Schneider Electric ATV71 parameters [EN]

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

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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

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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 graphic display terminal)

Communication Parameters Manual

This manual describes:

•The operating modes specific to communication (state chart)

•The interaction between communication and local control

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

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

-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 adjustment and configuration parameters to be modified through communication.

The section entitled "Loading drive parameters" on page 77 describes the recommended procedure for loading parameters through communication.

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

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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 Altivar 58/58F 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.

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Presentation

Magelis XBT Premium

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.

FTM	FTM	Two integrated communication ports enable direct access to the Modbus protocol:
		•	One RJ45 Modbus connector port 2 , located on the drive front panel,
			which is used to connect:
	ATV 31		• The remote graphic display terminal
			• A Magelis industrial HMI terminal
	ATV 71
			• The PowerSuite software workshop
Sensors	Sensors	•	One RJ45 Modbus network port 1 , located on the drive’s control terminals,
			which is dedicated to control and signaling by a PLC or other type of controller.
Example of configuration on the CANopen bus
			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 3 (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
2	(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
1	with the Altivar 71 (2):
3	- 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 1 .

(2) Please refer to the ATV 58(F)/ATV 71 Migration Manual supplied on the documentation CD-ROM.

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Presentation

All the drive functions are accessible via the network:

•Control

•Monitoring

•Adjustment

•Configuration

If the "Controller Inside" programmable card is installed on the drive, its variables (%MW, etc.) can be accessed via the integrated Modbus ports or the Ethernet option card.

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

•The I/O terminals

•The communication network

•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 network 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 terminals. This enables very good response times to be achieved on the network port via the CANopen adapter.

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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 version V2.7, it can still be used with previous versions, as the updates merely involves the addition 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 configured as 0 + 10 V in the new version. 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 functions 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 configurations, formerly limited to 45 kW for ATV71pppM3X and 75 kW for ATV71pppN4: synchronous motor [Sync. mot.] (SYn), sinus filter [Sinus filter] (OFI), noise reduction [Noise reduction] (nrd), braking balance [Braking balance] (bbA).

[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 threshold 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.

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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] (bECd).

•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, with 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 negative logic using [Stop limit config.] (SAL) and [Slowdown limit cfg.] (dAL).

•Parameter switching [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.] (rPA).

•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 ATV71pppM3X and 75 kW for ATV71pppN4).

•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-circuit fault becomes configurable using [Brake res. fault Mgt] bUb).

[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 60000 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 avoid 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.

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Notations

Description of parameters

Identification

A parameter is defined by means of various character strings:

•Code: 4 characters max. The code makes it possible to identify the parameter on the integrated 7-segment display terminal (Examples: 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 format, to be used for variable assignment of PDOs and SDO messaging

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

•DeviceNet path: Class/instance/attribute in 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

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).

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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 Can In Automation.

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.

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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.

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I/O profile

Definition

The behavior of the drive is identical whether via the network or via the terminals.

The I/O profile is achieved via the following configuration:

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

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

•A terminal input (LI2 to LI14)

•A Modbus control word bit (C101 to C115)

•A CANopen control word bit (C201 to C215)

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

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

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

Schematic diagrams:

Fixed assignment on CANopen:

CANopen control word

bit 15

bit 14

bit 13

bit 12

bit 11

bit 10

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

Function

C201 A

C202 B

Fixed assignment to terminals and on CANopen: :

CANopen control word

bit 15

bit 14

bit 13

bit 12

bit 11

bit 10

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

Function

Terminals

LI14

LI13

LI12

LI11

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

C201 A

C202 B

LI2 C

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I/O profile

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

CANopen control word

bit 15

bit 14

bit 13

bit 12

bit 11

bit 10

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

Terminals

LI14

LI13

LI12

LI11

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

"Controller Inside" control word

bit 15

bit 14

bit 13

bit 12

bit 11

bit 10

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

Function

C201 A

C202 B

LI2 C

Fast stop

C401 Stop

Fixed assignment to terminals and on CANopen with command switching :

CANopen control word

bit 15

bit 14

bit 13

bit 12

bit 11

bit 10

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

Function

C201 A

Cd02 B

Command

switching

CCS

CANopen

Terminals

Terminals

LI14

LI13

LI12

LI11

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

LI2

LI5 C

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I/O profile

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

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

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

The run command is active on state 1:

