit 11: = 1: PID regulator feedback alarm: [PID fdbk al.] (PFA)

bit 12: = 1: 4-20 mA alarm on analog input AI2: [AI2 4-20 mA loss] (LFF2) bit 13: = 1: Second frequency threshold (ftd) reached: [Freq. Th. 2 attained] (FA2) bit 14: = 1: Drive thermal state threshold [Drv therm. state al] (tHA) reached: [Th. drv. att.] (tAd) bit 15: Reserved

Status parameters

Code Description

LRS2 Parameter name: Extended status word 2

Logic address: 3251 = 16#0CB3 Type: WORD (bit register) CANopen index: 2002/34 Read/write: R INTERBUS index: 5FB9/1F DeviceNet path: 71/01/34

bit 0: = 1: [High Ref.] (rtAH): Frequency reference is greater than the threshold [High Freq. Ref. Thr.] (rtd) bit 1: = 1: [Low Ref.] (rtAL): Frequency reference is less than the threshold [Low Freq. Ref. Thr.] (rtdL) bit 2: = 1: [Low F.Thd.] (FtAL): Frequency is less than the threshold [Low Freq.Threshold] (FtdL) bit 3: = 1: [2Low F.Thld] (F2AL): Frequency is less than the threshold [2 Freq. Threshold] (F2dL)

bit 4: = 1: [Low I Thres. Attain.] (CtAL): Current is less than the threshold [Low I Threshold] (CtdL) bit 5: = 1: [Pro.Undload] (ULA): Process underload alarm bit 6: = 1: [Ovld.P.Alrm] (OLA): Process overload alarm bit 7: = 1: [PID high Al.] (PFAH): PID feedback alarm greater than [Max fbk alarm] (PAH)

bit 8: = 1: [PID low Al.] (PFAL): PID feedback alarm less than [Min fbk alarm] (PAL) bit 9: = 1: [Regul.Alarm] (PISH): PID regulator fault (cannot reach reference)

bit 10: = 1: [Emerg. Run] (Ern): The drive is in emergency run mode

bits 11 to 15: Reserved

LRS3 Parameter name: Extended status word 3

Logic address: 3252 = 16#0CB4 Type: WORD (bit register) CANopen index: 2002/35 Read/write: R INTERBUS index: 5FB9/20 DeviceNet path: 71/01/35

bit 0: = 0: Reference channel 1 (Fr1) or 1B (Fr1b) is active

= 1: Reference channel 2 (Fr2) is active

bit 1: = 0: Command channel 1 (Cd1) is active

= 1: Command channel 2 (Cd2) is active

bit 2: = 0: Ramp set 1 (ACC) and (dEC)

= 1: Ramp set 2 (AC2) and (dE2)

bit 3: = 0: Current limit 1 (CLI) is active

= 1: Current limit 2 (CL2) is active

bit 4: Reserved

bit 5: = 1: Motor 2 thermal state threshold [Motor2 therm. level] (ttd2) reached: [Th.mot2 att] (tS2)

bit 6: = 1: Motor 3 thermal state threshold [Motor3 therm. level] (ttd3) reached: [Th.mot3 att] (tS3)

bit 7: Reserved

bit 8: = 1: 24 VDC external power supply present

bit 9: = 1: Stop on low speed time limit function [Low speed time out] (tLS) bit 10: = 1: The command and reference are given by the graphic display terminal bit 11: Reserved

bit 12: Reserved bit 13: Reserved bit 14: Reserved bit 15: = 0: The output torque is positive (forward)

= 1: The output torque is negative (reverse)

Status parameters

Code Description

LRS4 Parameter name: Extended status word 4

Logic address: 3253 = 16#0CB5 Type: WORD (bit register) CANopen index: 2002/36 Read/write: R INTERBUS index: 5FB9/21 DeviceNet path: 71/01/36

bit 0: = 1: Configuration 0 is active

bit 1: = 1: Configuration 1 is active [Cnfg.1 act.] (CnF1)

bit 2: = 1: Configuration 2 is active [Cnfg.2 act.] (CnF2)

bit 3: Reserved

bit 4: = 1: Parameter set 1 is active: [Set 1 active] (CFP1)

bit 5: = 1: Parameter set 2 is active: [Set 2 active] (CFP2)

bit 6: = 1: Parameter set 3 is active: [Set 3 active] (CFP3)

bit 7: Reserved

bit 8: = 0: Power section line supply present

= 1: Power section line supply absent

bit 9: = 1: Motor "fluxing" in progress: [In motor fluxing] (FLX) bit 10: = 1: The motor is "fluxed" bit 11: = 1: DC injection braking (identical to ETI, bit 5)

bit 12: = 1: Current limiting in progress bit 13: = 1: Acceleration in progress (identical to ETI, bit 9) bit 14: = 1: Deceleration in progress (identi cal to ETI, bit 10) bit 15: = 1: Fast stop in progress: [Fast stop in prog.] (FSt) (identical to ETI, bit 12)

