Schneider Electric VW3 A3 303 User Manual

User's manual

Retain for future use

Altivar 71

Modbus/Uni-Telway card Modbus protocol

VW3 A3 303

Contents

1.Before you begin___________________________________________________________________________________________ 3

2.Documentation structure_____________________________________________________________________________________ 4

3.Introduction _______________________________________________________________________________________________ 5

3.1. Presentation _________________________________________________________________________________________ 5

3.2. Notation ____________________________________________________________________________________________ 5

4.Hardware setup ___________________________________________________________________________________________ 6

4.1. Receipt _____________________________________________________________________________________________ 6

4.2. Hardware description __________________________________________________________________________________ 6

4.3. Installing the card in the drive ____________________________________________________________________________ 6

4.4. Switch coding ________________________________________________________________________________________ 7

5.Connecting to the bus_______________________________________________________________________________________ 9

5.1. Wiring recommendations _______________________________________________________________________________ 9

5.2. Modbus RS485 standard _______________________________________________________________________________ 9

5.3. Connection via RJ45 wiring system ______________________________________________________________________ 10

5.4. Connection via junction boxes __________________________________________________________________________ 12

6.Configuration ____________________________________________________________________________________________ 14

6.1. Communication parameters ____________________________________________________________________________ 14

6.2. Control - Command __________________________________________________________________________________ 15

6.3. Communication scanner_______________________________________________________________________________ 18

6.4. Communication faults _________________________________________________________________________________ 19

6.5. Monitored parameters_________________________________________________________________________________ 20

7.Diagnostics ______________________________________________________________________________________________ 21

7.1. Checking the address_________________________________________________________________________________ 21

7.2. LEDs______________________________________________________________________________________________ 21

7.3. Control - Command __________________________________________________________________________________ 22

7.4. Communication scanner_______________________________________________________________________________ 23

7.5. Communication fault __________________________________________________________________________________ 24

7.6. Card fault __________________________________________________________________________________________ 24

8.Modbus protocol __________________________________________________________________________________________ 25

8.1. Principle ___________________________________________________________________________________________ 25

8.2. Modes_____________________________________________________________________________________________ 26

8.3. Modbus functions available ____________________________________________________________________________ 27

8.4. Read Holding/Input Registers (3/4) ______________________________________________________________________ 27

8.5. Write Single Register (6)_______________________________________________________________________________ 28

8.6. Diagnostics (8) ______________________________________________________________________________________ 29

8.7. Get Comm Event Counter (11 = 16#0B) __________________________________________________________________ 30

8.8. Write Multiple Registers (16 = 16#10) ____________________________________________________________________ 30

8.9. Read/Write Multiple Registers (23 = 16#17)________________________________________________________________ 31

8.10. Read Device Identification (43 = 16#2B) _________________________________________________________________ 32

8.11. Communication scanner ______________________________________________________________________________ 34

8.12. Exception responses ________________________________________________________________________________ 37

8.13. Read non-existent or protected parameters _______________________________________________________________ 38

9.Appendix________________________________________________________________________________________________ 39

9.1. RS485 standard _____________________________________________________________________________________ 39

9.2. Modbus 2-wire standard schematic ______________________________________________________________________ 40

9.3. Modbus 4-wire standard schematic ______________________________________________________________________ 41

9.4. Uni-Telway schematic_________________________________________________________________________________ 42

9.5. 2-wire Jbus schematic ________________________________________________________________________________ 43

9.6. Creating a Modbus bus using non-standard equipment _______________________________________________________ 44

9.7. RS485 schematic for the card __________________________________________________________________________ 46

9.8. Card connector pinout ________________________________________________________________________________ 46

While every precaution has been taken in the preparation of this document, Schneider Electric SA assumes no liability for any omissions or errors it may contain, nor for any damages resulting from the application or use of the information herein.

The products and options described in this document may be changed or modified at any time, either from a technical point of view or in the way they are operated. Their description can in no way be considered contractual.

2

1. Before you begin

Read and understand these instructions before performing any procedure with this drive.

DANGER

HAZARDOUS VOLTAGE

•Read and understand the Installation Manual before installing or operating the Altivar 71 drive. Installation, adjustment, repair, and maintenance must be performed by qualified personnel.

•The user is responsible for compliance with all international and national electrical standards in force concerning protective grounding of all equipment.