•Of input LI1, if the terminals are active

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

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

bit 7	bit 6	bit 5	bit 4
Configurable	Configurable	Configurable	Configurable
bit 15	bit 14	bit 13	bit 12
Configurable	Configurable	Configurable	Configurable

bit 3	bit 2	bit 1	bit 0
Configurable	Configurable	Configurable	Forward
bit 11	bit 10	bit 9	bit 8
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	Extended I/O		Modbus		CANopen	Network card	"ControllerInside"
				card						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
bit 10		-	-	LI11		C110		C210	C310	C410
bit 11		-	-	LI12		C111		C211	C311	C411
bit 12		-	-	LI13		C112		C212	C312	C412
bit 13		-	-	LI14		C113		C213	C313	C413
bit 14		-	-	-		C114		C214	C314	C414
bit 15		-	-	-		C115		C215	C315	C415

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

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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	Extended		Modbus		CANopen	Network card	"ControllerInside"
				I/O card						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
bit 10		-	-	LI11		C110		C210	C310	C410
bit 11		-	-	LI12		C111		C211	C311	C411
bit 12		-	-	LI13		C112		C212	C312	C412
bit 13		-	-	LI14		C113		C213	C313	C413
bit 14		-	-	-		C114		C214	C314	C414
bit 15		-	-	-		C115		C215	C315	C415

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

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Status word (ETA)

	bit 7	bit 6	bit 5	bit 4
		Reserved		Power section
	Alarm		Reserved (=1)	line supply
		(= 0 or 1)
				present

	bit 3	bit 2	bit 1	bit 0
	Fault	Running	Ready	Reserved
				(= 0 or 1)

bit 15	bit 14	bit 13	bit 12		bit 11	bit 10	bit 9	bit 8
Direction of	Stop via STOP				Reference	Reference	Command or
		Reserved (=0)	Reserved (=0)				reference via	Reserved (=0)
rotation	key				outside limits	reached
							network

The status word is identical in the I/O profile and the CiA402 profile. For more information, see section “CiA402 profile”, page 21.

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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 stop.

Configuration schematic diagram:

Command channel 1

Cd1

tEr

LCC

Mdb

CAn nEt

APP

CANopen control word

bit 15

bit 14

bit 13

bit 12

bit 11

bit 10

bit 9

bit 8

bit 7

bit 6

bit 5

bit 4

bit 3

bit 2

bit 1

bit 0

Terminals

LI14

LI13

LI12

LI11

LI10

LI9

LI8

LI7

LI6

LI5

LI4

LI3

LI2

LI1

C201

LI4

LI6

LI5

LI8

Positioning

by sensors

Forward

Reverse

Disabling of sensors

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

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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	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-)	[Stop FW limit sw.] (SAF)	[LI4] (LI4)
	[POSITIONING BY SENSORS] (LPO-)
		[Slowdown forward] (dAF)	[LI5] (LI5)
		[Disable limit sw.] (CLS)	[C201] (C201)

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

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Functional description

bDrive 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:

Controlword			Statemachine
																Statusword
(6040)																(6041)

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

Power device

vl_target_velocity

Limit

Ramp

vl_velocity_demand

(6042)

(6043)

3

M

vl_velocity_min_max amount (6046)

vl_velocity_acceleration (6048)

vl_velocity_acceleration (6049)

vl_control_effort

(6044)

bThe 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:

Control word

State machine

Status word

(CMD)

(ETA)

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

Speed reference

Reference limit

Ramp

(LFRD)

Acceleration delta speed (SPAL)

Velocity min amount (SMIL)

Acceleration delta time (SPAT)

Velocity max amount (SMAL)

Deceleration delta speed (SPDL)

Deceleration delta time (SPDT)

Speed reference			Power
			module
after ramp				3
(FRHD)						M

Output speed (RFRD)

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CiA402 state chart

Power section line supply present or absent					Fault
	Entry into				From all states
	state chart
								Fault
	Not ready to switch on				Fault reaction active