LRS5 Parameter name: Extended status word 5

Logic address: 3254 = 16#0CB6 Type: WORD (bit register) CANopen index: 2002/37 Read/write: R INTERBUS index: 5FB9/22 DeviceNet path: 71/01/37

bit 0: = 1: Drive DC bus loading: [DC bus loading] (dbL)

bit 1: = 1: Drive braking [In braking] (brS)

bit 2: = 1: The "Power Removal" function is active

bit 3: = 1: Automatic restart attempts in progress: [Auto restart] (AUtO)

bit 4: = 1: "Auto-tuning" in progress: [Auto-tuning] (tUn)

bit 5: = 1: Controlled stop in progress following loss of power section line supp ly (CTL)

bit 6: = 1: The drive cannot follow the configured deceleration ramp, dece leration automatically adapted (OBR)

bit 7: = 1: Controlled output cut in progress (SOC)

bit 8: Reserved

bit 9: = 1: The line contactor is active bit 10: Reserved bit 11: Reserved

bit 12: Reserved bit 13: = 1: Current present in the motor (MCP) bit 14: Reserved bit 15: Reserved

Status parameters

Code Description

LRS6 Parameter name: Extended status word 6

Logic address: 3255 = 16#0CB7 Type: WORD (bit register) CANopen index: 2002/38 Read/write: R INTERBUS index: 5FB9/23 DeviceNet path: 71/01/38

bit 0: = 1: Alarm group 1 is active

bit 1: = 1: Alarm group 2 is active

bit 2: = 1: Alarm group 3 is active

bit 3: = 1: Probe 1 alarm: [PTC1 alarm] (PtC1)

bit 4: = 1: Probe 2 alarm: [PTC2 alarm] (PtC2)

bit 5: = 1: LI6 PTC probe alarm: [LI6=PTC alarm] (PtC3)

bit 6: Reserved

bit 7: = 1: External fault [External fault alarm] (EtF)

bit 8: = 1: Undervoltage alarm [Undervoltage] (USA)

bit 9: = 1: The power section line supply loss detection threshold for a controlled stop has been reached (undervoltage

warning) bit 10: Reserved bit 11: = 1: Drive overheat alarm (tHA)

bit 12: Reserved bit 13: Reserved bit 14: Reserved bit 15: = 1: Current or torque limit alarm after time-out [Trq/I limit. time out] (StO)

LRS7 Parameter name: Extended status word 7

Logic address: 3256 = 16#0CB8 Type: WORD (bit register) CANopen index: 2002/39 Read/write: R INTERBUS index: 5FB9/24 DeviceNet path: 71/01/39

bit 0: = 1: Reference channel 1 (Fr1) or 1B (Fr1b) is active bit 1: = 1: Reference channel 2 (Fr2) is active bit 2: = 1: Command channel 1 (Cd1) is active bit 3: = 1: Command channel 2 (Cd2) is active

bit 4: = 1: Reference channel 1B (Fr1b) is active bit 5: Reserved bit 6: Reserved bit 7: Reserved

bit 8: = 1: IGBT thermal state alarm

bit 9: = 1: Braking resistor overload alarm bit 10: = 1: Alarm sent by the "Controller Inside" card bit 11: = 1: 4-20 mA alarm on analog input AI3: [AI3 4-20mA loss] (LFF3)

bit 12: = 1: 4-20 mA alarm on analog input AI4: [AI4 4-20mA loss] (LFF4) bit 13: = 1: DC bus precharging contactor controlled (DC0) bit 14: = 1: Flow limitation function active bit 15: Reserved (= 0)