•Many parts of this variable speed drive, including the printed circuit boards, operate at the line voltage. DO NOT TOUCH. Use only electrically insulated tools.

•DO NOT touch unshielded components or terminal strip screw connections with voltage present.

•DO NOT short across terminals PA/+ and PC/- or across the DC bus capacitors.

•Install and close all covers before applying power or starting and stopping the drive.

•Before servicing the variable speed drive

-Disconnect all power.

-Place a “DO NOT TURN ON” label on the variable speed drive disconnect.

-Lock the disconnect in the open position.

•Disconnect all power including external control power that may be present before servicing the drive. WAIT 15 MINUTES to allow the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure given in the installation manual to verify that the DC voltage is less than 45 VDC. The drive LEDs are not accurate indicators of the absence of DC bus voltage.

Electric shock will result in death or serious injury.

CAUTION

EQUIPMENT DAMAGE

Do not operate or install any drive that appears damaged.

Failure to follow these instructions can result in equipment damage.

3

2. Documentation structure

The following Altivar 71 technical documents are available on the Telemecanique website (www.telemecanique.com) as well as on the CDROM supplied with the drive.

b Installation Manual

This manual describes:

•How to assemble the drive

•How to connect the drive

b Programming Manual

This manual describes:

•The functions

•The parameters

•How to use the drive display terminal (integrated display terminal and graphic display terminal)

b Communication Parameters Manual

This manual describes:

•The drive parameters with specific information (addresses, formats, etc.) for use via a bus or communication network

•The operating modes specific to communication (state chart)

•The interaction between communication and local control

b Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, DeviceNet, Modbus Plus and

FIPIO manuals

These manuals describe:

•Connection to the bus or network

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

•Diagnostics

•Software setup

•The communication services specific to the protocol

b 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.

4

3. Introduction

3. 1. Presentation

The communication card (catalog number VW3 A8 303) is used to connect an Altivar 71 drive to a Uni-Telway or Modbus bus.

This manual only describes how to use the Modbus protocol. For Uni-Telway, please refer to the Uni-Telway protocol manual.

The data exchanges permit access to all Altivar 71 functions:

•Configuration

•Adjustment

•Control and command

•Monitoring

•Diagnostics

The card has a female 9-way SUB-D connector for connection to the Modbus bus.

The connection cables and accessories should be ordered separately.

The drive address should be configured using the switches on the card.

The graphic display terminal or the integrated display terminal offer numerous functions for communication diagnostics.

Note: The Modbus card supports the following services in addition to those provided by the drive’s integrated ports:

-2-wire and 4-wire RS485

-Choice of line polarization

-RTU and ASCII modes

-More diagnostic subcodes

-More Modbus functions (04: Read Input Registers and 11: Get Comm Event Counter)

3.2. Notation

Drive terminal displays

The graphic display terminal menus are shown in square brackets.

Example: [1.9 COMMUNICATION]

The integrated 7-segment display terminal menus are shown in round brackets.

Example: (COM-)

Parameter names displayed on the graphic display terminal are shown in square brackets.

Example: [Fallback speed]

Parameter codes displayed on the integrated 7-segment display terminal are shown in round brackets. Example: (LFF)

Formats

Hexadecimal values are written as follows: 16#

Binary values are written as follows: 2#

Abbreviations

Hi: High order

Lo: Low order

5

4. Hardware setup

4. 1. Receipt

Check that the card catalog number marked on the label is the same as that on the delivery note corresponding to the purchase order. Remove the option card from its packaging and check that it has not been damaged in transit.

4. 2. Hardware description

LEDs

Female 9-way SUB-D connector

Polarization switches

Address switches

4. 3. Installing the card in the drive

See the Installation Manual.

6

4. Hardware setup

4. 4. Switch coding b Choosing polarization

Normal setting for a Modbus bus:

• No polarization at drive level

Special setting (see "Creating a Modbus bus using non-standard equipment" on page 44):

• 4.7 kΩ RS485 line polarization at drive level

b Coding the address

The address switches are used to encode the address (1 to 247) of the drive on the bus.

The switch settings can only be changed when the drive is turned off.

The correspondence between the value and the position of the switch is as follows:

•0 = OFF = Switch in upper position

•1 = ON = Switch in lower position

The address is binary-coded.

