Schneider Electric ATV71 parameters [EN]

2354235 11/2008

Altivar 71

Communication parameters

User manual

Software V2.7

11/2009

1755861

www.schneider-electric.com

Contents

Document structure and directions for use__________________________________________________________________________ 5
Presentation _________________________________________________________________________________________________ 7
Software enhancements ________________________________________________________________________________________ 9

Enhancements made to version V1.2 in comparison to V1.1 _____________________________________________________ 9
Enhancements made to version V1.6 in comparison to V1.2 ____________________________________________________ 10
Enhancements made to version V2.5 in comparison to V1.6 ____________________________________________________ 10
Enhancements made to version V2.7 in comparison to V2.5 ____________________________________________________ 10

Notations___________________________________________________________________________________________________ 11

Description of parameters _______________________________________________________________________________ 11
Drive terminal displays __________________________________________________________________________________ 11

Profiles ____________________________________________________________________________________________________ 12

What is a profile? ______________________________________________________________________________________ 12
Functional profiles supported by the Altivar 71 _______________________________________________________________ 13

I/O profile __________________________________________________________________________________________________ 14

Definition ____________________________________________________________________________________________ 14
Control word - run on state [2 wire] (2C) ____________________________________________________________________ 16
Control word - run on edge [3 wire] (3C) ___________________________________________________________________ 17
Status word (ETA) _____________________________________________________________________________________ 18
Example: I/O profile with positioning by sensors function _______________________________________________________ 19

CiA402 profile_______________________________________________________________________________________________ 21

Functional description __________________________________________________________________________________ 21
CiA402 state chart _____________________________________________________________________________________ 22
Description of states ___________________________________________________________________________________ 23
Control word (CMD) ____________________________________________________________________________________ 25
Status word (ETA) _____________________________________________________________________________________ 27
Starting sequence _____________________________________________________________________________________ 28
Sequence for a drive powered by the power section line supply __________________________________________________ 29
Sequence for a drive with separate control section ____________________________________________________________ 31
Sequence for a drive with line contactor control ______________________________________________________________ 34

Command/reference switching__________________________________________________________________________________ 37

Channels ____________________________________________________________________________________________ 37
Not separate mode ____________________________________________________________________________________ 38
Separate mode _______________________________________________________________________________________ 38
Switching in not separate mode ___________________________________________________________________________ 39
Switching in separate mode ____________________________________ __________________________________________ 39
Channel switching _____________________________________________________________________________________ 40
Reference switching principle ____________________________________________________________________________ 42
Command switching principle _______________________________________________________________ _____________ 43
Assigning control word bits ______________________________________________________________________________ 44
Example: I/O profile with positioning by sensors function _______________________________________________________ 47
Copy on switching _____________________________________________________________________________________ 49

Forced local ________________________________________________________________________________________________ 50

Definition ____________________________________________________________________________________________ 50
Forced local mode and reference switching _________________________________________________________________ 51
Forced local mode and command switching _________________________________________________________________ 52

Priority stops________________________________________________________________________________________________ 54

Priority stops on the graphic display terminal ________________________________________________________________ 54
Priority stops via the terminals or the network ________________________________________________________________ 54

Communication monitoring_____________________________________________________________________________________ 56

Principle _____________________________________________________________________________________________ 56
Network monitoring criteria ______________________________________________________________________________ 56
Behavior in the event of a network fault _____________________________________________________________________ 57
Detailed operation _____________________________________________________________________________________ 58

Assignment of setpoints from a network___________________________________________________________________________ 60

Setpoint parameters ___________________________________________________________________________________ 60
Without PID regulator __________________________________________________________________________________ 61
With PID regulator _____________________________________________________________________________________ 62

Configuration saving and switching ______________________________________________________________________________ 63

Saving the configuration ________________________________________________________________________________ 63
Restore configuration ___________________________________________________________________________________ 65
Configuration switching via control word ____________________________________________________________________ 66

Configuration switching by selection _______________________________________________________________________ 70
Parameter set switching_______ ___________________________________________________ _____________________________ 72
Loading drive parameters______________________________________________________________________________________ 77

Requirement _________________________________________________________________________________________ 77

Procedure ___________________________________________________________________________________________ 77
Command parameters ________________________________________________________________________________________ 79
Setpoint parameters__________________________________________________________________________________________ 82

1755861 11/2009 3

Sommaire

Status parameters ___________________________________________________________________________________________ 84
Output value parameters ______________________________________________________________________________________ 92

Output values (speed) __________________________________________________________________________________ 92

Output values (torque) ________________________________________ __________________________________________ 93

Output values (motor) __________________________________________________________________________________ 94
Reference parameters ________________________________________________________________________________________ 96

References (speed) ____________________________________________________________________________________ 96

References (torque) ____________________________________________________________________________ ________ 97

Reference (regulator) ___________________________________________________________________________________ 98
Measurement parameters______________________________________________________________________________________ 99

Input measurements ___________________________________________________________________________________ 99

Thermal states ________________________________________________________________________________________ 99

Time _______________________________________________________________________________________________ 100
I/O parameters _____________________________________________________________________________________________ 102

Logic I/O ___________________________________________________________________________________________ 102

Analog inputs ________________________________________________________________________________________ 103

Analog outputs _______________________________________________________________________________________ 104

Encoder ____________________________________________________________________________________________ 105
Fault parameters____________________________________________________________________________________________ 106
Log parameters_____________________________________________________________________________________________ 113

Log of the following faults ______________________________________________________________________________ 117
Identification parameters _____________________________________________________________________________________ 121
CiA402 standard configuration and adjustment parameters_______________________________________________ ____________ 124
ODVA standard configuration and adjustment parameters ___________________________________________________________ 128
Index of parameters codes____________________________________________________________________________________ 129

4 1755861 11/2009

Document structure and directions for use

Installation Manual

This manual describes:

• Assembly

• How to connect the drive

Programming Manual

This manual describes:

• Functions

• Parameters

• How to use the drive's display terminal (integrated display terminal and graphi c 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 to this manual.

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

-Code

-Name

- Addresses: logic, CANopen, INTERBUS, Device Net

- Category

- Read/write access

- Type: signed numerical, unsigned numerical, etc.

-Unit

- Factory setting

- Minimum value

- Maximum value

- Display on the graphic display terminal and the 7-segment integrated display termi nal

- Relevant menu

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. For information about the drive and its programming, refer to the Programming Manual.

2. For information about communication and its programming, refer to the Parameters Manual.

3. Use the Parameters file to define any addresses and values of the adj ustment and configuration parameters to be modified through

communication.

The section entitled "Loading drive parameters" on page 77
through communication.

describes the recommended procedure for loading parameters

Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO, Modbus Plus and Device Net
manuals

These manuals describe:

• Assembly

• Connection to the bus or network

• Diagnostics

• Configuration of the communication-specific parameters via the integrated display terminal or graphic display terminal

They describe the protocol communication services in detail.

"Controller Inside" Manual

This manual describes, for the "Controller Inside" card:

• Assembly

• Connection

• Functions

• Configuration

1755861 11/2009 5

Documentation structure

Altivar 58/58F Migration Manual

This manual describes the differences between the Altivar 71 and the Altivar 58/58F.
It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.

Note: This Parameters Manual describes the parameters of the Altivar 71 profiles.

It does not describe the Altivar58/58F compatibility parameters (SE8 profile).

These are detailed in the Altivar 58/58F Communication Variables Manual and the Migration Manual.

Altivar 78 Migration Manual

This manual describes the differences between the Altivar 71 and the Altivar 78.
It explains how to replace an Altivar 78.

6 1755861 11/2009

Presentation

2

1

3

1

2

1
3

Magelis XBT Premium

FTM FTM

ATV 31

ATV 71

Sensors Sensors

Example of configuration on the CANopen bus

The Altivar 71 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 71 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 58 and Altivar 58F drives are compatible
with the Altivar 71 (2):

- Connection

- Communication services

- Drive behavior (profile)

- Control and monitoring parameters

- Basic adjustment parameters

The PowerSuite software workshop supports the transfer of configurations from
Altivar 58 and Altivar 58F drives to the Altivar 71.

