Schneider Electric 61 Bedienungsanleitung

User ’s Manual Retain for futu re use Altivar 61 Communication parameters Soft ware V1.6[...]

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3 Content s Contents ___________________ _________________ _________________ ____ _________________ _________________ _________ 3 Document structure and directi ons for use __________________ _________________ _____________________ _________________ _ 5 Presentation ____________________ _________________ _________________ ____ _________________ ___[...]

Content s 4 Output value pa rameters _______________________________ _________________ _____________________ _________________ 87 Output values (speed) ___________________ _________________ ____ _________________ _________________ ____ ____ 87 Output values (torque) ___________ _____________________ ________________ _________________ ____ _________[...]

5 Document structure and directions for use Installation Manual This manual describes: • Assembly • How to connect t he drive Programming manual This manual describes: • Functi ons • Parame ters • Use of the drive terminal (int egrat ed display terminal and graph ic display terminal ) Communication Parameters Manual This manual describes:[...]

6 Present ation The Altivar 61 drive has been desi gned to meet all the confi guration requirement s encountered wit hin the contex t of industri al communicat ion installat ions. It includes Mo dbus and CANo pen communication protocols as st andard. Two integrated communicatio n ports enable direct access to the Modbu s protocol: • One RJ45 Modb[...]

7 Present ation All the drive functi ons are accessible via the net work: • Control • Monitoring • Adjustment • Configuration If the "Controller Insi de" progra mmable card is i nstalle d on the drive, it s variables (%MW, etc.) can be acce ssed via the in teg rate d Modbus ports or the Ethernet op tion card. The speed/torque cont[...]

8 Sof tware enhancement s Since the Alti var ATV 61 was first launched , it has be nefited from th e addition of several new functions. The software version has be en updated to version V1.6. Th e old versions can be repla ced by this new one witho ut any modification s. Although this documentation rel ates to versio n V1.6, it can st ill be used w[...]

9 Sof tware enhancement s [1.8 FAULT MANAGEMENT] (FLt-) menu • Option to reini tialize the drive without turn ing it off, vi a [Product reset] (rP) . • Option to reinitiali ze the drive via a logi c input witho ut turning it off, us ing [Product reset assig.] (rPA ) . • The option to conf igure the "outp ut phase l oss" fault [Outpu[...]

10 Not ations Description of parameters Identification A parameter is d efined by me ans of various c haracter strings: • Code: 4 charac ters max. The code makes it possible to identify the parameter on the integrated 7-segment display terminal (Examples: brt , tLIG ) • Name: Description in pl ain text (used by the PowerSuite sof tware workshop[...]

11 Profiles What is a profile? There are three types of prof ile: • Communication p rofiles • Functional profiles • Application profil es Communication profiles A communication profi le describes the characterist ics of the bus or network: • Cables • Connectors • Electrical characteri stics • Access protocol • Addressing system • [...]

Profiles 12 Functional profiles suppor ted by Altivar 61 drives I/O profile Using the I/O profile simpli fies PLC programming . When controlling via t he terminals or the displ ay terminal, the I/O prof ile is used without knowing it. With an Altivar 61, the I/ O profile can also be used when con trolling via a netwo rk. The drive starts up as soon[...]

13 I/O profile Definition The behavior of the drive is ident ical whether via the network or via the termi nals. The I/O profile is achie ved via the following conf iguration: As well as to logic input s of the terminals, drive fu nctions can be assign ed to control word bit s. A function i nput can be assigned t o: • A termi nal input ( LI2 to L[...]

I/O profile 14 Fixed assignment to te rminals, on CAN open an d on "Control ler Inside" c ard: Fixed assignment to te rminals and on CANopen with command s wi tching : C20 1 C20 2 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 1 1 bit 1 0 bit 1 3 bit 1 2 bit 1 5 bit 1 4 bit 9 bit 8 bit 7 bit 6 bit 5[...]

15 I/O profile Control word - run on state [2 wire] (2C) Please refer to the [1.5 INPUTS / OUTP UTS CFG] (I-O-) section of the Programmi ng Manual. The forward run command is automaticall y assigned to input LI1 and to bit 0 of the various con trol words. This assignment cannot be modified. The run command is active on stat e 1: • Of input LI1 , [...]

I/O profile 16 Control word - run on edge [3 wire] (3C) Please refer to the [1.5 INPUTS / OUTPUTS CFG] (I-O-) section of th e Programming Manual. The stop command is automat ically assig ned to inp ut LI1 and to bit 0 of t he control words. This assignment cannot be modified. This command enables running on state 1: • Of input LI1 , if the termin[...]

17 I/O profile Status word (ETA) The status word is identical in the I/O profile and the CiA402 profile. For more detai led information, refer to section “CiA402 profi le”, page 18 . bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Alarm Reserved (= 0 or 1) Reserved ( = 1) Power section line supply present Fault Running Ready Reserved (= 0 or 1)[...]

18 CiA402 profile Functional description b The operation of the dri ve can be summari zed by 2 main funct ions, described b y the foll owing 2 diagrams (t he values i n brackets are the CANopen addresses of the parameters ): • Control diagram: • Simplified dia gram of t he speed control in "Velocit y" mode: b The main parameters are s[...]

19 CiA402 profile CiA402 state chart Fault Power section line supply present or absent Power section line supply present T ransition condition with example of command Val ue of status word AC power absent AC power present St ate displa y on graphic disp lay termina l Sta te Key: Examples: ET A=16#0637: S top or forward, spe ed re ach ed ET A=16#863[...]

CiA402 profile 20 Description of states Each state represents an interna l reaction by the drive. This chart will chang e depending on whet her the control word is sent (CMD) or an event occurs (a fault , for example). The drive state can be ident ified by the value of th e status word (ETA). 1 - Not ready to switch on Initializat ion starts. Thi s[...]