Status parameters

Code Description

LRS8 Parameter name: Extended status word 8

Logic address: 3257 = 16#0CB9 Type: WORD (bit register) CANopen index: 2002/3A Read/write: R INTERBUS index: 5FB9/25 DeviceNet path: 71/01/3A

bit 0: Reserved (= 0)

bit 1: Reserved (= 0)

bit 2: Reserved (= 0)

bit 3: Reserved (= 0)

bit 4: Reserved (= 0)

bit 5: Reserved (= 0)

bit 6: Reserved (= 0)

bit 7: Reserved (= 0)

bit 8: Reserved (= 0)

bit 9: Reserved (= 0) bit 10: Reserved (= 0) bit 11: Reserved (= 0)

bit 12: Reserved (= 0) bit 13: Reserved (= 0) bit 14: Reserved (= 0) bit 15: = 1: Drive ready (rdY)

CRC Parameter name: Active reference channel

Logic address: 8441 = 16#20F9 Type: WORD (bit register) CANopen index: 2036/2A Read/write: R INTERBUS index: 5FB9/D2 DeviceNet path: 8B/01/2A

bit 0: = 1: The terminals are the active reference channel via an analog input

bit 1: Reserved (= 0)

bit 2: = 1: The graphic display terminal is the active reference channel

bit 3: = 1: Modbus is the active reference channel

bit 4: Reserved (= 0)

bit 5: Reserved (= 0)

bit 6: = 1: CANopen is the active reference channel

bit 7: = 1: The terminals are the active reference channel in +/- speed

bit 8: = 1: The graphic display terminal is the active reference channel in +/- speed

bit 9: = 1: The network card is the active reference channel bit 10: = 1: The "Controller Inside" card is the active reference channel bit 11: Reserved (= 0)

bit 12: Reserved (= 0) bit 13: Reserved (= 0) bit 14: Reserved (= 0) bit 15: = 1: The PowerSuite software workshop is the active reference channel

Status parameters

Code Description

CCC Parameter name: Active command channel

Logic address: 8442 = 16#20FA Type: WORD (bit register) CANopen index: 2036/2B Read/write: R INTERBUS index: 5FB9/D3 DeviceNet path: 8B/01/2B

bit 0: = 1: The terminals are the active command channel

bit 1: Reserved (= 0)

bit 2: = 1: The graphic display terminal is the active command channel

bit 3: = 1: Modbus is the active command channel

bit 4: Reserved (= 0)

bit 5: Reserved (= 0)

bit 6: = 1: CANopen is the active command channel

bit 7: = 1: The terminals are the active command channel in +/- speed

bit 8: = 1: The graphic display terminal is the active command channel in +/ - speed bit 10: = 1: The "Controller Inside" card is the active command channel bit 11: Reserved (= 0)

bit 12: Reserved (= 0) bit 13: Reserved (= 0) bit 14: Reserved (= 0) bit 15: = 1: The PowerSuite software workshop is the active command channel

CFPS Parameter name: Active parameter set

Logic address: 12900 = 16#3264 Type: WORD (listing) CANopen index: 2063/01 Read/write: R INTERBUS index: 5FB9/EB DeviceNet path: A1/01/65 0 : The parameter set switching function is not configured

1 = [Set 1 active] (CFP1): Parameter set no. 1 active 2 = [Set 2 active] (CFP2): Parameter set no. 2 active 3 = [Set 3 active] (CFP3): Parameter set no. 3 active

CNFS Parameter name: Active configuration

Terminal display: [Config. Active] Logic address: 8020 = 16#1F54 Type: WORD (listing) CANopen index: 2032/15 Read/write: R INTERBUS index: 5FB9/D1 DeviceNet path: 89/01/15 0 : The motor or configuration switching function is not configured

1 = (CNF0): Configuration no. 0 active 2 = (CNF1): Configuration no. 1 active 3 = (CNF2): Configuration no. 2 active

Output value parameters

Output values (speed)

Code Description

rFrd Parameter name: Output speed

CiA402 name: vl control effort DRIVECOM name: Speed-Actual-Value Logic address: 8604 = 16#219C Type: INT CANopen index: 6044/0 Read/write: R INTERBUS index: 6044/0 Unit: rpm DeviceNet path: 2A/01/07 (1)

8C/01/05 (2)

Parameter conforming to CiA402 and ODVA profiles

Signed value.

If the drive is in open-loop mode, the speed value is estimated. If the drive is in closed-loop mode, the speed value is measured on the sensor.

This parameter is linked to the "Output frequency" (rFr) parameter for which the unit is 0.1 Hz.

rFr Parameter name: Output frequency

Terminal display: [Output frequency] Logic address: 3202 = 16#C82 Type: INT CANopen index: 2002/3 Read/write: R INTERBUS index: 5FB9/04 Unit: 0.1 Hz or standardized 16 DeviceNet path: 71/01/03

Signed value.