(1) If the CANopen adapter is installed, Modbus will not be available on the network port .
(2) Please refer to the ATV 58(F)/ATV 71 Migration Manual supplied on the documentation CD-ROM.

1755861 11/2009 7

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 command 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 71 drive's advanced functions can be used to manage switching of these command and reference sources according to
application requirements.

The periodic communication variables can be selected via:

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

• The Altivar 71’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 71 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.

8 1755861 11/2009

Software enhancements

Since the Altivar ATV71 was first launched, it has benefited from the addition of several new functions. Software version has now been
updated to V2.7. The new version can be substituted to the previous versions without making any changes.
Although this documentation relates to versi on V2.7, it can st ill be used with previ ous versions, as the update s merely invol ves t he additi on
of new values and parameters. None of the previous versions 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

Factory setting

Note 1: In version V1.1, the analog input was 0 ± 10 V. For safety reasons, this input is co nfigured as 0 + 10 V in the new versi on.
Note 2: In version V1.1, the analog output AO1 was assigned to the motor frequency. In the new version, this output is not

assigned.
Except for these two parameters, the factory setting of version V1.1 is retained in the new version. The new functions are inactive in the
factory setting.

Motor frequency range

The maximum output frequency range is extended from 1000 to 1600 Hz (depending on rating and selected control profile).

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

• [rpm increment] (InSP)

• Extension to all drive ratings of the following configurat ions, formerly limited to 45 kW for ATV7 1
synchronous motor [Sync. mot.] (SYn), sinus filter [Sinus filter] (OFI), noise reduction [Noise reduction] (nrd), braking balance [Braking

balance] (bbA).

pppM3X and 75 kW for ATV71pppN4:

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

• Input AI1 becomes configurable as 0 + 10 V or 0 ± 10 V using [AI1 Type] (AI1t).

• [AI net. channel] (AIC1)

• New options for assigning relays and logic outputs: rope slack, torque greater than high threshold, torque less than low threshold,
motor rotating in forward direction, motor rotating in reverse, measured speed th reshold attained, and load variation detection.

• Analog output AO1 becomes usable as a logic output and can be assigned to the relay and logic output functions.

• New option of modifying the scaling of the analog outputs using the parameters [Scaling AOx min] (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: rope slack, torque greater than high threshold, torque less than low threshold, measured
speed threshold attained, and load variation detection.

1755861 11/2009 9

Software enhancements

[1.7 APPLICATION FUNCT.] (Fun-) menu

• The summing, subtraction and multiplier reference functions become assignable to the network analog 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.

• New parameter: Brake engage at controlled zero speed [Brake engage at 0] (b ECd).

• The weight sensor [Weight sensor ass.] (PES) becomes assignable to the network analog input [Network AI] (AIU1).

• New "rope slack" function, with the parameters [Rope slack config.] (rSd) and [Rope slack trq level] (rStL).

• Use of the ramp [Acceleration 2] (AC2) during PID function starts and wake-ups.

• Torque limitation [TORQUE LIMITATION] (tOL-) becomes configurable as a % or 0.1% using [Torque increment] (IntP) and can be
assigned to the network analog input [Network AI] (AIU1).

• New "stop at calculated distance after end of slowdown travel" function, wit h the parameters [Stop distance] (Std), [Rated linear

speed] (nLS) and [Stop corrector] (SFd).

• Positioning by sensor or limit switch [POSITIONING BY SENSORS] (LPO-) becomes configurable as positive or n egative logic usi ng

[Stop limit config.] (SAL) and [Slowdown limit cfg.] (dAL).

• Parameter switchi ng [PARAM.] (MLP-) becomes assignable to attained frequency thresholds [Freq. Th. attain.] (FtA) and

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

• New half floor function: [HALF FLOOR] (HFF-) menu.

[1.8 FAULT MANAGEMENT] (FLt-) menu

• Option of reinitializing the drive without switching it off, using [Product reset] (rP).

• Option of reinitializing the drive using a logic input without switching it off, using [Product reset assig.] (r PA).

• Option of configuring the "output phase loss" fault [Output Phase Loss] (OPL) to [Output cut] (OAC) is extended to all drive ratings
(formerly limited to 45 kW for ATV71

• The external fault [EXTERNAL FAULT] (EtF-) becomes configurable as positive or negative logic using [External fault config] (LEt).

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

• New load variation detection function, using the [DYNAMIC LOAD DETECT.] (dLd-) menu.

• The braking unit short-c i rc uit fault becomes configurable u si n g [Brake res. fault Mgt] bUb).

pppM3X and 75 kW for ATV71pppN4).

[7 DISPLAY CONFIG.] menu

• Addition in [7.4 TERMINAL ADJUSTMENT] of the [CONTRAST] and [STANDBY] parameters for adjusting the contrast of the graphic
display unit and setting it to standby.

Enhancements made to version V1.6 in comparison to V1.2

Extension of the range with addition of the drives ATV71pppY for network 500 to 690 V.
There are no new parameters, but 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.

Enhancements made to version V2.5 in comparison to V1.6

[1.3 SETTINGS] (SEt-) menu

• New parameters [Skip Frequency] (JPF), [Skip Frequency 2] (JF2) and [3rd Skip Frequency] (JF3) allow to avo id critical speed which
generate resonances.

• New parameter [Skip.Freq.Hysteresis] (JFH) to adjust the range of skip frequency.

• Possibility to adjust the parameter [Torque ratio] (trt) (visible too in [TORQUE CONTROL] (tOr-) menu).

Important :

For V2.5 version, the behaviour of the following functions is different from the previous when type of stop "freewheel" is selected (factory
value):

• [LIMIT SWITCHES] (LSt-) function,

• [POSITIONING BY SENSORS] (LPO-) function,

• "shutdown" command by communication (see CiA402 state chart in communication parameters manual).

Actually, on previous versions, type of stop "freewheel" was not well done.

Enhancements made to version V2.7 in comparison to V2.5

[7 DISPLAY CONFIG.] menu

Addition in [7.4 KEYPAD PARAMETERS] of [Power up menu]. This parameter allows to choose the menu which displays on the drive on
power up.

[1.3 SETTINGS] (SEt-) menu

The adjustment range of [Time to restart] (ttr) can now be configured between 0.00 and 15.00 seconds.

10 1755861 11/2009

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 the Modbus messaging (RS485 and Ethernet TCI/IP) and the PKW indexed periodic variables (Fipio,
Profibus DP), in decimal and hexadecimal (preceded by 16#).
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 fo rmat, to be used for va riabl e assign ment of PDOs and SDO messagi ng

• 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).

1755861 11/2009 11

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

•...

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

• Parameters (name, format, unit, type, etc.)

• Periodic I/O variables

• State chart(s)

•...

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
CanInAutomation.
Some protocols also support the ODVA (Open DeviceNet Vendor Association) profile.

Application profiles

Application profiles define in their entirety the services to be provided by the devices on a machine. For example, "CiA DSP 417-2 V 1.01
part 2: CANopen application profile for lift control systems - virtual device definitions".

Interchangeability

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

12 1755861 11/2009

Profiles

Functional profiles supported by the Altivar 71

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 71, 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 71 supports the CiA402 profile’s "Velocity mode".

In the CiA402 profile, there are two modes that are specific to the Altivar 71 and characterize command and reference management (see
section “Command/reference switching”, page 37

• 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.

1755861 11/2009 13

I/O profile

C201

C202

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

A

B

CANopen control word

Function

C201

C202

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

A

B

LI2

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

LI14

LI13

C

CANopen control word

Terminals

Function

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:

Fixed assignment to terminals and on CANopen: :

14 1755861 11/2009

I/O profile

C201

C202

C401

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

A

B

LI2

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

LI14

LI13

C

Stop

CANopen control word

Terminals

Function

"Controller Inside" control word

Fast stop

C201

Cd02

LI5

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

LI14

LI13

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

LI2

A

B

C

CANopen control word

Terminals

Function

CANopen

Terminals

Command

switching

CCS

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

Fixed assignment to terminals and on CANopen with command switching:

1755861 11/2009 15

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 wo rds.
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).