21 CiA402 profile 6 - Quick stop active Emergency stop The drive performs a fast stop, after which restarting will only be possible once the dri ve has changed to the "Switch on di sab led" state . During fast stop, the drive is unl ocked and power is supplied to the motor. The configuration para meters cannot be modifi ed. The condition [...]

CiA402 profile 22 Control word (CMD) x: Value is of no signific ance for this command. 0 V 1: Command on rising edge bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Fault res et Reserved (= 0) Reserved (= 0) Reserved (= 0) Enable operation Quick stop Enable voltage Switch on Ack. fault Run comm and Emergency stop Authorization to supply AC power Co[...]

23 CiA402 profile Stop commands: The "Halt" comma nd enabl es mo vemen t to be i nt errupted wi t hout ha vin g to l eave t he "5 - Operat ion ena bled" st at e. The st op is pe rformed in accordance with the [Type of stop] (Stt) parameter. In the case of an open-loop drive , if the "Halt" command is ac t ive, no power[...]

CiA402 profile 24 Status word (ETA) x: In this state, the val ue of the bit can be 0 or 1. (1) This mask can be used by the PLC prog ram to test the chart stat e. (2) Fault foll owing state "6 - Quick stop acti ve". bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 Warning Switch on disabled Quick stop Voltage enabled Fault Operat ion enabl[...]

25 CiA402 profile Starting sequence The command sequence in the sta te chart depends on how power is being supplied to the drive . There ar e th re e pos s i bl e s c en a rio s : (1) The power sectio n supplies the control sectio n. M M M M Power section line supply Power section line supply Control section power supply Direct Not separate (1) Dir[...]

CiA402 profile 26 Sequence for a drive powered by the power secti on line supply Both the power and control section s are powered by the power section line supply. If power is supplied to the control section, it has to be supp lied to the power secti on as well. The following sequence must be applied: b Step 1 • Send the "2 - Shutdown" [...]

27 CiA402 profile b Step 2 • Check that the drive is in the "3 - Ready to switch on" state. • Then send the "4 - Enable operat ion" command. • The motor can be controlled (send a reference not equal to zero). Note: It is possible, but no t necessary, to send the "3 - Switch on" command and then t he "4 - Ena[...]

CiA402 profile 28 Sequence for a drive with separate control section Power is supplie d separately to the power and con trol sections. If power is sup plied to the control sectio n, it does n ot have to be supplied t o the power sect ion as well. The following sequence must be applied: b Step 1 • The power section line supply is not necessarily p[...]

29 CiA402 profile b Step 2 • Check that the drive is in the "3 - Ready to switch on" state. • Check that the power secti on line supply is present ("Vol tage enabled" of the st at us word). • Send the "3 - Switch on" command. Power sectio n line s upply Terminal dis play Status wor d Absent nLP 16# pp 21 Present [...]

CiA402 profile 30 b Step 3 • Check that the drive is in the "4 - Switched on " state. • Then send the "4 - Enable operat ion" command. • The motor can be controlled (send a reference not equal to zero). • If the power secti on line sup ply is still not present i n the "4 - Switched on" state a fter a time d ela[...]

31 CiA402 profile Sequence for a drive with line contactor control Power is supplie d separately to the power and con trol sections. If power is supplied to the control section, it does not have to be sup plied to the power section as well . The drive controls t he line cont actor. The following sequence must be applied: b Step 1 • The power sect[...]

CiA402 profile 32 b Step 2 • Check that the drive is in the "3 - Ready to switch on" state. • Send the "3 - Switch on" command, which will clo se the line contactor and switch on t he power section line supply. 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 sect[...]

33 CiA402 profile b Step 3 • Check that the drive is in the "4 - Switched on " state. • Then send the "4 - Enable operat ion" command. • The motor can be controlled (send a reference not equal to zero). • If the power section line supply is stil l not present in the "4 - Switched on" state after a time delay [M[...]

34 Command/reference switching Channels A channel is the name given t o the source of a command or reference. The six Altivar 61 cha nnels are: • The terminals • The graphic disp lay terminal • The integrated Modbus ports • The integrated CANopen port • A network card • The "Controller Insid e" card The Altivar 61 has two inte[...]

35 Command/reference switching Not separate mode Command and reference come from the same channe l. In CiA402 profile, t he not separate mode is configu red via the terminal: Separate mode Command and reference may come from differe nt channels. In CiA402 profile , the separate mode is achi eved via configurat i on with the terminal: In I/O profil [...]

Command/reference switching 36 Switching in no t separate mode Switching takes p lace between 2 channels simul taneously for bo th reference and command. In this example, the co mmand and reference come either from CANopen or from th e terminals. Switching in separate mode Switching can take place bet ween 2 channels independently for the reference[...]

37 Command/reference switching Channel switching Reference channel configuration Reference channel conf iguration enables ref erence sources to be predefin ed, which can b e modified or switched su bsequently via a command. There are 3 pred efined reference channels: • Reference channel 1 • Reference channel 1B • Reference channel 2 Reference[...]

Command/reference switching 38 Switches A channel switch is use d to sel ect predefined chan nels. It can be: • Defined via configuration • Activated eithe r via an input (terminals) or a cont rol word bit (network) • Written via a network during opera tion (modificat i on of a configuration paramet er) The possible s witch values are: The va[...]

39 Command/reference switching Reference switching principle A detailed descript ion is given in the Progra mming Manual. This diagram shows reference switching as applicable to all th e following modes: • I/O profile • CiA402 profile and separate mode • CiA402 profile and not separate mode rCb rFC Fr1 Fr2 LI pp C1 pp C2 pp C3 pp C4 pp Fr1 Fr[...]

Command/reference switching 40 Command switching principle A detailed descript ion is given in the Progra mming Manual. I/O profile or CiA402 profile (separate mode) CiA402 profile (not separate mode ) (1) In not separate mode, command switching follows reference switch ing. I t is therefore reference switching that switches the c ommand. CCS Cd1 C[...]