Examples:

Address 11 = 2#0000 1011

Address 34 = 2#0010 0010

7

4. Hardware setup

The table below indicates the positions of the 8 switches for all configurable addresses:

Address	Switches		Address	Switches		Address	Switches		Address	Switches		Address	Switches
	1234 5678			1234 5678			1234 5678			1234 5678			1234 5678
0	0000 0000		52	0011 0100		104	0110 1000		156	1001 1100		208	1101 0000
1	0000 0001		53	0011 0101		105	0110 1001		157	1001 1101		209	1101 0001
2	0000 0010		54	0011 0110		106	0110 1010		158	1001 1110		210	1101 0010
3	0000 0011		55	0011 0111		107	0110 1011		159	1001 1111		211	1101 0011
4	0000 0100		56	0011 1000		108	0110 1100		160	1010 0000		212	1101 0100
5	0000 0101		57	0011 1001		109	0110 1101		161	1010 0001		213	1101 0101
6	0000 0110		58	0011 1010		110	0110 1110		162	1010 0010		214	1101 0110
7	0000 0111		59	0011 1011		111	0110 1111		163	1010 0011		215	1101 0111
8	0000 1000		60	0011 1100		112	0111 0000		164	1010 0100		216	1101 1000
9	0000 1001		61	0011 1101		113	0111 0001		165	1010 0101		217	1101 1001
10	0000 1010		62	0011 1110		114	0111 0010		166	1010 0110		218	1101 1010
11	0000 1011		63	0011 1111		115	0111 0011		167	1010 0111		219	1101 1011
12	0000 1100		64	0100 0000		116	0111 0100		168	1010 1000		220	1101 1100
13	0000 1101		65	0100 0001		117	0111 0101		169	1010 1001		221	1101 1101
14	0000 1110		66	0100 0010		118	0111 0110		170	1010 1010		222	1101 1110
15	0000 1111		67	0100 0011		119	0111 0111		171	1010 1011		223	1101 1111
16	0001 0000		68	0100 0100		120	0111 1000		172	1010 1100		224	1110 0000
17	0001 0001		69	0100 0101		121	0111 1001		173	1010 1101		225	1110 0001
18	0001 0010		70	0100 0110		122	0111 1010		174	1010 1110		226	1110 0010
19	0001 0011		71	0100 0111		123	0111 1011		175	1010 1111		227	1110 0011
20	0001 0100		72	0100 1000		124	0111 1100		176	1011 0000		228	1110 0100
21	0001 0101		73	0100 1001		125	0111 1101		177	1011 0001		229	1110 0101
22	0001 0110		74	0100 1010		126	0111 1110		178	1011 0010		230	1110 0110
23	0001 0111		75	0100 1011		127	0111 1111		179	1011 0011		231	1110 0111
24	0001 1000		76	0100 1100		128	1000 0000		180	1011 0100		232	1110 1000
25	0001 1001		77	0100 1101		129	1000 0001		181	1011 0101		233	1110 1001
26	0001 1010		78	0100 1110		130	1000 0010		182	1011 0110		234	1110 1010
27	0001 1011		79	0100 1111		131	1000 0011		183	1011 0111		235	1110 1011
28	0001 1100		80	0101 0000		132	1000 0100		184	1011 1000		236	1110 1100
29	0001 1101		81	0101 0001		133	1000 0101		185	1011 1001		237	1110 1101
30	0001 1110		82	0101 0010		134	1000 0110		186	1011 1010		238	1110 1110
31	0001 1111		83	0101 0011		135	1000 0111		187	1011 1011		239	1110 1111
32	0010 0000		84	0101 0100		136	1000 1000		188	1011 1100		240	1111 0000
33	0010 0001		85	0101 0101		137	1000 1001		189	1011 1101		241	1111 0001
34	0010 0010		86	0101 0110		138	1000 1010		190	1011 1110		242	1111 0010
35	0010 0011		87	0101 0111		139	1000 1011		191	1011 1111		243	1111 0011
36	0010 0100		88	0101 1000		140	1000 1100		192	1100 0000		244	1111 0100
37	0010 0101		89	0101 1001		141	1000 1101		193	1100 0001		245	1111 0101
38	0010 0110		90	0101 1010		142	1000 1110		194	1100 0010		246	1111 0110
39	0010 0111		91	0101 1011		143	1000 1111		195	1100 0011			1111 0111
40	0010 1000		92	0101 1100		144	1001 0000		196	1100 0100			1111 1000
41	0010 1001		93	0101 1101		145	1001 0001		197	1100 0101			1111 1001
42	0010 1010		94	0101 1110		146	1001 0010		198	1100 0110			1111 1010
												247
43	0010 1011		95	0101 1111		147	1001 0011		199	1100 0111			1111 1011
44	0010 1100		96	0110 0000		148	1001 0100		200	1100 1000			1111 1100
45	0010 1101		97	0110 0001		149	1001 0101		201	1100 1001			1111 1101
46	0010 1110		98	0110 0010		150	1001 0110		202	1100 1010			1111 1110
47	0010 1111		99	0110 0011		151	1001 0111		203	1100 1011			1111 1111
48	0011 0000		100	0110 0100		152	1001 1000		204	1100 1100
49	0011 0001		101	0110 0101		153	1001 1001		205	1100 1101
50	0011 0010		102	0110 0110		154	1001 1010		206	1100 1110
51	0011 0011		103	0110 0111		155	1001 1011		207	1100 1111