16 1755861 11/2009

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).

1755861 11/2009 17

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 information, see section “CiA402 profile”, page21.

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)

Reserved

(= 0 or 1)

18 1755861 11/2009

I/O profile

tEr
LCC

CAn

Mdb

nEt
APP

tEr
LCC

CAn

Mdb

nEt
APP

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

C201

LI4

LI6

LI5

LI8

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

LI14

LI13

CANopen control word

Terminals

Command channel 1

Cd1

Forward

Positioning
by sensors

Reverse

Disabling of sensors

Forward stop sensor
Reverse stop sensor
Forward slowdown sensor
Reverse slowdown sensor

Example: I/O profile with positioning by sensors function

Please refer to the [1.7 APPLICATION FUNCT.] (FUn-) section of the Programming Manual, under "Positioning by sensors".

In this example, a PLC is used to control the transfer of parts on a conveyor composed of transfer tables. Each table is controlled by a
variable speed drive. The PLC and the drives are connected via a CANopen network.

The PLC controls the operation of the installation via the CANopen bus.

The drive uses the stop sensor to inhibit transfer of the part if the next table is unavailable. In this case, the PLC enables the sensors.
If the next table is free, the drive transfers the part without stopping. In this case, the PLC disables the sensors.

The stop sensor is directly connected to the drive terminals.
The slowdown sensor, which is also directly connected (to the drive) enables a more precise st op.

Configuration schematic diagram:

1755861 11/2009 19

I/O profile

Configure the following parameters:

Parameter Value Comment
Type of command On state (2 wire) The run command is obtained via bit 0 of the CANopen control
Profile I/O profile
Reference 1 configuration CANopen The reference comes from the CANopen card.
Command 1 configuration CANopen The command comes from the CANopen card.
Assignment of stop sensor Input LI4
Assignment of slowdown sensor Input LI5
Assignment of sensor disable command Bit 1 of CANopen control

word

Configuration via the remote graphic display terminal:

Menu Parameter Value

[1.5 INPUTS / OUTPUTS CFG] (I-O-) [2/3 wire control] (tCC ) [2 wire] (2C)
[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref. 1 channel] (Fr1) [CANopen] (CAn)
[Cmd channel 1] (Cd1) [CANopen] (CAn)

[1.7 APPLICATION FUNCT.] (FUn-)
[POSITIONING BY SENSORS] (LPO-)

[Stop FW limit sw.] (SAF) [LI4] (LI4)
[Slowdown forward] (dAF) [LI5] (LI5)
[Disable limit sw.] (CLS) [C201] (C201)

word.

Note: On a [2 wire] (2C) state command, the forward command is automatically assigned to bit 0 of the CANopen control word.

20 1755861 11/2009

CiA402 profile

Controlword

(6040)

Statusword
(6041)

Statemachine

M

3

vl_target_velocity

(6042)

vl_velocity_demand

(6043)

Limit Ramp

Power device

vl_velocity_acceleration (6048)
vl_velocity_acceleration (6049)

vl_velocity_min_max amount (6046)

vl_control_effort

(6044)

Control word

(CMD)

Status word
(ETA)

State machine

M

3

Speed reference

(LFRD)

Speed reference

after ramp

(FRHD)

Reference limit Ramp

Power

module

Acceleration delta speed (SPAL)
Acceleration delta time (SPAT)
Deceleration delta speed (SPDL)
Deceleration delta time (SPDT)

Velocity min amount (SMIL)

Velocity max amount (SMAL)

Output speed

(RFRD)

Functional description

b Drive operation involves two main functions, which are illustrated in the two diagrams below (the values in brackets are the CANopen

addresses of the parameters):

• Control diagram:

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

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:

• Control diagram:

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

1755861 11/2009 21

CiA402 profile

Fault

Power section line supply present or absent

Power section line supply present

Transition condition

with example of command

Value of
status word

Power
absent

Power
present

Status display on
graphic display terminal

State

Key:

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

Enable

operation

CMD=16#xxxF

Switched on

Ready to switch on

or

Switched on

Operation enabled

Power absent
or present

Enable

operation

CMD=16#xxxF

Disable
operation
CMD=16#0007
or
fast stop

Quick stop

CMD=16#0002

Quick stop active

Switch on

CMD=16#xxxF

Shutdown
CMD=16#0006

Switch on

CMD=16#0007

Shutdown
CMD=16#0006

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

If Quick stop option code
= 2:
transition after stop.
If Quick stop option code
= 6:

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

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

Shutdown

CMD=16#0006

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

or

Switch on disabled

Fault disappeared

and faults reset
CMD=16#0080

Not ready to switch on

Entry into

state chart

Fault reaction active

From all states

Fault

Fault

CiA402 state chart

22 1755861 11/2009

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 - Switched on".
For a separate control section with line contactor, the contac tor is not controlled.

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 command "4 - Enable operation" must be taken into consideration only if the channel is valid (see Communication monitoring

page 56
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 ch anges to "4 - Switche d on" and s tops i n free wheel st op.

• If the "Disable operation option code" parameter has the value 1, the drive stops on ramp and then changes to "4 - Switched on".

1755861 11/2009 23

). In particular, if the channel is involved in the command and the reference, transition 4 will take place only after the

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 state "2 - Switch on disabled" depends on the value of the parameter "Quick stop option code" (QSTD):

• If the "Quick stop option code" parameter has the value 2, the drive stops according t o the fast st op ramp and then chang es to s tate
"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 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

No

-

24 1755861 11/2009

CiA402 profile

Control word (CMD)

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

Fault reset

Enable operation

Quick stop Enable voltage

Switch on

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

Ack. fault

Assignable Assignable Assignable Assignable

Command

Shutdown 2, 6, 8

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

operation

operation

Disable voltage 7, 9, 10, 12

Quick stop

Fault reset 15

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

bit7 bit3 bit2 bit1 bit0

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

Disable

Transition

address

4

5 4 - Switched on x 0 1 1 1 16#0007

11

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

Run command

By default,
direction of

rotation

command.

Enable

operation

Quick

Emergency

stop

Reserved (=0) Reserved (=0)

Enable

stop

voltage

Authorization

to supply AC

power

Switch on

Example value

Contactor

control

Halt

Halt

x: Value is of no significance for this command.

0 V 1: Command on rising edge.

1755861 11/2009 25

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), or [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 equipment 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).

26 1755861 11/2009

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 (=0)

Voltage
enabled

Power section

line supply

present

Fault

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)

bit6 bit5 bit4 bit3 bit2 bit1 bit0

Status

1-Not ready to

switch on

2 -Swi tch on

disabled

3 -Ready to

switch on

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

enabled

6 -Qui ck stop

active

7 - Fault reaction

active

8-Fault 0xx1000

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

0xx0000 -

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

0xx1111 -

Quick

stop

Voltage
enabled

Fault

Operation

enabled

Switched onReady to

switch on

ETA

masked by

16#006F

16#0008

or 16#0028

(1)

(2)

(2)

Fault following state "6 - Quick stop active".

1755861 11/2009 27

CiA402 profile

M MM M

Power section

line supply

Power section

line supply

Control section

power supply

Direct

Not separate

(1)

Direct

Separate

Line contactor

controlled by the drive

Separate

DRIVE DRIVE DRIVE

Power section

line supply

Power section

line supply

Control section

power supply

Control section

power supply

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 :

(1)

The power section supplies the control section.

28 1755861 11/2009

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

line supply

Bus or network

DRIVE

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

From all states

Shutdown

Disable voltage
or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

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

1755861 11/2009 29

CiA402 profile

M

2

3

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5

6

8

7

4

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

From all states

Switch on

Disable voltage
or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

Power section

line supply

Bus or network

DRIVE

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).

Note: It is possible, but not necessary, to send the "3 - Switch on" command followed by the "4 - Enable Operation" command to switch

successively into the states "3 - Ready to Switch on", "4 - Switched on" and then "5 - Operation Enabled".
The "4 - Enable operation" command is sufficient.

