Schneider Electric 61 - Manual

8 Software enhancements Since the Altivar ATV 61 was first launched, it has benefited from the addition of several new functions. The software version has been updated to version V1.6. The old versions can be replaced by this new one without any modifications.Although this documentation relates to v...

9 Software enhancements [1.8 FAULT MANAGEMENT] (FLt-) menu • Option to reinitialize the drive without turning it off, via [Product reset] (rP) . • Option to reinitialize the drive via a logic input without turning it off, using [Product reset assig.] (rPA) . • The option to configure the "output...

10 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 (us...

11 Profiles What is a profile? There are three types of profile: • Communication profiles• Functional profiles• Application profiles Communication profiles A communication profile describes the characteristics of the bus or network: • Cables• Connectors• Electrical characteristics• Access protocol• ...

Profiles 12 Functional profiles supported by Altivar 61 drives I/O profile Using the I/O profile simplifies PLC programming. When controlling via the terminals or the display terminal, the I/O profile is used without knowing it.With an Altivar 61, the I/O profile can also be used when controlling vi...

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

15 I/O profile Control word - run on state [2 wire] (2C) Please refer to the [1.5 INPUTS / OUTPUTS CFG] (I-O-) section of the Programming Manual. The forward run command is automatically assigned to input LI1 and to bit 0 of the various control words. This assignment cannot be modified.The run comma...

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 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 ...

18 CiA402 profile Functional description b The operation of the drive can be summarized by 2 main functions, described by the following 2 diagrams (the values in brackets are the CANopen addresses of the parameters): • Control diagram: • Simplified diagram of the speed control in "Velocity" ...

CiA402 profile 20 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 ...

23 CiA402 profile 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" comm...

25 CiA402 profile Starting sequence The command sequence in the state chart depends on how power is being supplied to the drive.There are three possible scenarios: (1) The power section supplies the control section. M M M M Power section line supply Power s e cti o n line supply Control section powe...

CiA402 profile 26 Sequence for a drive powered by the power section line supply Both the power and control sections are powered by the power section line supply.If power is supplied to the control section, it has to be supplied to the power section as well.The following sequence must be applied: b S...

27 CiA402 profile b Step 2 • Check that the drive is in the "3 - Ready to switch on" state.• Then send the "4 - Enable operation" command.• The motor can be controlled (send a reference not equal to zero). Note: It is possible, but not necessary, to send the "3 - Switch on" c...

CiA402 profile 28 Sequence for a drive with separate control section Power is supplied separately to the power and control sections.If power is supplied to the control section, it does not have to be supplied to the power section as well.The following sequence must be applied: b Step 1 • The power s...

29 CiA402 profile b Step 2 • Check that the drive is in the "3 - Ready to switch on" state.• Check that the power section line supply is present ("Voltage enabled" of the status word). • Send the "3 - Switch on" command. Power section line supply Terminal display Status word ...

CiA402 profile 30 b Step 3 • Check that the drive is in the "4 - Switched on" state.• Then send the "4 - Enable operation" command.• The motor can be controlled (send a reference not equal to zero).• If the power section line supply is still not present in the "4 - Switched on...

31 CiA402 profile Sequence for a drive with line contactor control Power is supplied separately to the power and control sections.If power is supplied to the control section, it does not have to be supplied to the power section as well. The drive controls the line contactor.The following sequence mu...

34 Command/reference switching Channels A channel is the name given to the source of a command or reference. The six Altivar 61 channels are: • The terminals• The graphic display terminal• The integrated Modbus ports• The integrated CANopen port• A network card• The "Controller Inside" card ...

35 Command/reference switching Not separate mode Command and reference come from the same channel. In CiA402 profile, the not separate mode is configured via the terminal: Separate mode Command and reference may come from different channels. In CiA402 profile, the separate mode is achieved via confi...

Command/reference switching 36 Switching in not separate mode Switching takes place between 2 channels simultaneously for both reference and command. In this example, the command and reference come either from CANopen or from the terminals. Switching in separate mode Switching can take place between...

37 Command/reference switching Channel switching Reference channel configuration Reference channel configuration enables reference sources to be predefined, which can be modified or switched subsequently via a command. There are 3 predefined reference channels: • Reference channel 1• Reference chann...