41 Command/reference switching Assigning control word bits I/O profile The I/O profile is extreme ly f lexible in terms of assign ing and switching the 16 cont rol word bit s. To switch a control word bit using : • An input from the termi nal s • Or a control word bit from another commun ication channel simply configure a switche d assignment f[...]

Command/reference switching 42 The tables below show assignmen ts on the basis of input or bit . Run on state command [2 wire] (2C) : Run on edge command [3 wire] (3C) : Bit Switched assignmen t Fixed assignments Drive terminals Logic I/O card Extende d I/O card Integrated Modbus CANopen Network card "Controller Inside" card bit 0 Forward[...]

43 Command/reference switching CiA402 profile Control word bits of the same order are switch ed if the function input s are assigned to switchable bi ts. Switchi ng may be poss ib le us i ng LI12 , LI13 or LI14 on an extended I/ O card. The table below shows assignmen ts on the basis of input or bit . Once a bit has been assigned to a swit chable a[...]

Command/reference switching 44 Copy on switching When switching chann els, it is possible t o copy the refere nce or command from function channel 1 to direct channe l 2. If a copy is not made, the driv e stops according to the confi gured stop type [Type of stop] (Stt) until the first command and reference are received. The reference before ramp ([...]

45 Forced local mode Definition Forced local mode supports swit ching to the terminals or dis pla y terminal. This function compl ements channel switching and makes it possible to make use of an existing functio n from the Altivar 58 range. Forced local mode is only avai lable in CiA402 profil e, not in I/O profile. All other communicati on takes p[...]

Forced local mode 46 Forced local mode and reference switching A detailed descript ion is given in the Progra mming Manual. This diagram shows reference switching as applicable to the fol lowing modes: • CiA402 profile and separate mode • CiA402 profile and not separate mode AI 1C AI 2C LFr1 LFr2 LFr3 AI 2 AI 1 LFr LFr4 AI 2 AI 1 AI 1C AI 2C LF[...]

47 Forced local mode Forced local mode and command switch ing A detailed descript ion is given in the Progra mming Manual. CiA402 profile (separate mode) RU N/ S T OP FW D /R E V LIx CM D 1 CM D 2 CM D 3 CM D 4 RU N/ S T OP FW D /R E V LIx CM D 1 CM D 2 CM D 3 CM D 4 LIx RU N/ S T OP FW D /R E V AI 1 AI 2 AI 4 AI 3 LI 1 ... LI14 Cd 1 Cd 2 LI pp C11[...]

Forced local mode 48 CiA402 profile (not separate mode ) (1) In not separate mode, command switching follows reference switch ing. I t is therefore reference switching that switches the c ommand. LIx RU N/ S TO P FW D /R E V AI 1 AI 2 AI 4 AI 3 LI1 ... LI14 LIx AI1 AI2 RU N/ S TO P FW D /R E V CM D 1 CM D 2 CM D 3 CM D 4 LIx LIx RU N/ S TO P FW D /[...]

49 Priority stop s Priority stops on the graphic display terminal If the graphic disp lay terminal is not the active command chann el, pressing the STOP key o n the graphic display t erminal causes a freewheel s top if: • The [Stop Key priority] (PSt) para meter in the [1.6 - COMMAND] (CtL-) menu is configured to [Yes] (YES) (factory setting). If[...]

Priority stop s 50 CiA402 profile Fixed assignments are conf igured by the following val ues: C p 11 is assigned by defaul t to the reverse direction comman d [Rev erse ass ign.] (rrS) . At the terminals: (1) If the assignment is f ixed, the va lue necessary for starting, even if another channel i s active. In run on edge command, c onfigured by [3[...]

51 Communication monitoring The Altivar 61 drive incorporates c ommunication moni toring mechanisms. Principle Following initial ization (power-up), the drive waits until at least one co mmand or reference parameter has been wri tten for the first time by the network . Then, the network is monit ored and if a network fault occurs, the drive reacts [...]

Communication monitoring 52 Behavior in the event of a network fault In the event of a network fault (on a monitored channel) , the driv e reacts as specified in the [1.8 - FA ULT MANAGEMENT] (FLt-) menu ( [COM. FAULT MANAGEMENT] (CLL-) submenu) b y the following parameters: • [Modbus fault mgt] (SLL) for integrated Modbus • [CANopen fault mgt][...]

53 Communication monitoring Detailed operation Monitoring of communication channels • The drive monit ors all its c ommunication chann els. • Communication proble ms 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 faul t or a drive fault. - Example: If a d[...]

Communication monitoring 54 Enabling of communication channels • A communication channel is enabled if all its paramet ers assigned to drive functi ons have been received. - Example: A drive is in I/O profile with speed control. Modbus constitute s both the co mmand and reference channel. The Modbus channel will be enabl ed as soon as the contro [...]

55 Assignment of references from a network Reference parameters The Altivar 61 supports a numbe r of reference paramete rs, which must be select ed according to the funct ions used in the drive. Example 1: The drive is to be con tr olled by sending the speed refe rence to the PID regulat or via CANopen. No application function is used. The followin[...]

Assignment of references from a network 56 Without PID regulator H/> 72H 279/ :52 H2/ 2H% 279 ;-% ;-& @-% @-& 8-% 8-& 2H$ 2H$> +/- speed a round a reference Preset speeds Jog operatio n PID not assigned Graphic display Forced local Ramps Parameter: The black square represents th e factory setting assignment Key: Channel 1 Channel [...]

57 Assignment of references from a network With PID regulator (1) The ramp AC2 is active only at sta rtup of the PI D function a nd during PI D "wake-ups". H/> 72H 279/ H2/ 2H% 279 ;-% ;-& @-% @-& 2H$ 2H$> Graphic display Ramps (1) Channel 1 Channel 2 PID See the table below A Forced local [Ref 1B switc hing] [Ref.1 channel][...]