30 1755861 11/2009

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

line supply

Bus or network

DRIVE

Control section

power supply

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

Shutdown

Disable voltage
or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

From all states

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

1755861 11/2009 31

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

line supply

Bus or network

DRIVE

Control section

power supply

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

From all states

Shutdown Disable voltage

or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

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

32 1755861 11/2009

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

line supply

Bus or network

DRIVE

Control section

power supply

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

From all states

Shutdown Disable voltage

or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

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).

1755861 11/2009 33

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

line supply

Bus or network

DRIVE

Control section

power supply

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

Shutdown

Disable voltage
or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

From all states

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

34 1755861 11/2009

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

line supply

Bus or network

DRIVE

Control section

power supply

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

From all states

Shutdown

Disable voltage
or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

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.

1755861 11/2009 35

CiA402 profile

M

2

3

4

5

6

7

1

11

9

8

12

10

15

14

13

0

1

2

3

4

5 6

8

7

Power section

ine supply

Bus or network

DRIVE

Control section

power supply

Not ready to

switch on

Entry into state chart

Switch on

disabled

Ready to

switch on

Switched on

Operation

enabled

Quick stop

active

Fault

Fault reaction

active

From all states

Shutdown

Disable voltage
or Quick stop

Shutdown

Disable
operation

Disable
voltage

Enable

operation

Shutdown

Switch on

Disable voltage

or Quick stop

Quick stop

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).

36 1755861 11/2009

Command/reference switching

Channels

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

The 6 Altivar 71 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 71 has 2 integrated Modbus ports. These 2 ports are physicall y independent of one an other but together constitut e a single 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 71 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 setpoint (rpm) LFrd LFd1 LFd2 LFd3 LFd4
Frequency setpoint (0.1 Hz) LFr LFr1 LFr2 LFr3 LFr4
Torque setpoint Ltr Ltr1 Ltr2 Ltr3 Ltr4
PID regulator setpoint PISP PIr1 PIr2 PIr3 PIr4
Multiplying coefficient MFr MFr1MFr2MFr3MFr4

Modbus CANopen

Communication

card

Controller

inside

1755861 11/2009 37

Command/reference switching

-10V

+10V

TERMINALS

ReferenceCommand

Digital

reference

TERMINALS

ReferenceCommand

CANopen

CANopen

Not separate mode

Command and reference come from the same channel.

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

Menu Parameter Value

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

Separate mode

Command and reference may come from different channels.

In CiA402 profile, 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)

38 1755861 11/2009

Command/reference switching

-10V

+10v

CANopen

CANopen

Control register

TERMINALS

ReferenceCommand

Digital reference

TERMINALS

ReferenceCommand

CANopen

CANopen

Digital reference

-10V

+10V

Switching in not separate mode

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

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.

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

1755861 11/2009 39

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 command 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)

40 1755861 11/2009

Command/reference switching

V

V

V

V

V

V

V

V

V

V

Switches

A channel switch is used to select predefined channels.

It can be:

• Defined via configuration

• Actuated either by 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 (separate mode) profiles, 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 separa t e m o de ) switching is simultaneous:

Type Channel 1 Channel 2 Switching

Function reference 1 or 1B

Reference
and
Command

1755861 11/2009 41

[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

rCb

rFC

Fr1
Fr2
LIpp
C1pp
C2pp
C3pp
C4pp

Fr1
Fr1b
LIpp
C1pp
C2pp
C3pp
C4pp

Fr1

CANopen

RØseau

AI1C
AI2C

LFr1
LFr2
LFr3

AI2

Modbus

AI1

TerminalLFr

Controller

LFr4

Fr1

AI1C
AI2C AI2

AI1

LFr

Fr1b

AI1C
AI2C

LFr1
LFr2
LFr3

AI1
AI2

LFr

LFr4

Fr2

AI1C
AI2C

LFr1
LFr2
LFr3

AI1
AI2

LFr

LFr4

Reference channel 1

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 1B

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 2

Display terminal

Modbus

CANopen

Network

Controller

Function
reference
switching

Application
function output
reference

Direct
reference 2

Direct reference
switching

Reference

limit

Ramp

Function

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

42 1755861 11/2009

Command/reference switching

CCS

Cd1
Cd2

LIpp
C1pp
C2pp
C3pp
C4pp

Cd1

RUN/STOP

FWD/REV

CANopen

RØseau

LIx

CMD1
CMD2
CMD3

Terminal

Modbus

ControllerCMD4

Cd2

RUN/STOP

FWD/REV

LIx

CMD1
CMD2
CMD3

Terminal

ControllerCMD4

Bornier

Command channel 1

Command
switching

Command channel 2

Run
Stop
Forward
Reverse

Terminals

Display terminal

Modbus

CANopen

Network

Controller

Terminals

Display terminal

Modbus

CANopen

Network

Controller

rFC

Fr1

LIx

AI1

AI2

RUN/STOP

FWD/REV

CMD1
CMD2
CMD3
CMD4

LIx

Fr2

LIx

RUN/STOP

FWD/REV

CMD1
CMD2
CMD3
CMD4

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

AI1
AI2

Reference channel 1

(1)

Direct
reference
switching

(1)

Reference channel 2

(1)

Run
Stop
Forward
Reverse

Display terminal

Modbus

CANopen

Network

Controller

Display terminal

Modbus

CANopen

Network

Controller

Command switching principle

A detailed description is given in the Programming Manual.

I/O profile or CiA402 profile (separate mode)

CiA402 profile (not separate mode)

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

1755861 11/2009 43

Command/reference switching

C201

Cd02

LI5

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

LI14

LI13

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

LI2

A

C

B

CANopen control word

Terminals

Function

CANopen

Terminals

Command

switching

CCS

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

44 1755861 11/2009

Command/reference switching

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

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

In all macro configurations, bit 1 is assigned by default to the operating direction command [Reverse assign.] (rrS).

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 ---

Switched

assignment

Drive

terminals

Logic I/O card

Extended

I/O card

Fixed assignments

Integrated

Modbus

C115 C215 C315 C415

CANopen Network card

"Controller

Inside" card

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

In all macro configurations, bit 2 is assigned by default to the operating direction command [Reverse assign.] (rrS).

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

Switched

assignment

Drive

terminals

Logic I/O card

Extended

I/O card

Fixed assignments

Integrated

Modbus

CANopen Network card

"Controller

Inside" card

1755861 11/2009 45

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.

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

Switched

assignment

Drive

terminals

Logic I/O card

Extended I/O

card

Fixed assignments

Integrated

Modbus

CANopen Network card

"Controller

Inside" card

46 1755861 11/2009

Command/reference switching

tEr
LCC

CAn

Mdb

nEt
APP

tEr
LCC

CAn

Mdb

nEt
APP

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

C201

LI4

LI6

LI5

LI8

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

LI14

LI13

CANopen control word

Terminals

Command channel 1

Cd1

Forward

Positioning

by sensors

Reverse

Disabling of sensors

Forward stop sensor
Reverse stop sensor
Forward slowdown sensor
Reverse slowdown sensor

tEr
LCC

CAn

Mdb

nEt
APP

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

bit 2

bit 1

bit 0

CD01

LI4

LI5

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI12

LI11

bit 11

bit 10

bit 13

bit 12

bit 15

bit 14

tEr
LCC

CAn

Mdb

nEt
APP

LI8LI8

LI14

LI13

CANopen control word

Terminals

Command channel 1

Cd1

Forward

Positioning
by sensors

Reverse

Disabling of sensors

Forward stop sensor
Reverse stop sensor
Forward slowdown sensor
Reverse slowdown sensor

Command

switching

CCS

Command channel 2

Cd2

Example: I/O profile with positioning by sensors function

Let us return to the example given in the "I/O profile" section.