The unit depends on the value of bit 9 of the extended control word:

= 0: 0.1 Hz = 1: Standardized value on 16 signed bits at maximum frequency. The value 32767 corresponds to [Max frequency]

(TFR). The default value of [Max frequency] (TFR) is 60 Hz, and the resolution is then approximately 0.0018 Hz.

an assembly.

signed bits based on the maximum frequency (TFR)

Output value parameters

Output values (torque)

Code Description

Otr Parameter name: Output torque

Terminal display: [Motor torque] CiA402 name: Torque actual value DRIVECOM name: Torque-Actual-Value Logic address: 3205 = 16#0C85 Type: INT CANopen index: 6077/0 Read/write: R INTERBUS index: 5FB9/07 Unit: DeviceNet path: 71/01/06

Parameter conforming to CiA402 profile

Signed value.

The "Nominal motor torque" is not accessible as a drive parameter. It is the result of other characteristics.

0.001 "Nominal motor torque"

Output value parameters

Output values (motor)

Code Description

LCr Parameter name: Motor current

Terminal display: [Motor current] Logic address: 3204 = 16#0C84 Type: UINT CANopen index: 2002/5 Read/write: R INTERBUS index: 5FB9/06 Unit: 0.1 A DeviceNet path: 2A/01/09 (1)

71/01/05 (2)

Parameter conforming to ODVA profile

UOP Parameter name: Motor voltage

Terminal display: [Motor voltage] Logic address: 3208 = 16#0C88 Type: UINT CANopen index: 2002/9 Read/write: R INTERBUS index: 5FB9/0A Unit: 1 V DeviceNet path: 71/01/09

OPr Parameter name: Motor power

Terminal display: [Motor power] Logic address: 3211 = 16#0C8B Type: INT CANopen index: 2002/C Read/write: R INTERBUS index: 5FB9/0C Unit: 1% DeviceNet path: 71/01/0C

UNT Parameter name: Units of parameters APH, PTH, RTH and RTHI

Logic address: 3234 = 16#0CA2 Type: WORD (bit register) CANopen index: 2002/23 Read/write: R INTERBUS index: 5FB9/18 DeviceNet path: 71/01/23

The unit changes automatically when the value reaches the maximum format of the parameter.

bit 0 + bit 1 = unit of APH: 0 = Wh, 1 = kWh, 2 = MWh bit 2 + bit 3 = unit of PTH: 0 = seconds, 1 = minutes, 2 = hours bit 4 + bit 5 = unit of RTH: 0 = seconds, 1 = minutes, 2 = hours bit 6 + bit 7 = unit of RTHI: 0 = seconds, 1 = minutes, 2 = hours

bit 8 + bit 9 = unit of IPHR: 0 = Wh, 1 = kWh, 2 = MWh bit 10 + bit 11 = unit of IPH: 0 = Wh, 1 = kWh, 2 = MWh

bits 12 to 15: Reserved (= 0)

an assembly.

Reference parameters

References (speed)

Code Description

FrHd Parameter name: Speed reference before ramp

Logic address: 8605 = 16#219D Type: INT CANopen index: 2038/6 Read/write: R INTERBUS index: 6043/0 Unit: rpm DeviceNet path: 8C/01/06

FrOd Parameter name: Speed reference after ramp

Terminal display: CiA402 name: vl velocity demand DRIVECOM name: Speed-Reference-Variable Logic address: 8641 = 16#21C1 Type: INT CANopen index: 6043/0 Read/write: R INTERBUS index: 5FB9/DB Unit: rpm DeviceNet path: 8C/01/2A

Parameter conforming to CiA402 profile

Signed value.

This parameter is linked to the "Frequency after ramp" (FRO) parameter for which the unit is 0.1 Hz.

FrH Parameter name: Frequency reference before ramp

Terminal display: [Frequency ref.] Logic address: 3203 = 16#0C83 Type: INT CANopen index: 2002/4 Read/write: R INTERBUS index: 5FB9/05 Unit: 0.1 Hz DeviceNet path: 71/01/04

FrO Parameter name: Frequency reference after ramp

Logic address: 9021 = 16#233D Type: INT CANopen index: 203C/16 Read/write: R INTERBUS index: 5FB9/DC Unit: 0.1 Hz DeviceNet path: 8E/01/16

Reference parameters

References (regulator)

See section “Assignment of references from a network”, page 55.