Fault disappeared and faults reset CMD=16#0080

Switch on disabled	Fault
or

Disable voltage

Disable

CMD=16#0000

voltage

Disable

or

CMD=16#0000

voltage

STOP key

Shutdown

or

or

CMD=16#0006

Quick stop

CMD=16#0000

If Quick stop option code

freewheel stop at

CMD=16#0002

or

= 2:

the terminals

or

Quick stop

transition after stop.

or

STOP key

CMD=16#0002

If Quick stop option code

Power Removal

or

= 6:

STOP key

Disable voltage

or

CMD=16#0000

Ready to switch on

freewheel stop

or

at the terminals

STOP key

or

or

modification

freewheel stop at

of a configuration

terminals

or

parameter

Switch on

Shutdown

CMD=16#0007

CMD=16#0006

Shutdown

Switched on

CMD=16#0006

Disable

Switch on

Enable

operation

CMD=16#xxxF

operation

CMD=16#0007

CMD=16#xxxF

or

fast stop

	Operation enabled	Quick stop	Quick stop active
		CMD=16#0002

Examples:

ETA=16#0637: Stop or forward, speed reached

ETA=16#8637: Stop or reverse, speed reached

ETA=16#0237: Forward, accelerating or decelerating

ETA=16#8237: Reverse, accelerating or decelerating

Power section line supply present

Key:	State								Value of
									status word
				Switched on
				Enable
		operation
	CMD=16#xxxF

Power

absent

Power

present

Power absent

or present

Transition condition	Status display on
with example of command	graphic display terminal

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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 contactor 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 necessary to supply AC power to the power section, but the system will expect it in order to change to state "4 - Switched on".

For a separate control section with line contactor, the contactor 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 contactor 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 contactor 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 is applied, no power is supplied 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). In particular, if the channel is involved in the command and the reference, transition 4 will take place only after the reference has been received for the first time.

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

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

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

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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 to the fast stop ramp and then changes to state "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 to 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	Power section line supply for	Power supplied to motor	Modification of configuration
		separate control section		parameters
	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	Yes, return to "2 - Switch on
				disabled" state
			Yes, apart from an open-loop
	5 - Operation enabled	Required	drive with a zero reference or in	No
			the event of a "Halt" command
			for an open-loop drive.
	6 - Quick stop active	Required	Yes, during fast stop	No
	7 - Fault reaction active	Depends on fault management	Depends on fault management	-
		configuration	configuration
	8 - Fault	Not required	No	Yes

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Control word (CMD)

	bit 7	bit 6	bit 5	bit 4
	Fault reset
		Reserved (=0)	Reserved (=0)	Reserved (=0)
	Ack. fault
	bit 15	bit 14	bit 13	bit 12
	Assignable	Assignable	Assignable	Assignable

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

	bit 11	bit 10	bit 9	bit 8
	By default,			Halt
	direction of
		Reserved (=0)	Reserved (=0)
	rotation			Halt
	command.

		Transition		bit 7		bit 3	bit 2	bit 1	bit 0
	Command		Final state							Example value
				Fault		Enable	Quick	Enable
		address							Switch on
				reset		operation	stop	voltage
	Shutdown	2, 6, 8	3 - Ready to		x	x	1	1	0	16#0006
			switch on
	Switch on	3	4 - Switched on		x	x	1	1	1	16#0007
	Enable	4	5 - Operation		x	1	1	1	1	16#000F
	operation		enabled
	Disable	5	4 - Switched on		x	0	1	1	1	16#0007
	operation
	Disable voltage	7, 9, 10, 12	2 - Switch on		x	x	x	0	x	16#0000
			disabled
		11	6 - Quick stop
			active
	Quick stop				x	x	0	1	x	16#0002
		7, 10	2 - Switch on
			disabled
	Fault reset	15	2 - Switch on	0	V 1	x	x	x	x	16#0080
			disabled

x: Value is of no significance for this command.

0 V 1: Command on rising edge.

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Stop commands:

The "Halt" command enables movement to be interrupted without having to leave the "5 - Operation enabled" state. The stop is performed in accordance with the [Type of stop] (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 continues to be supplied to the motor and torque is applied 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 possible 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).