In the diagram below, the command comes from CANopen alone:

For a different application, provision must be made to enable the switching of the run commands and the disabling of the sensors and the
reference at the terminals.
The new diagram will look like this:

1755861 11/2009 47

Command/reference switching

Configure the following parameters:

Parameter Value Comment
Type of command On state (2 wire) The run command is obtained via bit 0 of the CANopen control word.
Profile IO profile
Reference 1 configuration CANopen Reference 1 comes from the CANopen card.
Command 1 configuration CANopen Command 1 comes from the CANopen card.
Reference 1B configuration AI1 Reference 1B comes from analog input 1. Reference 1B has to be taken

rather than reference 2, as use is to be made of the positioning function.
Command 2 configuration Terminals Command 2 comes from the terminals.
Assignment of stop sensor Input LI4 The sensor inputs are not switched.
Assignment of slowdown sensor Input LI5
Assignment of sensor disable

command
Assignment of command switch Input LI8 The LI8 inputs enable the command and reference to be switched.
Assignment of application

reference switch 1/1B

Bit 1 switched.

Input LI8

Configuration via the graphic display terminal:

Menu/submenu Parameter Value

[1.5 INPUTS / OUTPUTS CFG] (I-O-) [2/3 wire control] (tCC) [2 wire] (2C)
[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)

[Ref. 1 channel] (Fr1) [CANopen] (CAn)
[Cmd channel 1] (Cd1) [CANopen] (CAn)
[Cmd channel 2] (Cd2) [Terminals] (tEr)
[Cmd switching] (CCS) [LI8] (LI8)

[1.7 APPLICATION FUNCT.] (FUn-)
[POSITIONING BY SENSORS] (LPO-)

[Stop FW limit sw.] (SAF) [LI4] (LI4)
[Slowdown forward] (dAF) [LI5] (LI5)
[Disable limit sw.] (CLS) [Cd01] (Cd01)
[Ref. 1B channel] (Fr1b) [Ref. AI1] (AI1)
[Ref 1B switching] (rCb) [LI8] (LI8)

48 1755861 11/2009

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.

1755861 11/2009 49

Forced local

Definition

Forced local mode supports switching to the terminals or display terminal.
This function complements channel switching and makes it pos sible to make use of an existing function from the Altivar58 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]

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 and of the reference to one of the analog inputs
AI1 ... A14

[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)

(LI14)

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 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)

the command.

50 1755861 11/2009

Forced local

AI1C
AI2C

LFr1
LFr2
LFr3

AI2

AI1

LFr

LFr4

AI2

AI1

AI1C
AI2C

LFr1
LFr2
LFr3

AI1
AI2

LFr

LFr4

AI1C
AI2C

LFr1
LFr2
LFr3

AI1
AI2

LFr

LFr4

LI1

...

LI14

AI1C
AI2C

AI4C

LFr

AI3C

AI1
AI2

AI4

AI3

AI1
AI2

AI4

AI3

Fr1

Fr1b

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

Fr1
Fr2

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

Reference channel 1

Fr1

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 1B

Fr1B

Display terminal

Modbus

CANopen

Network

Controller

Reference channel 2

Fr2

Display terminal

Modbus

CANopen

Network

Controller

Function
reference
switching rCB

Application
function output
reference

Direct
reference 2

Direct reference
switching
rFC

Reference

limit

Ramp

Function

Forced local
switching FLO

Display terminal

Forced local channel

FLOC

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

1755861 11/2009 51

Forced local

RUN/STOP

FWD/REV

LIx

CMD1
CMD2
CMD3
CMD4

RUN/STOP

FWD/REV

LIx

CMD1
CMD2
CMD3
CMD4

LIx

RUN/STOP

FWD/REV

AI1
AI2

AI4

AI3

LI1 ... LI14
Cd1
Cd2

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

Command channel 1

Cd1

Command

switching

CCS

Command channel 2

Cd2

Run
Stop
Forward
Reverse

Terminals

Display terminal

Modbus

CANopen

Network

Controller

Terminals

Display terminal

Modbus

CANopen

Network

Controller

Forced local channel

FLOC

Forced
local
switching
FLO

Display terminal

Forced local mode and command switching

A detailed description is given in the Programming Manual.

CiA402 profile (separate mode)

52 1755861 11/2009

Forced local

LIx

RUN/STOP

FWD/REV

AI1
AI2

AI4

AI3

LI1

...

LI14

LIx

AI1

AI2

RUN/STOP

FWD/REV

CMD1
CMD2
CMD3
CMD4

LIx

LIx

RUN/STOP

FWD/REV

CMD1
CMD2
CMD3
CMD4

AI1
AI2

Fr1
Fr2

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

Reference channel 1 (1)

Fr1

Direct
reference
switching
rFC

Reference channel 2 (1)

Fr2

Run
Stop
Forward
Reverse

Display terminal

Modbus

CANopen

Network

Controller

Display terminal

Modbus

CANopen

Network

Controller

Forced local channel

FLOC

Forced
local
switching
FLO

Display terminal

CiA402 profile (not separate mode)

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

1755861 11/2009 53

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 is not dependent on the pr ofile.

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 as

[Yes]

(YES) (factory setting).

Fixed assignments are configured using 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 V a lu e 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, this is the value necessary for starting, even if another channel is active.

In the case of a run on edge command, configured via [3 wire] (3C) :
The stop command (run enable) is assigned by factory default 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)

54 1755861 11/2009

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 cont rol 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 using 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, this is 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 factory default 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, this is 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

No braking Braking 0 5-Operation enabled

Value for

starting

Value for

starting

State reached since

(1)

5-Operation enabled

State reached since

(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 using the "5-Disable operation" or "Halt" commands with the type of stop [Type of stop] (Stt) parameter configured as

[Freewheel] (nSt).

1755861 11/2009 55

Communication monitoring

The Altivar 71 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 t o the configuration (ignore fault, stop on drive fault,
maintain speed, 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 not compatible with the selected
assembly

[CANopen com.] (COF)

[External fault com.]

[Com. network] (CnF)

[External fault com.]

(EPF2)

(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.

56 1755861 11/2009

Communication monitoring

Behavior in the event of a network fault

In the event of a network fault (on a monitored cha nnel), 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 FRD 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. Maintain speed

[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 spe e d] (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.

1755861 11/2009 57

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).

Channel state Parameter Assignment

If the channel is the active
command channel

If the channel is the active
reference channel Frequency reference (LFr) or Speed reference (LFrd)

Whatever the channel state

Control word (CMd)

Control word (CMd) containing a command or reference switch

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

Torque reference (Ltr) [Torque ref. channel] (Tr1)
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]

or

[Ref 1B switching]

or

[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)

(rCb)

(rFC)

- 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 avoids, in particular, 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).

58 1755861 11/2009

Communication monitoring

4

1

2

=1
7

6

5

3

Channel disconnected

Connected

channel disabled

Channel

enabled

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 received

Communication

problem and

participant

channel

Communication

problem and

participant

channel

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 o nce, i t wi ll no t be po ssi ble t o proce ed to the "5-Operat ion enable d" st ate , 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, startup will only be 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.

Special case involving Ethernet Modbus TCP/IP card

• The Ethernet card can generate two types of network fault: a network management fault and a commun ication fault.

• If a network management fault (FDR or IP address d uplication f ault) occurs, a drive fa ult is gen erated regardless of the state (active,
participant, etc.) of this channel.

1755861 11/2009 59

Assignment of setpoints from a network

Setpoint parameters

The Altivar 71 supports a number of setpoint parameters, which must be selected according to the functions used in the drive.

Function used Input to be assigned Value Setpoint 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 [Multiplier ref. 2] (MA2)

PID regulator [Ref.1 channel] (Fr1)

Torque control

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

[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

[Torque ref. channel]

(Tr1)

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

[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) or
[Network AI] (AIU1)

[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)

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

Speed reference (LFRD)

Frequency reference (LFR)

Speed reference (LFRD) or Frequency reference (LFR)

Speed reference (LFRD) or Frequency reference (LFR)

[Multiplying coeff.] (MFr)

PID regulator reference (PISP)

Torque reference (LTR)

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)

60 1755861 11/2009

Assignment of setpoints from a network

H/>

72H

279/

:52

H2/

2H%

279

;-%

;-&

@-%

@-&

8-%

8-&

2H$

2H$>

+/- speed around a

reference

Preset speeds

Jog

operation

PID not assigned

Graphic display

terminal

Forced local

Ramps

Parameter:
The black square represents the
factory setting assignment.