58 Configuration saving and switching Saving the configuration When a parameter is modi fied via the drive ’s integrated dis play terminal or graphic display termi nal, this para meter is automat ically sa ve d 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 networ[...]

59 Configuration saving and switching To save the parameter, a save command must be exec uted using bit 1 of the ext ended control word (CMI) . The save command is only active if the drive is stopped, and not i n "5-Operation enable d" state. Display terminal Configuration 0 (EEPROM) Configuration 1 (EEPROM) Configuration 2 (EEPROM) Facto[...]

Configuration saving and switching 60 Restore configuration The restore configuration comman d is executed using bit 2 of t he extended control word (CMI) . The return to factory se ttings co mmand is executed using bit 0 o f the ext ended contro l word (CMI ) . The type of sett ing is determin ed by the active macro configurat ion parameter [Macro[...]

61 Configuration saving and switching Configuration switching via control word The configuration or motor swit ching function (see the Progra mming Manual) can be used via the network or via the terminals. To use this functi on via a netwo rk, simply assign o ne or two bits of t he control word to the mot or or configuration swi tching c ommand via[...]

Configuration saving and switching 62 When the configurat ion or motor switchi ng function is conf igured on inputs o r on control word bits, to save a conf iguration tha t is alr eady active, set bit 1 of the ext ended control word (CMI) to 1. When the config urati on or motor swi tc hin g funct i on i s co nfigu re d on input s o r on cont ro l w[...]

63 Configuration saving and switching Function parameters Code Description CNF1 Parameter name: Assignment for 2 configurations Terminal display: [2 Configurat ions] Logic address: 8021 = 16#1 F55 Type: WORD (listing) CANopen index: 2032/16 Read/write: R/WS INTERBUS index: 5FBC/9C Factor y s et t i ng : 0 DeviceNet path: 9C/01/9C See next page. CNF[...]

Configuration saving and switching 64 Assignment of logic inputs and contro l bits for CNF1 and CNF2 Note: In [I/O profile] (IO) configu ration, LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C) ; LI2 ca nnot be accessed either. Value Assignment Description/ Conditi on 0 Not assigned 129 to 134 [LI1] (L I1) to [LI6] (L I6) Logi[...]

65 Configuration saving and switching Configuration switching by selection The current conf iguration can be saved in one of the 3 non-vol a tile configurat ions in EEPROM using th e "Save config uration" (SCS ) parameter. In this case, it i s not necessary to assi gn a function in the cont rol word. One of the 3 non-v olatile configurat [...]

Configuration saving and switching 66 Function parameters Code Description SCS Parameter name: Save configuration Logic address: 8001 = 16#1 F41 Type: WORD (listing) CANopen index: 2032/2 Read/write: R/WS INTERBUS index: 5FBC/9A DeviceNet path: 9C/01/9A 0 =N o s a v e 1 = Save to configuration no. 0 2 = Save to configuration no. 1 3 = Save to confi[...]

67 Parameter set switching The parameter set switching funct i on (see the Programming Ma nual) can be used via the network or via the termina ls. To use this func tion via a network, simply assign one or two bits o f the control wo rd t o parameter set swit ching via the [2 Parameter sets] (CHA1) and [3 Par ameter se ts] (CHA2) parameters. The act[...]

Parameter set switching 68 CHA1 and CHA2 assignment values Note: In [I/O profi le] (IO) configuration, LI1 cann ot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C) , LI2, C101, C201, C301 and C401 cannot be accessed eithe r. Value Assignment Description/ Conditi on 0 [No] (nO) Not assigned 4 [Freq. Th. attain.] (FtA) Switching via [Freq.[...]

69 Parameter set switching Parameter sets can be load ed via the f ollowing parameters: Address table: Table of values for set no. 1: No. Code Logic address: CANopen i ndex: INTERBUS index: DeviceNet path: 1 AD01 12911 = 16#326F 2063/C 5FBF/6A 9F/01/8C 2 AD02 12912 = 16#3270 2063/D 5FBF/6B 9F/01/8D 3 AD03 12913 = 16#3271 2063/E 5FBF/6C 9F/01/8E 4 A[...]

Parameter set switching 70 Table of values for para meter set no. 2: Table of values for set no. 3: No. Code Logic address: CANopen i ndex: INTERBUS index: DeviceNet path: 1 S201 12951 = 16#3297 2063/34 5FBF/8 8 9F/01/AA 2 S202 12952 = 16#3298 2063/35 5FBF/8 9 9F/01/AB 3 S203 12953 = 16#3299 2063/36 5FBF/8A 9 F/01/AC 4 S204 12954 = 16#329A 2063/37 [...]

71 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 t aken into account 1 = Request to write a new set of parameters 2 =[...]

72 Loading drive p arameters Requirement Certain application s require paramet ers to be downloaded: • When the in stall a ti on star ts up • When the manufa cturing range is changed • When a faulty d evice is repl aced Neither the integrated p orts nor the network cards of the driv e provi de a parameter file loading procedure (except for th[...]

73 Loading drive p arameters Inconsistency examples The 2 adj u st m ent paramet er s [Low speed] (3105- LSP ) and [High spee d] (3104-HSP) comply with the consi stency rule: 0 y [Low speed] (3105 - LSP ) y [High speed] (3104- HSP ) y 10000. Example 1 Initial confi guration V Configuration to be l oaded: [High speed] (3104- HS P ) = 30 Hz V [High s[...]

74 Command p arameters Code Description CMd Parameter name: Control word Terminal display: [Cmd value] CiA402 name: controlword DRIVECOM name: Control word Logic address: 8601 = 16#2199 or 8501 = 16#2135 (1) Type: WORD (bit register) CANopen index: 6040/0 Read/write: R/W INTERBUS index: 5FB6/1B DeviceNet path: B7/01/01 (1) Note: This parameter is a[...]