Code Description

rPC Parameter name: PID reference after ramp

Terminal display: [PID reference] Logic address: 11982 = 16#2ECE Type: UINT CANopen index: 2059/53 Read/write: R INTERBUS index: 5FB9/E8 Unit: 1 DeviceNet path: 9C/01/B7

rPF Parameter name: PID regulator feedback reference

Terminal display: [PID feedback] Logic address: 11981 = 16#2ECD Type: UINT CANopen index: 2059/52 Read/write: R INTERBUS index: 5FB9/E7 Unit: 1 DeviceNet path: 9C/01/B6

rPE Parameter name: PID regulator discrepancy

Terminal display: [PID error] Logic address: 11980 = 16#2ECC Type: INT CANopen index: 2059/51 Read/write: R INTERBUS index: 5FB9/E6 Unit: 1 DeviceNet path: 9C/01/B5

rPO Parameter name: PID regulator limit output reference

Terminal display: [PID Output] Logic address: 11983 = 16#2ECF Type: INT CANopen index: 2059/54 Read/write: R INTERBUS index: 5FB9/E9 Unit: 0.1 Hz DeviceNet path: 9C/01/B8

Measurement parameters

Input measurements

Code Description

ULn Parameter name: Power supply voltage

Terminal display: [Mains voltage] Logic address: 3207 = 16#0C87 Type: UINT CANopen index: 2002/8 Read/write: R INTERBUS index: 5FB9/09 Unit: 0.1 V DeviceNet path: 71/01/08

IPr Parameter name: Power consumed by the drive

Terminal display: [Input Power] Logic address: 3218 = 16#0C92 Type: UINT CANopen index: 2002/13 Read/write: R INTERBUS index: 5FB9/11 Unit: 0.01 kW (drives y 75 kW)

1 kW (drives > 75 kW)

DeviceNet path: 113/01/19

IPHr Parameter name: Energy consumed by the drive

Terminal display: [Consumption] Logic address: 3237 = 16#0CA5 Type: UINT CANopen index: 2002/26 Read/write: R INTERBUS index: 5FB9/1B Unit: According to UNT parame t er, DeviceNet path: 71/01/26

page

Measurement parameters

Thermal states

Code Description

tHd Parameter name: Drive thermal state

Terminal display: [Drv. thermal state] Logic address: 3209 = 16#0C89 Type: UINT CANopen index: 2002/A Read/write: R INTERBUS index: 5FB9/0B Unit: 1% DeviceNet path: 71/01/0A

tHr Parameter name: Motor thermal state

Terminal display: [Motor thermal state] Logic address: 9630 = 16#259E Type: UINT CANopen index: 2042/1F Read/write: R INTERBUS index: 5FB9/DF Unit: 1% DeviceNet path: 91/01/1F

tHb Parameter name: DBR thermal state

Terminal display: [DBR thermal state] Logic address: 14114 = 16#3722 Type: UINT CANopen index: 206F/F Read/write: R INTERBUS index: 5FBD/63 Unit: 1% DeviceNet path: A7/01/73

Measurement parameters

Time

Code Description

rtH Parameter name: Total motor operating time

Terminal display: [Run time] Logic address: 3231 = 16#0C9F Type: UINT CANopen index: 2002/20 Read/write: R INTERBUS index: 5FB9/15 Unit: According to UNT parameter, DeviceNet path: 71/01/20

rtHI Parameter name: Internal motor operating time

Logic address: 3232 = 16#0CA0 Type: UINT CANopen index: 2002/21 Read/write: R INTERBUS index: 5FB9/16 Unit: According to UNT parameter, DeviceNet path: 71/01/21

page

PtH Parameter name: Total drive operating time

Terminal display: [Power on time] Logic address: 3233 = 16#0CA1 Type: UINT CANopen index: 2002/22 Read/write: R INTERBUS index: 5FB9/17 Unit: According to UNT parameter, DeviceNet path: 71/01/22

tAC Parameter name: IGBT alarm time

Terminal display: [IGBT alarm counter] Logic address: 3235 = 16#0CA3 Type: UINT CANopen index: 2002/24 Read/write: R INTERBUS index: 5FB9/19 Unit: 1 s DeviceNet path: 71/01/24

dAY Parameter name: Date

Logic address: 7391 = 16#1CDF Type: UINT CANopen index: 202B/5C Read/write: R INTERBUS index: 5FB9/CE Unit: See page 95 DeviceNet path: 85/01/C0

page

tIME Parameter name: Time

Logic address: 7392 = 16#1CE0 Type: UINT CANopen index: 202B/5D Read/write: R INTERBUS index: 5FB9/CF Unit: See page 95 DeviceNet path: 85/01/C1

Measurement parameters

Code Description

PEt Parameter name: Total process operating time

Terminal display: [Proc. Operat. Time] Logic address: 3236 = 16#0CA4 Type: UINT CANopen index: 2002/25 Read/write: R/W INTERBUS index: 5FB9/1A Unit: According to UNT parame t er, DeviceNet path: 71/01/25 Same parameter as [Run time] (rtH), but can be accessed in write mode by users.