Key:

Channel 1

Channel 2

[Ref 1B switching]

[Ref.1 channel]

[Ref.1B channel]

[Summing ref. 2]

[Summing ref. 3]

[Subtract. ref. 2]

[Subtract. ref. 3]

[Multiplier ref. 2]

[Low speed]

[Multiplier ref. 3]

[PID REGULATOR]

AI1

[Ref.2 channel]

[Ref. 2 switching]

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

(SP1)

SP2

SP16

LI

LCC

FRA

nO

[High
speed]

nO

nO

nO

nO

FrH

AI2
AI3

HSP

LSP

ACC DEC

AC2 DE2

LI

AI4

nO

0V

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

FrO

FrOd

Power

stage

M

rFr

rFrd

FrHd

Network references

Fr1, Fr1b, Fr2:

• LFr or LFrd

SA2, SA3, dA2, dA3:

• LFr, LFrd, or AIU1

MA2, MA3:

•MFr or AIU1

Without PID regulator

1755861 11/2009 61

Assignment of setpoints from a network

H/>

72H

279/

H2/

2H%

279

;-%

;-&

@-%

@-&

2H$

2H$>

Graphic display

terminal

Ramps (1)

Channel 1

Channel 2

PID

See diagram

below

A

Forced local

[Ref 1B switching]

[Ref.1 channel]

[Ref.1B channel]

[Summing ref. 2]

[Summing ref. 3]

[Subtract. ref. 2]

[Subtract. ref. 3]

[Low speed]

AI1

[Ref.2 channel]

[Ref. 2 switching]

FRA + SA2 + SA3 - dA2 - dA3

B

LCC

PIP1

[High
speed]

nO

FrH

FrO

AI2
AI3

HSP

LSP

ACC DEC

AC2 DE2

LI

AI4

nO

0V

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

FrHd

FrOd

Power

stage

M

rFr

rFrd

PIP2

•PISP

• LFr, LFrd, or AIU1

• LFr or LFrd

•AIU1

PAU

(manu)

Pr2
Pr4

nO

+

-

rP2
rP3
rP4

rIG

rPG

PIF

PIN

0

tLS

rSL

PIF1 / PIF2
PIP1 / PIP2

x(-1)

nO

nO

YES

PIC

nO

AI1

.....

AI4

LI

+

+

POH

POL

rdG

ACC DEC

FPI

x PSr

PII

SP2

SP16

rPI

A

B

nO

YES

PrP

AC2

(1)

Internal
reference

PID
feedback

Preset PID references

Error

inversion

Restart

(wake-up) error

threshold

Gains

Ramps

Parameter:
The black rectangle
represents the factory
setting assignment.

Key:

Ramp

Preset manual references

Scaling

[RP] (PI)

[Encoder] (PG)

[Network AI]

(AIU1)

Predictive
speed
reference

Manual

reference

Auto/

Manual

rPC

rPF

rPO

rPE

With PID regulator

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

62 1755861 11/2009

Configuration saving and switching

Display

terminal

Current

configuration

(RAM)

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Current

configuration

(RAM)

No

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

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.

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.

1755861 11/2009 63

Configuration saving and switching

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

Current

configuration

(RAM)

Extended control word:

Save (CMI,1)

Set to 1

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

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

64 1755861 11/2009

Configuration saving and switching

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

Current

configuration

(RAM)

Extended control word:

Restore configuration (CMI,2)

Set to 1

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

Current

configuration

(RAM)

Extended control word:
Factory setting (CMI,0)

Set to 1

[Macro configuration]

(CFG)

Restore configuration

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

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.

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

1755861 11/2009 65

Configuration saving and switching

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Current

configuration

(RAM)

Configuration switching

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

Active

configuration

(CNFS)

Terminals

00 01

10
11

Configuration 0

(EEPROM)

Configuration 2

(EEPROM)

Display

terminal

Configuration 1

(EEPROM)

Factory settings

Current

configuration

(RAM)

Control word:

Configuration switching

[2 Configurations](CnF1)

[3 configurations](CnF2)

Active

configuration

(CNFS)

00 01

10
11

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

Set to 0/1

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.

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.

66 1755861 11/2009

Configuration saving and switching

Configuration 0

(EEPROM)

Configuration 2

(EEPROM)

PLC

Industrial

HMI

terminal

Display

terminal

Configuration 1

(EEPROM)

Factory settings

Current

configuration

(RAM)

Extended control word:

Save configuration (CMI,1)

Active

configuration

(CNFS)

Modbus

CANopen

Network

Set to 1

1 2 3

Extended control word:

Restore configuration (CMI,2)

Set to 1

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Current

configuration

(RAM)

Active

configuration

(CNFS)

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

1 2 3

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.

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.

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

1755861 11/2009 67

Configuration saving and switching

Function parameters

Code Description

CNF1

CNF2

CNFS

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.
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.
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/CD
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) 0101
Value of the control bit assigned by [3 Configurat ions] (CnF2) 0011
Value of [Config. active] (CnFS) 1233
Active configuration 0122

68 1755861 11/2009

Configuration saving and switching

Assignment of logic inputs and control bits for CNF1 and CNF2

Value Assignment Description/Condition

0 Not assigned

129

to

134
135

to

138
139

to

142
187

to

191
203

to

207
219

to

223
235

to

239

[LI1] (LI1)

to

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

to

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

to

[LI14] (LI14)

[C111] (C111)

to

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

to

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

to

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

to

[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 profile
Control bit

With integrated CANopen regardless of profile
Control bit

With a communication card regardless of profile
Control bit

With Controller Inside card regardless of profile

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

1755861 11/2009 69

Configuration saving and switching

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Current

configuration

(RAM)

Save configuration

(SCS)

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

Write

1 2 3

Display

terminal

Configuration 0

(EEPROM)

Configuration 1

(EEPROM)

Configuration 2

(EEPROM)

Factory settings

Current

configuration

(RAM)

Restore configuration

(FCS)

Industrial

HMI

terminal

PLC

Modbus

CANopen

Network

Write

1 2 3 64

[Macro configuration]

(CFG)

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.

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.

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

70 1755861 11/2009

Configuration saving and switching

Function parameters

Code Description

SCS

FCS

FrY

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
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
Parameter name: Parameter group list
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) - [Auto tuning] (tUn) - [Auto tuning state] (tUS) - [U0] (U0) to [U5] (U5) - [Freq pt
1on 5pt V/F] (F1) to [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 q-axis] (LqS) - [Cust. stator R syn] (rSAS) - [IR compensation] (UFr) - [Slip compensation]
(SLP) - the motor parameters that can be accessed in [Expert] mode.

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

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)

(InI):

1755861 11/2009 71

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

CHA2

CFPS

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/54 Factory setting: 0
DeviceNet path: A1/01/67
See next page.
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/55 Factory setting: 0
DeviceNet path: A1/01/68
See next page.
Parameter name: Active parameter set
Logic address: 12900 = 16#3264 Type: WORD (listing)
CANopen index: 2063/1 Read/write: R
INTERBUS index: 5FB9/EC
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) 0101
Value of the control bit assigned by [3 Parameter sets] (CHA2) 0011
Value of "Active parameter set" (CFPS) 1233
Active parameter set 1233

72 1755861 11/2009

Parameter set switching

CHA1 and CHA2 assignment values

Value Assignment Description/Condition

0 [No]
4 [Freq. Th. attain.] (FtA) Switching via [Freq. threshold] (Ftd)

13 [Freq. Th. 2 attain.]