Note: Address 0 is not valid.

8

5. Connecting to the bus

5. 1. Wiring recommendations

•Use Telemecanique-approved cables and wiring accessories to ensure good transmission quality (matched impedance, immunity, shielding connection, etc.).

•Keep the Modbus cable away from the power cables (30 cm minimum).

•Be sure to cross the Modbus cable and the power cables at right angles.

•Whenever possible, connect the bus cable shielding to the protective ground, e.g., to the ground of each device if this ground is connected to the protective ground.

•Install a line terminator at both ends of the line.

•Ensure the correct line polarization.

•Connect the common polarity ("Common" signal) to the protective ground at one or more points on the bus.

For more information, please refer to the TSX DG KBL E guide: "Electromagnetic compatibility of industrial networks and fieldbuses".

5. 2. Modbus RS485 standard

The characteristics and accessories mentioned in this section ("5. Connecting to the bus") comply with the Modbus standard. Other non-Modbus-standard RS485 wiring diagrams are possible. Please see the Appendix for further information.

The latest generation of Telemecanique equipment conforms to Modbus (2-wire RS485).

Main characteristics:
Maximum length of bus	1000 m at 19,200 bps
Maximum number of stations	32 stations, i.e., 31 slaves (without repeater)

9

5. Connecting to the bus

5. 3. Connection via RJ45 wiring system

1

3 2 3

		5
4	4	4	4
		6
ATV 71

1.Master (PLC, PC or communication module)

2.Cable depending on the type of master (see table)

3.Splitter block LU9 GC3

4.Drop cable VW3 A58 306 Rpp

5.Line terminators VW3 A8 306 RC

6.Modbus cable TSX CSA p00

b Connection accessories

	Description			Ref.	Catalog number
	Modbus splitter block	10 RJ45 connectors and 1 screw terminal block		3	LU9 GC3
	Modbus T-junction boxes	With integrated cable (0.3 m)			VW3 A8	306 TF03
		With integrated cable (1 m)			VW3 A8	306 TF10
	Line terminators	R = 120	Ω, C = 1 nF	5	VW3 A8	306 RC
	For RJ45 connector
		R = 150	Ω (specific to "Jbus schematic" page 43)	5	VW3 A8	306 R

b Connection cables

	Description	Length (m)	Connectors	Ref.	Catalog number
	Cables for Modbus bus	1	1 RJ45 connector and	4	VW3 A58 306 R10
			1 male 9-way SUB-D connector
		3	1 RJ45 connector and	4	VW3 A58 306 R30
			1 male 9-way SUB-D connector
		3	1 RJ45 connector and 1 stripped end		VW3 A8 306 D30
		0.3	2 RJ45 connectors		VW3 A8 306 R03
		1	2 RJ45 connectors		VW3 A8 306 R10
		3	2 RJ45 connectors		VW3 A8 306 R30
	RS485 double shielded twisted	100	Supplied without connector	6	TSX CSA 100
	pair cables
		200	Supplied without connector	6	TSX CSA 200
		500	Supplied without connector	6	TSX CSA 500