Format of "Date" and "Time" parameters

Date and time are binary-coded using the corresponding word bits indicated in the table below. Note: The value 0 for year corresponds to the year 2000 (2006 = 36, for example).

Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Year X X X X X X X

Date

Time

Month X X X X

Day X X X X X

Hours X X X X X X X X

Minutes X X X X X X X X

page

I/O parameters

Logic I/O

Code Description

IL1r Parameter name: Logic input map

Logic address: 5202 = 16#1452 Type: WORD (bit register) CANopen index: 2016/3 Read/write: R INTERBUS index: 5FB9/2B Unit: DeviceNet path: 7B/01/03

bit 0: Value of LI1

bit 1: Value of LI2

bit 2: Value of LI3

bit 3: Value of LI4

bit 4: Value of LI5

bit 5: Value of LI6

bit 6: Value of LI7 If a logic I/O extension card is installed

bit 7: Value of LI8

bit 8: Value of LI9

bit 9: Value of LI10 bit 10: Value of LI11 If an extended I/O extension card is installed. bit 11: Value of LI12

bit 12: Value of LI13 bit 13: Value of LI14 bit 14: Reserved (= 0) bit 15: Reserved (= 0)

OL1r Parameter name: Logic output map

Logic address: 5212 = 16#145C Type: WORD (bit register) CANopen index: 2016/D Read/write: R/W INTERBUS index: 5FB6/4E (reading via PCP)

5FB9/2D (writing via PCP)

DeviceNet path: 7B/01/0D

bit 0: Value of R1

bit 1: Value of R2

bit 2: Value of R3, if a logic I/O extension card is installed

bit 3: Value of R4, if an extended I/O extensio n card is installed

bit 4: Reserved (= 0)

bit 5: Reserved (= 0)

bit 6: Reserved (= 0)

bit 7: Reserved (= 0)

Unit: -

bit 8: Value of LO1 If a logic I/O extension card is installed

bit 9: Value of LO2 bit 10: Value of LO3 If an extended I/O extension card is installed bit 11: Value of LO4

bit 12: Reserved (= 0) bit 13: Reserved (= 0) bit 14: Reserved (= 0) bit 15: Reserved (= 0)

The relay or logic outputs can be controlled via the network. Simply write this parameter. The outputs to be controlled must not be assigned to a drive function, otherwise the write operation has no effect.

I/O parameters

Analog inputs

Code Description

AI1C Parameter name: Physical image of analog input 1

Logic address: 5242 = 16#147A Type: INT CANopen index: 2016/2B Read/write: R INTERBUS index: 5FB9/36 Unit: 0.001 V DeviceNet path: 7B/01/2B

AI1r Parameter name: Standardized image of analog input 1

Logic address: 5232 = 16#1470 Type: INT CANopen index: 2016/21 Read/write: R INTERBUS index: 5FB9/32 Unit: 1 DeviceNet path: 7B/01/21

AI2C Parameter name: Physical image of analog input 2

Logic address: 5243 = 16#147B Type: INT CANopen index: 2016/2C Read/write: R INTERBUS index: 5FB9/37 Unit: 0.001 V or 0.001 mA DeviceNet path: 7B/01/2C The unit is:

•0.001 V if parameter [AI2 Type] (AI2t) is configured as [Voltage] (10U)

•0.001 mA if parameter [AI2 Type] (AI2t) is configured as [Current] (0A)

AI2r Parameter name: Standardized image of analog input 2

Logic address: 5233 = 16#1471 Type: INT CANopen index: 2016/22 Read/write: R INTERBUS index: 5FB9/33 Unit: 1 DeviceNet path: 7B/01/22

AI3C Parameter name: Physical image of analog input 3

Logic address: 5244 = 16#147C Type: INT CANopen index: 2016/2D Read/write: R INTERBUS index: 5FB9/38 Unit: 0.001 mA DeviceNet path: 7B/01/2D