129

to

134
135

to

138
139

to

142
160

to

170
171

to

175
177

to

186
187

to

191
193

to

202
203

to

207
209

to

218
219

to

223
225

to

234
235

to

239

(nO) Not assigned

(F2A)

[LI1] (LI1)

to

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

to

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

to

[LI14] (LI14)

[CD00] (Cd00)

to

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

to

[CD15] (Cd15)
[C101] (C101)

to

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

to

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

to

[C210] (C210)
[C211]

(C211)

to

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

to

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

to

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

to

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

to

[C415] (C415)

Switching via [Freq. threshold 2] (F2d)

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)
Switchable bit

Regardless of profile
Control bit

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

With integrated Modbus regardless of profile
Control bit

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

With integrated CANopen regardless of profile
Control bit

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

With a communication card regardless of profile
Control bit

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

With Controller Inside card regardless of profile

Note: In [I/O profile] (IO), LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wi re] (3 C) , LI2, C101, C201, C301 and C401
cannot be accessed either.

1755861 11/2009 73

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

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

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

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

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

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

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

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

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

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

74 1755861 11/2009

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/AA 9F/01/AA

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

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

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

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

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

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

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

9 S209 12959 = 16#329F 2063/3C 5FBF/B2 9F/01/B2
10 S210 12960 = 16#32A0 2063/3D 5FBF/B3 9F/01/B3
11 S211 12961 = 16#32A1 2063/3E 5FBF/B4 9F/01/B4
12 S212 12962 = 16#32A2 2063/3F 5FBF/B5 9F/01/B5
13 S213 12963 = 16#32A3 2063/40 5FBF/B6 9F/01/B6
14 S214 12964 = 16#32A4 2063/41 5FBF/B7 9F/01/B7
15 S215 12965 = 16#32A5 2063/42 5FBF/B8 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/B9 9F/01/B9

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

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

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

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

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

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

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

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

1755861 11/2009 75

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.

76 1755861 11/2009

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 (except for the faulty device
replacement (FDR) 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 78

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 that differ from the factory setting. These parameters can be identified easily using the
PowerSuite software (which displays the list of parameters).

2. Reserve a parameter map table in the controll er (PLC, etc. ). This map t abl e is a se ries of add re sses a nd values. Th e las t para m eter to
be loaded is identified by an address equal to -1.

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

4. Initialize the values in the map 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 map table.

Loading 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 map 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 map table.

1755861 11/2009 77

Loading drive parameters

Inconsistency examples

The two adjustment parameters [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 16000.

Example 1

Initial configuration V Configuration to be loaded:

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

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

• "Consistency check: The consistency rule [Low speed] (3105-LSP)

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

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

• "Consistency check: The consistency rules have been observed:

-The [High speed] (3104-HSP) parameter is correctly written as 60 Hz in the drive.

The loaded configuration differs 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
[Low speed] (3105-LSP) = 40 Hz

V [High speed] (3104-HSP) = 60 Hz

V [Low speed] (3105-LSP) = 40 Hz

y [High speed] (3104-HSP) has not been observed:

V [High speed] (3104-HSP) = 30 Hz

V [Low speed] (3105-LSP) = 0 Hz

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

• "Consistency check: The consistency rule [Low speed] (3105-LSP)

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

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

• "Consistency check: The consistency rules have been observed:

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

The loaded configuration differs 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.

y [High speed] (3104-HSP) has not been observed:

78 1755861 11/2009

Command parameters

Code Description

CMd

Parameter name: Co ntro l 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: 6040/0
DeviceNet path: B7/01/01

(1)Note: This parameter is available at two 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 refe rence
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 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

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 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.
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

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.

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.

1755861 11/2009 79

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 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 71, 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 ([C1
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 ([Cd
is active.

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

pp], [C2pp], [C3pp] or [C4pp]), the fast stop and DC injection braking commands are priority

pp]), the fast stop and DC injection braking commands are only operational if the channel

80 1755861 11/2009

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: RAM factory setting command according to the [PARAMETER GROUP LIST] (FrY) parameter (active at 1). If y ou

also wish to return the EEPROM to the factory setting, bit 1 must also be set to 1 (both 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 no 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.

1

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

modified automatically by the drive.

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Setpoint parameters

See section “Assignment of setpoints from a network”, page 60

Code Description

LFRD

LFR

Parameter name: Speed setpoint
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.
Parameter name: Freq uen cy 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
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 in 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.

16 signed bits based on the
maximum frequency (TFR)

LTR

(1)ODVA standard path. It can be used for explicit messaging. Do not use it for configuring an assembly.
(2)Altivar path. Avoid using it for explici t messaging, to ensure bet ter interc hangeabili ty. Thi s is the p ath that must be used for configuri ng

an assembly.

Parameter name: Torque reference
Terminal display: [HMI torque ref.]
CiA402 name: Target torque
DRIVECOM name: Torque-Setpoint-External
Logic address: 8505 = 16#2139 Type: INT
CANopen index: 6071/0 Read/write: R/W
INTERBUS index: 5FB6/1F Unit:
DeviceNet path: 8B/01/6A

Parameter conforming to CiA402 profile

Signed value.
The "Nominal motor torque" is not accessible as a drive parameter. I t is the result of a calculation on the o ther characteristics.

0.001 "Nominal motor torque"

82 1755861 11/2009

Setpoint parameters

Code Description

Int Parameter name: Torque unit

Logic address: 9260 = 16#242C Type: WORD (listing)
CANopen index: 203E/3D Read/write: R/WS
INTERBUS index: 5FBF/35 Factory setting: According to drive rating
DeviceNet path: 8F/01/3D

0 = 0.01 Nm
1 = 0.1 Nm
2=1 Nm
3 = 10 Nm

This parameter is only used and can only be configured wit h DeviceNet. It sets the u nit for the LTCR and OTRN parameters.

LtCr

PISP Parameter name: PID regulator setpoint

AIU1

Parameter name: Torque setpoint (Nm)
Logic address: 9261 = 16#242D Type: INT
CANopen index: 203E/3E Read/write: R/W
INTERBUS index: 5FB6/3D Unit: 0.01 - 0.1 - 1 - 10 Nm

DeviceNet path: 2A/01/0C

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
Parameter name: Network analog input
Terminal display: [Network AI]
Logic address: 5281 = 16 #14A1 Type: INT
CANopen index: 2016/52 Read/write: R/W

According to Int page 83

INTERBUS index: 5FB9/40 Unit: 1
DeviceNet path: 7B/01/52

MFr Parameter name: Multip ly in g c oe ffi ci e nt

Terminal display: [Multiplying coeff.]
Logic address: 11831 = 16#2E37 Type: UINT
CANopen index: 2058/20 Read/write: R/W
INTERBUS index: 5FB6/3E Unit: 1%
DeviceNet path: 9C/01/20

1755861 11/2009 83

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 two 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 (= 0 or 1)
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 (= 1)
bit 6: Reserved (= 0 or 1)
bit 7: Alarm

= 0: No alarm, = 1: Alarm

bit 8: Reserved (= 0)
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 "Control via a network" = 1.
This does not mean that control can be carried out via 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 (= 0)

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

84 1755861 11/2009

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 (= 0)
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 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 (= 0)
bit 13: Reserved (= 0)
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).

1755861 11/2009 85

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 (= 0)

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

LRS1

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

bit 0: Reserved (= 0)
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: = 1: Brake contactor command [Brake assignment] (bLC) active
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: [4-20mA loss (AI2)] (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: = 1: The "traverse control" function is active

86 1755861 11/2009

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: 5FB9/1D
DeviceNet path: 71/01/34

bits 0 to 10: Reserved (= 0)
bit 11: = 1: Rope slack (see [Rope slack config.] (rSd)) parameter
bit 12: = 1: [High torque alarm] (ttHA): Motor torque greater than the high threshold [High torque thd.] (ttH)

Bit 13: = 1: [Low torque alarm] (ttLA): Motor torque less than the low threshold [Low torque thd.] (ttL)
Bit 14: = 1: [Forward] (MFrd): Motor rotating in the forward direction
Bit 15: = 1: [Reverse] (MrrS): Motor rotating in the reverse direction

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: 5FB9/1E
DeviceNet path: 71/01/35

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

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

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

= 1: The output torque is negative (reverse)

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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: 5FB9/1F
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 (= 0)

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 (= 0)

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)

LRS5

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

Parameter name: Extended status word 5
Logic address: 3254 = 16#0CB6 Type: WORD (bit register)
CANopen index: 2002/37 Read/write: R
INTERBUS index: 5FB9/20
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 supply (CTL)