10

5. Connecting to the bus

b Connection cables for the master

Type of master	Master interface	Description	Catalog number
Twido PLC	Adaptor or mini-DIN	3 m cable equipped with a mini-DIN connector and an RJ45	TWD XCA RJ030
	RS485 interface module	connector
	Adaptor or screw	3 m cable equipped with an RJ45 connector and stripped at	VW3 A8 306 D30
	terminal RS485	the other end
	interface module
TSX Micro PLC	Mini-DIN RS485	3 m cable equipped with a mini-DIN connector and an RJ45	TWD XCA RJ030
	connector port	connector
	PCMCIA card	Stripped cable	TSX SCP CM 4030
	(TSX SCP114)
TSX Premium PLC	TSX SCY 11601 or	Cable equipped with a 25-way SUB-D connector and	TSX SCY CM 6030
	TSX SCY 21601	stripped at the other end (for connection to the screw
	module	terminals of the LU9GC3 splitter block)
	(25-way SUB-D socket)
	PCMCIA card	Stripped cable	TSX SCP CM 4030
	(TSX SCP114)
Ethernet bridge	Screw terminal RS485	3 m cable equipped with an RJ45 connector and stripped at	VW3 A8 306 D30
(174 CEV 300 20)		the other end
Profibus DP gateway	RJ45 RS485	1 m cable equipped with 2 RJ45 connectors	VW3 P07 306 R10
(LA9P307)
Fipio (LUFP1) or	RJ45 RS485	0.3 m cable equipped with 2 RJ45 connectors or	VW3 A8 306 R03 or
Profibus DP (LUFP7) or		1 m cable equipped with 2 RJ45 connectors or	VW3 A8 306 R10 or
DeviceNet (LUFP9)		3 m cable equipped with 2 RJ45 connectors	VW3 A8 306 R30
gateway
Serial port PC	Male 9-way SUB-D	RS232/RS485 converter and 3 m cable equipped with an	TSX SCA 72 and
	RS232 serial port PC	RJ45 connector and stripped at the other end (for	VW3 A8 306 D30
		connection to the screw terminals of the LU9GC3 splitter
		block)

11

5. Connecting to the bus

5.4. Connection via junction boxes

1.Master (PLC, PC or communication module)

1

2.Modbus cable depending on the type of master (see table)

3.Modbus cable TSX CSAp00

2	4	3	4	4. Subscriber sockets TSX SCA 62
	6		6	5. Modbus drop cable VW3 A8 306 2
ATV 71
b Connection accessories
Description						Ref.	Catalog
							number
Subscriber socket						4	TSX SCA 62
2 female 15-way SUB-D connectors, 2 screw terminals, and an RC line terminator,
to be connected using cable VW3 A8 306 or VW3 A8 306 D30
b Connection cables
Description				Length (m)	Connectors	Ref.	Catalog
							number
Cables for Modbus bus				3	1 9-way SUB-D connector and	6	VW3 A8 306 2
					1 male 15-way SUB-D connector
					for TSX SCA 62
RS485 double shielded twisted pair				100	Supplied without connector	3	TSX CSA 100
cables				200	Supplied without connector	3	TSX CSA 200
				500	Supplied without connector	3	TSX CSA 500

12

5. Connecting to the bus

b Connection cables for the master

Type of master	Master interface	Description	Catalog number
Twido PLC	Adaptor or screw terminal	Modbus cable	TSX CSA100 or
	RS485 interface module		TSX CSA200 or
			TSX CSA500
TSX Micro PLC	Mini-DIN RS485	Tap junction	TSX P ACC 01
	connector port
	PCMCIA card (TSX SCP114)	Cable equipped with a special connector and	TSX SCP CM 4030
		stripped at the other end

TSX Premium PLC	TSX SCY 11601 or
	TSX SCY 21601 module
	(25-way SUB-D socket)

Cable equipped with a 25-way SUB-D	TSX SCY CM 6030
connector and stripped at the other end

	PCMCIA card (TSX SCP114)	Cable equipped with a special connector and	TSX SCP CM 4030
		stripped at the other end
Ethernet bridge	Screw terminal RS485	Modbus cable	TSX CSA100 or
(174 CEV 300 10)			TSX CSA200 or
			TSX CSA500
Profibus DP gateway	RJ45 RS485	3 m cable equipped with an RJ45 connector	VW3 A8 306 D30
(LA9P307)		and stripped at the other end
Fipio (LUFP1) or	RJ45 RS485	3 m cable equipped with an RJ45 connector	VW3 A8 306 D30
Profibus DP (LUFP7) or		and stripped at the other end
DeviceNet (LUFP9) gateway
Serial port PC	Male 9-way SUB-D RS232	RS232/RS485 converter and	TSX SCA 72 and
	serial port PC	Modbus cable	TSX CSA100 or
			TSX CSA200 or
			TSX CSA500

13

6. Configuration

6. 1. Communication parameters

Configure the following parameters in the [1.9 - COMMUNICATION] (COM-) menu, [Uni-Telway/Modbus] (UtL-) submenu: [Protocol] (PrO), [Bit rate] (bdr) and [Format] (FOr).