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Status word (ETA)

	bit 7	bit 6	bit 5	bit 4
	Warning	Switch on	Quick stop	Voltage
		disabled		enabled
		Power section	Emergency	Power section
	Alarm	line supply		line supply
			stop
		disabled		present
	bit 15	bit 14	bit 13	bit 12
	Direction of	Stop via	Reserved (=0)	Reserved (=0)
	rotation	STOP key

	bit 3	bit 2	bit 1	bit 0
	Fault	Operation	Switched on	Ready to
		enabled		switch on
				Awaiting
	Fault	Running	Ready	power section
				line supply

bit 11	bit 10	bit 9	bit 8
Internal limit	Target	Remote
active	reached
			Reserved (=0)
Reference	Reference	Command or
		reference via
outside limits	reached
		network

			bit 6	bit 5	bit 4	bit 3	bit 2	bit 1	bit 0		ETA
		Status	Switch on	Quick	Voltage	Fault	Operation	Switched	Ready to		masked by
			disabled	stop	enabled		enabled	on	switch on		16#006F (1)
	1	- Not ready to	0	x	x	0	0	0	0		-
		switch on
	2	- Switch on	1	x	x	0	0	0	0		16#0040
		disabled
	3	- Ready to	0	1	x	0	0	0	1		16#0021
		switch on
	4	- Switched on	0	1	1	0	0	1	1		16#0023
	5	- Operation	0	1	1	0	1	1	1		16#0027
		enabled
	6	- Quick stop	0	0	1	0	1	1	1		16#0007
		active
	7 - Fault reaction		0	x	x	1	1	1	1		-
		active
	8	- Fault	0	x	x	1	0	0	0		16#0008 (2)
										or	16#0028

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.

(2)Fault following state "6 - Quick stop active".

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Starting sequence

The command sequence in the state chart depends on how power is being supplied to the drive.

There are three possible scenarios:

	Power section line supply	Control section	power supply	Power section line supply	Control section	power supply	Power section line supply
	DRIVE			DRIVE			DRIVE
	M			M			M
Power section							Line contactor
	Direct			Direct			controlled by the drive
line supply
Control section	Not separate (1)			Separate			Separate
power supply

(1) The power section supplies the control section.

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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:

bStep 1

•Send the "2 - Shutdown" command

Powersection linesupply			Not ready to
	Entry into state chart
			0
	1		switch on

From all states

13

Fault reaction

7active

14

8Fault

Bus or network

1

15

2

Switch on

disabled

Shutdown

Disable voltage

2

7 or Quick stop

Ready to

Disable voltage

3

10

DRIVE

Disable

switch on

or Quick stop

9voltage

12

Switch on 3

Shutdown

6

Shutdown 8

4

Switched on

Enable

Disable

4

operation

5

operation

Operation

Quick stop

M

5

11

6

enabled

active

Quick stop

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bStep 2

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

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

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

From all states

Bus or network

Power section line supply

DRIVE

M

																						13
						Entry into state chart														7	Fault reaction
																							active
										0
																						14
						1	Not ready to
								switch on												8			Fault
										1
																				15
						2		Switch on
									disabled
				Switch on 2										Disable voltage
										7
														or Quick stop
						3			Ready to								Disable voltage
																						10
		Disable						switch on									or Quick stop
9																							12
		voltage
				Switch on					3
												6 Shutdown
						4			Switched on
		Shutdown8
				Enable					4					Disable
										5
				operation										operation
						5			Operation								11			6		Quick stop
										enabled													active
																Quick stop

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.

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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:

bStep 1

•The power section line supply is not necessarily present.

•Send the "2 - Shutdown" command

From all states

Control section power supply	Power section line supply
Bus or network	DRIVE

M

																							13
					Entry into state chart																7	Fault reaction
																								active
										0
																							14
					1	Not ready to
						switch on
																					8			Fault
										1
																					15
					2	Switch on
								disabled
		Shutdown												Disable voltage
							2
										7
														or Quick stop
					3		Ready to											Disable voltage
																							10
	Disable					switch on													or Quick stop
9 voltage																								12
			Switch on 3											Shutdown
										6
						Switched on
	Shutdown 8				4
			Enable											Disable
			operation 4							5
														operation
					5	Operation												11			6		Quick stop
									enabled															active
																	Quick stop

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