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

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

bit 8 : = 1: [Freq. meter Alarm] (FqLA): Measured speed threshold reached: [Pulse warning thd.] (FqL)

bit 9: = 1: The line contactor is active
bit 10: Reserved (= 0 or 1)
bit 11: Reserved (= 0 or 1)

bit 12: Reserved (= 0 or 1)
bit 13: = 1: Current present in the motor (MCP)
bit 14: = 1: If the "limit switch management" [LIMIT SWITCHES] function is activated. The [Stop FW limit sw.] or

[Stop RV limit sw.] stops are reached.

bit 15 : = 1: [Dynamic load alarm] (dLdA): Load variation detection (see [DYNAMIC LOAD DETECT.] (dLd -))

88 1755861 11/2009

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: 5FB9/21
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 (= 0)

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: = 1: Slipping alarm: [Load slipping] (AnA)
bit 11: = 1: Drive overheat alarm (tHA)

LRS7

bit 12: Reserved (= 0)
bit 13: = 1: Speed alarm in the brake control sequence (BSA)
bit 14: = 1: Brake contact alarm in the brake control sequence (BCA)
bit 15: = 1: Current or torque limit alarm after time-out [Trq/I limit. time out] (StO)

Parameter name: Extended status word 7
Logic address: 3256 = 16#0CB8 Type: WORD (bit register)
CANopen index: 2002/39 Read/write: R
INTERBUS index: 5FB9/22
DeviceNet path: 71/01/39

bit 0: = 1: Reference channel 1 or 1B (Fr1) or (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: = 1: Spool end ("traverse control" function)
bit 6: = 1: Master-slave synchronization ("traverse control" function)
bit 7: = 1: Torque regulation alarm

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: [4-20mA loss (AI3)] (LFF3)

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

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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: 5FB9/23
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)

CRC

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

Parameter name: Active reference channel
Logic address: 8441 = 16#20F9 Type: WORD (bit register)
CANopen index: 2036/2A Read/write: R
INTERBUS index: 5FB9/CE
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

90 1755861 11/2009

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/CF
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)

CFPS

CNFS

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

Parameter name: Active parameter set
Logic address: 12900 = 16#3264 Type: WORD (listing)
CANopen index: 2063/01 Read/write: R
INTERBUS index: 5FB9/EC
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

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/CD
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

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Output value parameters

Output values (speed)

Code Description

rFrd

rFr

Parameter name: Output velocity
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.
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
DeviceNet path: 71/01/03

16 signed bits based on the
maximum frequency (TFR)

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.

(1) ODVA standard path. It can be used for explicit messaging. Do not use it for configuri ng an assembly.
(2) Altivar path. Avoid using it for explicit messaging, to ensure better interch angeability. Th is is the path that must b e used for configuring

an assembly.

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Output value parameters

Output values (torque)

Code Description

Otr

Otrn

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.
Parameter name: Output torque (Nm)
Logic address: 3216 = 16#0C90 Type: INT
CANopen index: 2002/11 Read/write: R
INTERBUS index: 5FB9/10 Unit: 0.01 - 0.1 - 1 - 10 Nm

DeviceNet path: 2A/01/0B

0.001 "Nominal motor torque"

According to Int page 83

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Output value parameters

Output values (motor)

Code Description

LCr

UOP

OPr Parameter name: Motor power

Parameter name: Mot or cu rrent
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
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

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, and RTH

Logic address: 3234 = 16#0CA2 Type: WORD (bit register)
CANopen index: 2002/23 Read/write: R
INTERBUS index: 5FB9/19
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

bits 6 to 15:Reserved (= 0)

(1)ODVA standard path. It can be used for explicit messaging. Do not use it for configuring an assembly.
(2)Altivar path. Avoid using it for explici t messaging, to ensure bet ter interc hangeabili ty. Thi s is the p ath that must be used for configuri ng

an assembly.

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Output value parameters

Code Description

APH

AUS Parameter name: ENA average speed

Parameter name: Mot or en ergy consum pti on
Terminal display: [Consumption]
Logic address: 3230 = 16#0C9E Type: UINT
CANopen index: 2002/1F Read/write: R
INTERBUS index: 5FB9/15 Unit: According to the preceding
DeviceNet path: 71/01/1F

Terminal display: [ENA avg speed]
Logic address: 12102 = 16#2F46 Type: INT
CANopen index: 205B/3 Read/write: R
INTERBUS index: 5FB9/EA Unit: 0.1 Hz
DeviceNet path: 9D/01/67

UNT parameter

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Reference parameters

References (speed)

Code Description

FrHd

FrOd Parameter name: Speed reference after ramp

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 F a ctory setting:

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/D8 Unit: rpm
DeviceNet path: 8C/01/2A F a ctory setting:

Parameter conforming to CiA402 profile

Signed value.

Adjustment range:

Adjustment range:

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

FrH

FrO Parameter name: Frequency reference after ramp

Parameter name: Freq uen cy referenc e 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

Logic address: 9021 = 16#233D Type: INT
CANopen index: 203C/16 Read/write: R
INTERBUS index: 5FB9/D9 Unit: 0.1 Hz
DeviceNet path: 8E/01/16

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Reference parameters

References (torque)

Code Description

trr

trO Parameter name: Torque reference after ramp

Parameter name: Torque reference before ramp
Terminal display: [Torque reference]
Logic address: 9231 = 16#240F Type: INT
CANopen index: 203E/20 Read/write: R
INTERBUS index: 5FB9/DB Unit: 0.1%
DeviceNet path: 8F/01/20

Torque demand value Torque demand value
Torque-Command-Variable Torque-Command-Variable
Logic address: 9232 = 16#2410 Type: INT
CANopen index: 203E/21 Read/write: R
INTERBUS index: 5FB9/DC Unit: 0.001 "Nominal motor torque"
DeviceNet path: 8F/01/21

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.

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Reference parameters

Reference (regulator)

See section “Assignment of setpoints from a network”, page 60.

Code Description

rPC

rPF Parameter name: PID regulator feedback reference

rPE Parameter name: PID regulator discrepancy

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/E7 Unit: 1
DeviceNet path: 9C/01/B7

Terminal display: [PID feedback]
Logic address: 11981 = 16#2ECD Type: UINT
CANopen index: 2059/52 Read/write: R
INTERBUS index: 5FB9/E6 Unit: 1
DeviceNet path: 9C/01/B6

Terminal display: [PID error]
Logic address: 11980 = 16#2ECC Type: INT
CANopen index: 2059/51 Read/write: R
INTERBUS index: 5FB9/E5 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/E8 Unit: 0.1 Hz
DeviceNet path: 9C/01/B8

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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

Thermal states

Code Description

tHd

tHr Parameter name: Mot or ther m a l st ate

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

Terminal display: [Motor thermal state]
Logic address: 9630 = 16#259E Type: UINT
CANopen index: 2042/1F Read/write: R
INTERBUS index: 5FB9/DE 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/7F Unit: 1%
DeviceNet path: A7/01/73

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Measurement parameters

Time

Code Description

rtH

PtH Parameter name: Total drive operating time

tAC Parameter name: IGBT alarm time

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: 5FB9/16 Unit: According to UNT parameter
DeviceNet path: 71/01/20

Terminal display: [Power on time]
Logic address: 3233 = 16#0CA1 Type: UINT
CANopen index: 2002/22 Read/write: R
INTERBUS index: 5FB9/18 Unit: According to UNT parameter
DeviceNet path: 71/01/22

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

(see page 94

(see page 94

)

)

DeviceNet path: 71/01/24

EbOt Parameter name: Current bobbin time

Logic address: 12209 = 16#2FB1 Type: UINT
CANopen index: 205C/A Read/write: R
INTERBUS index: 5FB9/EB Unit: 1 min
DeviceNet path: 9E/01/0A

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Measurement parameters

Code Description

dAY

tIME Parameter name: Time

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

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

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 1514131211109876543210

Year XXXXXXX

Date

Time

Month XXXX

Day XXXXX

Hours XXXXXXXX

Minutes XXXXXXXX

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