These parameters can only be modified when the motor is stopped. Modifications can only be taken into account by the drive following a power break.

Parameter	Possible values	Terminal display	Default value
[Protocol]	Uni-Telway	[Unitelway] (UtE)	[Unitelway] (UtE)
(PrO)	Modbus/RTU	[Modbus RTU] (rtU)
	Modbus/ASCII	[Modbus ASCII] (ASC)
[Address]	0 to 247	[0] (0) to [247] (247)	Value taken from the address switches
(AdrC)
[Bit rate]	4800 bps	[4800 Bd] (4 8)	[19.2 Kbps] (19 2)
(Bdr)	9600 bps	[9600 Bd] (9 6)
	19,200 bps	[19200 Bd] (19 2)
[Format]	In RTU mode only:		[8-O-1] (8o1)
(FOr)	8 data bits, odd parity, 1 stop bit	[8-O-1] (8o1)
	8 data bits, even parity, 1 stop bit	[8-E-1] (8E1)
	8 data bits, no parity, 1 stop bit	[8-N-1] (8n1)
	8 data bits, no parity, 2 stop bits	[8-N-2] (8n2)
	In RTU and ASCII modes:
	7 data bits, odd parity, 1 stop bit	[7-O-1] (7o1)
	7 data bits, even parity, 1 stop bit	[7-E-1] (7E1)
	7 data bits, odd parity, 2 stop bits	[7-O-2] (7o2)
	7 data bits, even parity, 2 stop bits	[7-E-2] (7E2)

14

6. Configuration

6. 2. Control - Command

Numerous configurations are possible. For more information, refer to the Programming Manual and the Parameters Manual. The following configurations are just some of the possibilities available.

b Control via Modbus in I/O profile

The command and reference come from Modbus. The command is in I/O profile.

Configure the following parameters:

Parameter	Value	Comment
Profile	I/O profile	The run command is simply obtained by bit 0 of the control word.
Reference 1 configuration	Network card	The reference comes from Modbus.
Command 1 configuration	Network card	The command comes from Modbus.

Configuration via the graphic display terminal or the integrated display terminal:

Menu	Parameter	Value
[1.6 - COMMAND] (CtL-)	[Profile] (CHCF)	[I/O profile] (IO)
	[Ref.1 channel] (Fr1)	[Com. card] (nEt)
	[Cmd channel 1] (Cd1)	[Com. card] (nEt)

b Control via Modbus or the terminals in I/O profile

Both the command and reference come from Modbus or the terminals. Input LI5 at the terminals is used to switch between Modbus and the terminals.

The command is in I/O profile.

Configure the following parameters:

Parameter	Value	Comment
Profile	I/O profile	The run command is simply obtained by bit 0 of the control word.
Reference 1 configuration	Network card	Reference 1 comes from Modbus.
Reference 1B configuration	Analog input 1 on the terminals	Reference 1B comes from input AI1 on the terminals.
Reference switching	Input LI5	Input LI5 switches the reference (1 ↔1B).
Command 1 configuration	Network card	Command 1 comes from Modbus.
Command 2 configuration	Terminals	Command 2 comes from the terminals.
Command switching	Input LI5	Input LI5 switches the command.

Note: Reference 1B is directly connected to the drive reference limit. If switching is performed, the functions that affect the reference (summing, PID, etc) are inhibited.

Configuration via the graphic display terminal or the integrated display terminal:

	Menu	Parameter	Value
	[1.6 - COMMAND] (CtL-)	[Profile] (CHCF)	[I/O profile] (IO)
		[Ref.1 channel] (Fr1)	[Com. card] (nEt)
		[Cmd channel 1] (Cd1)	[Com. card] (nEt)
		[Cmd channel 2] (Cd2)	[Terminals] (tEr)
		[Cmd switching] (CCS)	[LI5] (LI5)
	[1.7 APPLICATION FUNCT.] (FUn-)	[Ref.1B channel] (Fr1b)	[Ref. AI1] (AI1)
	[REFERENCE SWITCH.]
		[Ref 1B switching] (rCb)	[LI5] (LI5)

15