AI3r Parameter name: Standardized image of analog input 3

Logic address: 5234 = 16#1472 Type: INT CANopen index: 2016/23 Read/write: R INTERBUS index: 5FB9/34 Unit: 1 DeviceNet path: 7B/01/23

I/O parameters

Code Description

AI4C Parameter name: Physical image of analog input 4

Logic address: 5245 = 16#147D Type: INT CANopen index: 2016/2E Read/write: R INTERBUS index: 5FB9/39 Unit: 0.001 V or 0.001 mA DeviceNet path: 7B/01/2E The unit is:

•0.001 V if parameter [AI4 Type] (AI4t) is configured as [Voltage] (10U)

•0.001 mA if parameter [AI4 Type] (AI4t) is configured as [Current] (0A)

AI4r Parameter name: Standardized image of analog input 4

Logic address: 5235 = 16#1473 Type: INT CANopen index: 2016/24 Read/write: R INTERBUS index: 5FB9/35 Unit: 1 DeviceNet path: 7B/01/24

Analog outputs

The analog outputs can be controlled via the network. Simply write these parameters. The outputs to be controlled must not be assigned to a drive function, otherwise the write operation has no effect.

Code Description

AO1C Parameter name: Physical image of analog output 1

Logic address: 5271 = 16#1497 Type: INT CANopen index: 2016/48 Read/write: R/W INTERBUS index: 5FB9/40 (reading via PCP)

5FB6/50 (writing via PCP) DeviceNet path: 7B/01/48 The unit is:

•0.001 V if parameter [AO1 Type] (AO1t) is configured as [Voltage] (10U)

•0.001 mA if parameter [AO1 Type] (AO1t) is c on figured as [Current] (0A)

AO1r Parameter name: Standardized image of analog output 1

Logic address: 5261 = 16#148D Type: INT CANopen index: 2016/3E Read/write: R/W INTERBUS index: 5FB9/3D (reading via PCP)

5FB6/4F (writing via PCP) DeviceNet path: 7B/01/3E

Unit: 0.001 mA or 0.001 V

Unit: 1

AO2C Parameter name: Physical image of analog output 2

Logic address: 5272 = 16#1498 Type: INT CANopen index: 2016/49 Read/write: R/W INTERBUS index: 5FB9/41 (reading via PCP)

5FB6/52 (writing via PCP) DeviceNet path: 7B/01/49 The unit is:

•0.001 V if parameter [AO2 Type] (AO2t) is configured as [Voltage] (10U) or [Voltage +/-] (n10U)

•0.001 mA if parameter [AO2 Type] (AO2t) is c on figured as [Current] (0A)

Unit: 0.001 mA or 0.001 V

I/O parameters

Code Description

AO2r Parameter name: Standardized image of analog output 2

Logic address: 5262 = 16#148E Type: INT CANopen index: 2016/3F Read/write: R/W INTERBUS index: 5FB9/3E (reading via PCP)

5FB6/51 (writing via PCP) DeviceNet path: 7B/01/3F

AO3C Parameter name: Physical image of analog output 3

Logic address: 5273 = 16#1499 Type: INT CANopen index: 2016/4A Read/write: R/W INTERBUS index: 5FB9/42 (reading via PCP)

5FB6/54 (writing via PCP) DeviceNet path: 7B/01/4A The unit is:

•0.001 V if parameter [AO3 Type] (AO3t) is configured as [Voltage] (10U) or [Voltage +/-] (n10U)

•0.001 mA if parameter [AO3 Type] (AO3t) is c on figured as [Current] (0A)

AO3r Parameter name: Standardized image of analog output 3

Logic address: 5263 = 16#148F Type: INT CANopen index: 2016/40 Read/write: R/W INTERBUS index: 5FB9/3F (reading via PCP)

5FB6/53 (writing via PCP) DeviceNet path: 7B/01/40

Unit: 1

Unit: 0.001 mA or 0.001 V

Unit: 1

Encoder

Code Description

PUC Parameter name: Pulse counter

Logic address: 5611 = 16#15EB Type: UINT CANopen index: 201A/C Read/write: R INTERBUS index: 5FB9/44 Unit: 1 DeviceNet path: 7D/01/0C

Fault parameters

Code Description

Errd Parameter name: CiA402 fault code

CiA402 name: Error code DRIVECOM name: Malfunction code Logic address: 8606 = 16#219E Type: WORD (listing) CANopen index: 603F/0 Read/write: R INTERBUS index: 603F/0 Unit: DeviceNet path: 29/01/0D (1)

8C/01/07 (2) (1) ODVA standard path. It can be used for explicit messaging. Do not use it for configuring an assembly.