75 Command p arameters Possible values in CiA402 profil e, separate or not separate mode bit 0: "Switch on"/Contactor command bit 1: "Disable voltage"/Authori zation 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[...]

Command p arameters 76 CMI Parameter name: Extended control word Logic address: 8504 = 16#2138 Type: WORD (bit register) CANopen index: 2037/5 Read/write: R/W INTERBUS index: 5FB6/1E DeviceNet path: 8B/01/69 bit 0: Command for a RAM factory setting according to the [PARAMETER GROUP LIST] (FrY) paramet er (active at 1). If it is also wi shed to make[...]

77 Setpoint p arameters See section “Assignment of referenc es from a net work”, page 55 Code Description LFRD Parameter name: Speed reference CiA402 name: vl target velocity DRIVECOM name: Speed-Set point 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) [...]

Setpoint p arameters 78 PISP Parameter name: PID regulator reference Logic address: 8503 = 16#2 137 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 regulato r is t o be controlled via a netwo rk, this reference must be written, in accordance wit h the protocol: • Ei[...]

79 St atus p arameters Code Description ETA Parameter name: Status word CiA402 name: St atusword DRIVECOM name: Statusword Logic address: 8603 = 16#2 19B or 3201 = 16#0C81 (1) Type: WORD (bit register) CANopen index: 6041/0 Read/write: R INTERBUS index: 6041/0 DeviceNet path: 71/01/02 (1) Note: This parameter is available at 2 logi c addresses to o[...]

St atus p arameters 80 Possible values in CiA402 profil e bit 0: "Ready to switch on", awaiti ng power section li ne 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 prese nt = 0: Power [...]

81 St atus p arameters ETI Parameter name: Extended sta tus word Logic address: 3206 = 16#0 C86 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-volatil e memory in progre ss bit 1: = 0: No parameter consistency check = 1: Parameter consistency check [...]

St atus p arameters 82 LRS2 Parameter name: Extended status word 2 Logic address: 3251 = 16#0 CB3 Type: WORD (bit register) CANopen index: 2002/34 Read/write: R INTERBUS index: 5FB9/1F DeviceNet path: 71/01/34 bit 0: = 1: [High Ref.] (rtAH) : Frequency reference is great er than the threshol d [High Freq . Ref. Thr.] (rtd) bit 1: = 1: [Low Ref.] (r[...]

83 St atus p arameters LRS4 Parameter name: Extended status word 4 Logic address: 3253 = 16#0 CB5 Type: WORD (bit register) CANopen index: 2002/36 Read/write: R INTERBUS index: 5FB9/21 DeviceNet path: 71/01/36 bit 0: = 1: Configuration 0 is act ive bit 1: = 1: Configuration 1 is act ive [Cnfg.1 act.] (CnF1) bit 2: = 1: Configuration 2 is act ive [C[...]

St atus p arameters 84 LRS6 Parameter name: Extended status word 6 Logic address: 3255 = 16#0 CB7 Type: WORD (bit register) CANopen index: 2002/38 Read/write: R INTERBUS index: 5FB9/23 DeviceNet path: 71/01/38 bit 0: = 1: Alarm group 1 is active bit 1: = 1: Alarm group 2 is active bit 2: = 1: Alarm group 3 is active bit 3: = 1: Probe 1 alarm: [PTC1[...]

85 St atus p arameters LRS8 Parameter name: Extended status word 8 Logic address: 3257 = 16#0 CB9 Type: WORD (bit register) CANopen index: 2002/3A Read/write: R INTERBUS index: 5FB9/25 DeviceNet path: 71/01/3A bit 0: Reserved (= 0) bit 1: Reserved (= 0) bit 2: Reserved (= 0) bit 3: Reserved (= 0) bit 4: Reserved (= 0) bit 5: Reserved (= 0) bit 6: R[...]

St atus p arameters 86 CCC Parameter name: Active command channel Logic address: 8442 = 16#2 0FA Type: WORD (bit register) CANopen index: 2036/2B Read/write: R INTERBUS index: 5FB9/D3 DeviceNet path: 8B/01/2B bit 0: = 1: The terminals are the acti ve command channel bit 1: Reserved (= 0) bit 2: = 1: The graphic display terminal is th e active comma[...]

87 Output value p arameters Output values (speed) Code Description rFrd Parameter name: Output speed CiA402 name: vl control effort DRIVECOM name: Speed-Act ual-Value Logic address: 8604 = 16#2 19C 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 con forming to CiA402[...]

Output value p arameters 88 Output values (torque) Code Description Otr Parameter name: Output torque Terminal display: [Motor torque] CiA402 name: Torque actual value DRIVECOM name: Torque-Actual -Value Logic address: 3205 = 16#0 C85 Type: INT CANopen index: 6077/0 Read/write: R INTERBUS index: 5FB9/07 Unit: 0.001 "Nominal motor torque" [...]

89 Output value p arameters Output values (motor) Code Description LCr Parameter name: Motor current Terminal display: [Motor cu rrent] Logic address: 3204 = 16#0 C84 Type: UINT CANopen index: 2002/5 Read/write: R INTERBUS index: 5FB9/06 Unit: 0.1 A DeviceNet path: 2A/01/09 (1) 71/01/05 (2) Parameter conforming to ODVA profile UOP Parameter name: M[...]

90 Reference p arameters References (speed) Code Description FrHd Parameter name: Spee d referenc e before ramp Logic address: 8605 = 16#2 19D Type: INT CANopen index: 2038/6 Read/write: R INTERBUS index: 6043/0 Unit: rpm DeviceNet path: 8C/01/06 FrOd Parameter name: Speed reference after ramp Terminal display: CiA402 name: vl velocity demand DRIVE[...]

91 Reference p arameters References (regulator) See section “Assignment of referenc es from a net work”, page 55 . Code Description rPC Parameter name: PID reference after ramp Terminal display: [PID reference] Logic address: 11982 = 16# 2ECE Type: UINT CANopen index: 2059/53 Read/write: R INTERBUS index: 5FB9/E8 Unit: 1 DeviceNet path: 9C/01/B[...]

92 Measurement p arameters Input measurements Code Description ULn Parameter name: Power supply voltage Terminal display: [Mains voltage] Logic address: 3207 = 16#0 C87 Type: UINT CANopen index: 2002/8 Read/write: R INTERBUS index: 5FB9/09 Unit: 0.1 V DeviceNet path: 71/01/08 IPr Parameter name: Power consumed by the drive Terminal display: [Input [...]

93 Measurement p arameters Thermal states Code Description tHd Parameter name: Drive thermal st ate Terminal display: [Drv. thermal state] Logic address: 3209 = 16#0 C89 Type: UINT CANopen index: 2002/A Read/write: R INTERBUS index: 5FB9/0B Unit: 1% DeviceNet path: 71/01/0A tHr Parameter name: Motor thermal state Terminal display: [Motor thermal st[...]

Measurement p arameters 94 Time Code Description rtH Parameter name: Total motor operating time Terminal display: [Run time] Logic address: 3231 = 16#0 C9F Type: UINT CANopen index: 2002/20 Read/write: R INTERBUS index: 5FB9/15 Unit: According to UNT parameter, page 89 DeviceNet path: 71/01/20 rtHI Parameter name: Internal motor operating time Logi[...]

95 Measurement p arameters Format of "Date" and "Time" parameters Date and time are binary-coded usin g the corresponding word bits indicated in the ta ble below. Note: The value 0 for year corresponds to the year 2000 (2006 = 36, for examp le). PEt Parameter name: Total process operating time Terminal display: [Proc. Operat. Ti[...]

96 I/O p arameters Logic I/O Code Description IL1r Parameter name: Logic input map Logic address: 5202 = 16#1 452 Type: WORD ( bit register) CANopen index: 2016/3 Read/write: R INTERBUS index: 5FB9/2B Unit: - DeviceNet path: 7B/01/03 bit 0: Value of LI1 bit 1: Value of LI2 bit 2: Value of LI3 bit 3: Value of LI4 bit 4: Value of LI5 bit 5: Value of [...]

97 I/O p arameters Analog inputs Code Description AI1C Parameter name: Phys ical image of analog input 1 Logic address: 5242 = 16#1 47A Type: INT CANopen index: 2016/2B Read/write: R INTERBUS index: 5FB9/36 Unit: 0.001 V DeviceNet path: 7B/01/2B AI1r Parameter name: Standardized image of analog in put 1 Logic address: 5232 = 16#1 470 Type: INT CANo[...]

I/O p arameters 98 Analog outputs The analog output s can be controlle d via the netwo rk. Simply wri te these parameters. The ou tputs to be controlled must not be a ssign ed to a drive function, ot herwis e the write operation has no eff ect. Code Description AI4C Parameter name: Phys ical image of analog input 4 Logic address: 5245 = 16#1 47D Ty[...]

99 I/O p arameters Encoder Code Description AO2r Parameter name: Standardized image of analog output 2 Logic address: 5262 = 16#1 48E Type: INT CANopen index: 2016/3F Read/write: R/W INTERBUS index: 5FB9/3E (reading via PCP) 5FB6/51 (wri ti ng via PC P) Unit: 1 DeviceNet path: 7B/01/3F AO3C Parameter name: Physica l image of analog output 3 Logic a[...]

100 Fault p arameters Code Description Errd Parameter name: CiA402 fa ult code CiA402 name: Error code DRIVECOM name: Malf unction code Logic address: 8606 = 16#2 19E Type: WORD (listing) CANopen index: 603F/0 Read/write: R INTERBUS index: 603F/0 Unit: - DeviceNet path: 29/01/0D (1) 8C/01/07 (2) (1) ODVA standard path. It can be use d for explicit [...]

101 Fault p arameters Errd (continued) 16#7530: Fault commu nicating with Po werSuite (SLF2) 16#8100: CANopen communicati on fault (COF) 16#9000: External fault (EPF1) or fault trigge red by a communicatio n network (EPF2) or "Contr oller Inside" card fau lt (APF) 16#FF00: Auto-tuning fault (tnF) 16#FF02: No fluid (nFF) or switch to to rq[...]

Fault p arameters 102 LFt Parameter name: Altivar faul t code Logic address: 7121 = 16#1 BD1 Type: WORD (listing) CANopen index: 2029/16 Read/write: R INTERBUS index: 5FB9/58 Unit: - DeviceNet path: 84/01/7A The last fault that occurred remai ns stored in the "Altivar faul t code" (LFt ) parameter, even if it disap pears and even after th[...]

103 Fault p arameters ( (LFT) , continued) 35: Reserv ed 36: Reserved 37: [Internal - hard init.] (InF7) Initial ization of the drive is i ncomplete 38: [External fault com.] (EPF2) Fault triggered by a communicat io n network 39: [Application fau lt] (APF) "Controller Inside " card fault 40: [Internal-ctrl supply] (InF8) The control supp[...]

Fault p arameters 104 CIC Parameter name: Incorrect configuration Logic address: 7130 = 16#1 BDA Type: WORD (bit register) CANopen index: 2029/1F Read/write: R INTERBUS index: 5FB6/1A Unit: - DeviceNet path: 84/01/83 bit 0: = 1: Change of rating bit 1: Reserved (= 0 or 1) bit 2: = 1: The network card has been remo ved bit 3: = 1: Saving to the EEPR[...]