(2) Altivar path. To ensure better interchangea bilit y, avoid us ing i t for expl ic it mes sagi ng. Thi s is t he path th at must be us ed

for configuring an assembly.

Parameter conforming to CiA402 profile

Last fault that occurred. This parameter retains its value after the fault has disappeared and been acknowledged.

16#0000: No fault written to memory (nOF) 16#1000: Pre-charge relay control fault or charging resistor damaged (CrF1)

or excessive motor current (OLF) or motor overspeed fault (SOF) or short-circuit output from braking unit (bUF) or braking resistor under excessive stress (bOF) or short-circuit or grounding at the drive output (HdF)

or internal microprocessor fault (InFE) 16#2230: Power component fault (SCF4) 16#2310: Overcurrent fault (OCF) 16#2311: Process overload (OLC) 16#2320: Short-circuit or grounding at the drive output (SCF1, SCF2, SCF5) 16#2330: Ground short-circuit (SCF3) 16#3110: Line supply overvoltage fault (OSF) 16#3120: Line supply undervoltage fault (USF) 16#3130: Input phase loss fault (PHF) 16#3310: DC bus overvoltage fault (ObF)

or 1 output phase loss fault (OPF1)

or 3 output phase loss fault (OPF3) 16#4210: Drive overheat fault (OHF, tJF) 16#4310: Overheating of motor probes detected (OtF1, OtF2, OtFL) 16#5000: Initialization of the drive is incomplete (InF7)

or fault on the electronic time measurement component (InFC)

or output contactor fault (FCF1, FCF2)

or line contactor fault (LCF)

or DC bus charging fault (thyristors) (CrF2) 16#5100: The control section power supply is incorrect (InF8) 16#5210: Current measurements are incorrect (InF9)

or input stage not operating correctly (InFA)

or drive temperature sensor not operating correctly (InFb) 16#5530: EEPROM non-volatile memory fault (EEF, EEF2) 16#6100: Internal fault (InF, InF1, InF2, InF3, InF4, HCF) 16#6300: Incorrect configuration (parameters) (CFF)

or invalid configuration (CFI)

or inconsistency between control card and power card (PtrF) 16#7000: The option installed in the drive is not recognized (InF6) 16#7300: Loss of the 4-20 mA reference on analog input AI2 (LFF2, LFF3, LFF4)

or non-conforming signal on analog input AI2(AI2F)

or PTC probes open or short-circuited (PtF1, PtF2, PtFL) 16#7310: Encoder feedback fault (EnF)

or encoder feedback signal missing (SPF) 16#7510: Modbus communication fault (SLF1)

or fault communicating with the graphic display termi nal (SLF3) 16#7520: Communication fault between option card and drive (ILF)

or communication fault on communication card (CnF)

100

Schneider Electric 61 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

Document structure and directions for use

Presentation

Software enhancements

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

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

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

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

Notations

Description of parameters

Drive terminal displays

Profiles

What is a profile?

Functional profiles supported by Altivar 61 drives

I/O profile

Definition

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

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

Status word (ETA)

CiA402 profile

Functional description

CiA402 state chart

Description of states

Control word (CMD)

Status word (ETA)

Starting sequence

Sequence for a drive powered by the power section line supply

Sequence for a drive with separate control section

Sequence for a drive with line contactor control

Command/reference switching

Channels

Not separate mode

Separate mode

Switching in not separate mode

Switching in separate mode

Channel switching

Reference switching principle

Command switching principle

Assigning control word bits

Copy on switching

Forced local mode

Definition

Forced local mode and reference switching

Forced local mode and command switching

Priority stops

Priority stops on the graphic display terminal

Priority stops via the terminals or the network

Communication monitoring

Principle

Network monitoring criteria

Behavior in the event of a network fault

Detailed operation

Assignment of references from a network

Reference parameters

Without PID regulator

With PID regulator

Configuration saving and switching

Saving the configuration

Restore configuration

Configuration switching via control word

Configuration switching by selection

Parameter set switching

Loading drive parameters

Requirement

Procedure

Command parameters

Setpoint parameters

Status parameters

Output value parameters

Output values (speed)

Output values (torque)

Output values (motor)

Reference parameters

References (speed)

References (regulator)

Measurement parameters