105 Fault p arameters ILF1 Parameter name: Option c a r d 1 fault code Logic address: 7134 = 16#1 BDE Type: UINT CANopen index: 2029/23 Read/write: R INTERBUS index: 5FB0/9A Unit: 1 DeviceNet path: 84/01/87 Factory sett i ng : The fault remains saved i n the parameter, even if i t disappears. The parameter is reset after the drive is disconnected a[...]

Fault p arameters 106 Fnb Parameter name: Fault co un ter Logic address: 7393 = 16#1 CE1 Type: UINT CANopen index: 202B/5E Read/write: R INTERBUS index: 5FB9/D0 Unit: - DeviceNet path: 99/01/CC Code Description[...]

107 Log p arameters Description of last fault log Code Description dP0 Parameter name: Fault co de on last fault Logic address: 7200 = 16#1 C20 Type: WORD (listing) CANopen index: 202A/1 Read/write: R INTERBUS index: 5FB9/59 Unit: - DeviceNet path: 85/01/01 Value of the "Altivar fault co de" (LFt) parameter, written to memory w hen the la[...]

Log p arameters 108 IP0 Parameter name: Extended status word on last fault Logic address: 7220 = 16#1 C34 Type: WORD (bit register) CANopen index: 202A/15 Read/write: R INTERBUS index: 5FB9/6B Unit: - DeviceNet path: 85/01/15 Value of the "Extended status word 0" (EtI) parameter, written to memory when the la st fault occurre d. See the p[...]

109 Log p arameters CrPO Parameter name: Channels active on last f ault Logic address: 7290 = 16#1 C7A Type: WORD CANopen index: 202A/5B Read/write: R INTERBUS index: 5FB9/AA Unit: - DeviceNet path: 85/01/5B Command channel: L ow order byte: 0: Terminals 2: Graphic display t erminal 3: Modbus 6: CANopen 9: Network card 10: "Controller Inside&q[...]

Log p arameters 110 Format of "Date" and "Time" parameters Date and time are binary-coded usin g the corresponding word bits indicated in the ta ble below. Note: The value 0 for year corresponds to the year 2000 (2006 = 36, for examp le). Bits 15 14 13 12 11 10 9876543210 Date Year XXXXXXX Month X X X X Day X X X X X Time Hours [...]

111 Log p arameters Log of the following faults The log shown for the first fa ult can be used to review the last 8 faul ts. All codes and addre sses are summarized in th e tables below. Fault n-1 Fault n-2 Log Code Logic addre ss: CANopen index: INTERBUS index: DeviceNet path: Fault c ode dP1 7201 = 16#1C21 202A/2 5FB9 /5A 85/01/02 Power supply vo[...]

Log p arameters 112 Fault n-3 Fault n-4 Log Code Logic addre ss: CANopen index: INTERBUS index: DeviceNet path: Fault c ode dP3 7203 = 16#1C23 202A/4 5FB9 /5C 85/01/04 Power supply voltage ULP3 7273 = 16#1C69 202A/4A 5FB9/9B 85/01/4A Motor current LCP3 7243 = 16#1C4B 202A/2C 5FB9/80 85/01/2C Output fre quency rFP3 7253 = 16#1C55 202A/36 5FB9/89 85/[...]

113 Log p arameters Fault n-5 Fault n-6 Log Code Logic addre ss: CANopen index: INTERBUS index: DeviceNet path: Fault c ode dP5 7205 = 16#1C25 202A/6 5FB9 /5E 85/01/06 Power supply voltage ULP5 7275 = 16#1C6 B 202A/4C 5FB9/9D 85/01/4C Motor current LCP5 7245 = 16#1C4D 202A/2E 5FB9/ 82 85/01/ 2E Output fre quency rFP5 7255 = 16#1C57 202A/38 5FB9/8B [...]

Log p arameters 114 Fault n-7 Fault n-8 Log Code Logic addre ss: CANopen index: INTERBUS index: DeviceNet path: Fault c ode dP7 7207 = 16#1C27 202A/8 5FB9/60 85/01/08 Power supply voltage ULP7 7277 = 16#1C6 D 202A/4E 5FB9/ 9F 85/01/ 4E Motor current LCP7 7247 = 16#1C4F 202A/30 5FB9/84 85/01/30 Output fre quency rFP7 7257 = 16#1C59 202A/3A 5FB9/8D 8[...]

115 Identification p arameters Code Description nCVr Parameter name: Drive nominal rating Logic address: 3020 = 16#0 BCC Type: WORD (listing) CANopen index: 2000/15 Read/write: R INTERBUS index: 5FB0/0A Unit: - DeviceNet path: 70/01/15 0 = nO (Unknown rat ing) 4 = 03 7 (0.37 kW / 0.5 HP) 6 = 07 5 (0.75 kW / 1 HP) 9 = U15 (1.5 kW / 2 HP ) 11 = U22 ([...]

Identification p arameters 116 PAn0 Parameter name: Device name: characters 1 and 2 Logic address: 3340 = 16#0 D0C Type: UINT CANopen index: 2003/29 Read/write: R/W INTERBUS index: 5FB0/27 Unit: DeviceNet path: 71/01/8D This parameter can be modif i ed via the graphic displ ay t erminal in the [7.1 USER PARAMETERS] menu. If the device is call ed &q[...]

117 Identification p arameters PAn6 Parameter name: Device name: characters 13 and 14 Logic address: 3346 = 16#0 D12 Type: UINT CANopen index: 2003/2F Read/write: R/W INTERBUS index: 5FB0/2CD Unit: DeviceNet path: 71/01/93 PAn7 Parameter name: Device name: characters 15 and 16 Logic address: 3347 = 16#0 D13 Type: UINT CANopen index: 2003/30 Read/wr[...]

118 CiA402 st andard configuration and adjustment parameters Code Description SMIL Parameter name: Minimum speed CiA402 name: vl velocity min speed DRIVECOM name: Speed-Mi n-Amount Logic address: 8607 = 16#2 19F and 8608 = 16#21A0 Type: UDINT CANopen index: 6046/1 Read/write: R/W INTERBUS index: 6046/1 Unit: rpm DeviceNet path: 8C/01/08 Parameter c[...]

119 CiA402 st andard configuration and adjustment parameters SPAt Parameter name: Acceleratio n time delta CiA402 name: vl velocity acceleration/delta time DRIVECOM name: Speed-Acce leration/Delt a time Logic address: 8613 = 16#2 1A5 Typ e: UINT CANopen index: 6048/2 Read/write: R/W INTERBUS index: 6048/2 Unit: 1 s DeviceNet path: 8C/01/0E Paramete[...]

CiA402 st andard configuration and adjustment parameters 120 SPFn Parameter name: Speed setpoint factor numerator CiA402 name: vl setpoint factor numerator DRIVECOM name: Setpoi nt-Factor-Numerator Logic address: 8642 = 16#2 1C2 Type: INT CANopen index: 604B/1 Read/write: R/W INTERBUS index: 604B/1 Unit: - DeviceNet path: 8C/01/2B Factory s et ting[...]

121 CiA402 st andard configuration and adjustment parameters DOTD Parameter name: Disable operation option code CiA402 name: Disable operation option code DRIVECOM name: Logic address: 8652 = 16#2 1CC Type: WORD (listing) CANopen index: 605C/0 Read/write: R/WS INTERBUS index: 5FBD/82 Factor y s et t i ng : 0 DeviceNet path: 8C/01/35 Parameter con f[...]

122 ODV A st andard configuration and adjustment parameters Code Description ACCd Parameter name: ODVA acceleration time ODVA name: Ac celTime Logic address: - Type: UINT CANopen index: - Read/write: R/W INTERBUS index: - Unit: ms DeviceNet path: 2A/01/12 Parameter con forming to ODVA profile . Speed for calcula tion of accelerat ion ramp. Writing [...]

123 Index of p arameter codes Code Name Page ACCd ODVA acceleration time 122 AI1C Physical image of analog input 1 97 AI1r Standardized image of analog input 1 97 AI2C Physical image of analog input 2 97 AI2r Standardized image of analog input 2 97 AI3C Physical image of analog input 3 97 AI3r Standardized image of analog input 3 97 AI4C Physical i[...]

Index of p arameter codes 124 CMP6 Log 113 CMP7 Log 114 CMP8 Log 114 CnF Network card fault cod e 104 CNF1 Assignment fo r 2 configurations 63 CNF2 Assignment fo r 3 configurations 63 CNFS [Config. ac tive] 63 CNFS [Config. A ctive] 86 CRC Active reference channel 85 CrPO Channels active on last faul t 109 CrP1 Log 111 CrP2 Log 111 CrP3 Log 112 CrP[...]

125 Index of p arameter codes dM3 Log 112 dM4 Log 112 dM5 Log 113 dM6 Log 113 dM7 Log 114 dM8 Log 114 DOTD Disable operatio n option code 121 dP0 Fault code on l ast fault 107 dP1 Log 111 dP2 Log 111 dP3 Log 112 dP4 Log 112 dP5 Log 113 dP6 Log 113 dP7 Log 114 dP8 Log 114 drC0 Reference channel act ive on last fault 108 drC1 Log 111 drC2 Log 111 drC[...]

Index of p arameter codes 126 EP7 Log 114 EP8 Log 114 Errd CiA402 fault code 100 ETA Status word 79 ETI Extended status word 81 FCS Restore configuration 66 Fdrd Ethernet fault co de 105 Fnb Fault counte r 106 FrH Frequency refer ence before ramp 90 FrHd Speed reference before r amp 90 FrO Frequency reference after ramp 90 FrOd Speed reference afte[...]

127 Index of p arameter codes LCP3 Log 112 LCP4 Log 112 LCP5 Log 113 LCP6 Log 113 LCP7 Log 114 LCP8 Log 114 LCr Motor current 89 LFR Frequency reference 77 LFRD Speed reference 77 LFt Altivar fault code 102 LRS1 Extended status word 1 81 LRS2 Extended status word 2 82 LRS3 Extended status word 3 82 LRS4 Extended status word 4 83 LRS5 Extended statu[...]

Index of p arameter codes 128 Otr Output torque 88 PAn0 Device name: characters 1 and 2 116 PAn1 Device name: characters 3 and 4 116 PAn2 Device name: characters 5 and 6 116 PAn3 Device name: characters 7 and 8 116 PAn4 Device na me: charact ers 9 and 1 0 116 PAn5 Device name : characters 11 an d 12 116 PAn6 Device name : characters 13 an d 14 117 [...]

129 Index of p arameter codes rtP1 Log 111 rtP2 Log 111 rtP3 Log 112 rtP4 Log 112 rtP5 Log 113 rtP6 Log 113 rtP7 Log 114 rtP8 Log 114 SCS Save configuration 66 SMAL Maximum speed 118 SMIL Minimum speed 118 SPAL Acceleration sp eed delta 118 SPAt Acceleratio n tim e del ta 119 SPdL Deceleration speed delta 119 SPdt Decelerati on time delta 119 SPFd [...]

Index of p arameter codes 130 UdP Drive software version 115 ULn Power supply v oltage 92 ULP0 Power supply voltage o n last fault 107 ULP1 Log 111 ULP2 Log 111 ULP3 Log 112 ULP4 Log 112 ULP5 Log 113 ULP6 Log 113 ULP7 Log 114 ULP8 Log 114 UNT Units of par ameters APH, PTH, RTH and RTHI 89 UOP Motor voltage 89 VAL Load parameter set command 71 Code [...]

2008-03 atv61_parameters_en_v4[...]