Command/reference switching 38 Switches A channel switch is used to select predefined channels. It can be: • Defined via configuration• Activated either via an input (terminals) or a control word bit (network)• Written via a network during operation (modification of a configuration parameter) The po...

39 Command/reference switching Reference switching principle A detailed description is given in the Programming Manual. This diagram shows reference switching as applicable to all the following modes: • I/O profile• CiA402 profile and separate mode• CiA402 profile and not separate mode rCb rFC Fr1Fr...

Command/reference switching 40 Command switching principle A detailed description is given in the Programming Manual. I/O profile or CiA402 profile (separate mode) CiA402 profile (not separate mode) (1) In not separate mode, command switching follows reference switching. It is therefore reference sw...

41 Command/reference switching Assigning control word bits I/O profile The I/O profile is extremely flexible in terms of assigning and switching the 16 control word bits. To switch a control word bit using: • An input from the terminals• Or a control word bit from another communication channel simpl...

Command/reference switching 44 Copy on switching When switching channels, it is possible to copy the reference or command from function channel 1 to direct channel 2. If a copy is not made, the drive stops according to the configured stop type [Type of stop] (Stt) until the first command and referen...

45 Forced local mode Definition Forced local mode supports switching to the terminals or display terminal.This function complements channel switching and makes it possible to make use of an existing function from the Altivar 58 range. Forced local mode is only available in CiA402 profile, not in I/O...

Forced local mode 46 Forced local mode and reference switching A detailed description is given in the Programming Manual. This diagram shows reference switching as applicable to the following modes: • CiA402 profile and separate mode• CiA402 profile and not separate mode AI1C AI2C LFr1 LFr2 LFr3 AI2...

47 Forced local mode Forced local mode and command switching A detailed description is given in the Programming Manual. CiA402 profile (separate mode) RU N/STOP FW D/R EV LIx CMD 1 CMD 2 CMD 3 CMD 4 RU N/STOP FW D/R EV LIx CMD 1 CMD 2 CMD 3 CMD 4 LIx RU N/STOP FW D/R EV AI1 AI2 AI4 AI3 LI1 ... LI14 ...

49 Priority stops Priority stops on the graphic display terminal If the graphic display terminal is not the active command channel, pressing the STOP key on the graphic display terminal causes a freewheel stop if: • The [Stop Key priority] (PSt) parameter in the [1.6 - COMMAND] (CtL-) menu is config...

51 Communication monitoring The Altivar 61 drive incorporates communication monitoring mechanisms. Principle Following initialization (power-up), the drive waits until at least one command or reference parameter has been written for the first time by the network. Then, the network is monitored and i...

Communication monitoring 52 Behavior in the event of a network fault In the event of a network fault (on a monitored channel), the drive reacts as specified in the [1.8 - FAULT MANAGEMENT] (FLt-) menu ( [COM. FAULT MANAGEMENT] (CLL-) submenu) by the following parameters: • [Modbus fault mgt] (SLL) f...

53 Communication monitoring Detailed operation Monitoring of communication channels • The drive monitors all its communication channels. • Communication problems are indicated on the LEDs on the card or drive or on the graphic display terminal. However, a problem does not always trigger a network fa...

Communication monitoring 54 Enabling of communication channels • A communication channel is enabled if all its parameters assigned to drive functions have been received. - Example: A drive is in I/O profile with speed control. Modbus constitutes both the command and reference channel. The Modbus cha...

55 Assignment of references from a network Reference parameters The Altivar 61 supports a number of reference parameters, which must be selected according to the functions used in the drive. Example 1: The drive is to be controlled by sending the speed reference to the PID regulator via CANopen. No ...

Assignment of references from a network 56 Without PID regulator H/> 72H 279/ :52 H2/ 2H% 279 ;-% ;-& @-% @-& 8-% 8-& 2H$ 2H$> +/- speed around a reference Preset speeds Jog operation PID not assigned Graphic display Forced local Ramps Parameter:The black square represents the fact...

57 Assignment of references from a network With PID regulator (1) The ramp AC2 is active only at startup of the PID function and during PID "wake-ups". H/> 72H 279/ H2/ 2H% 279 ;-% ;-& @-% @-& 2H$ 2H$> Graphic display Ramps (1) Channel 1 Channel 2 PID See the table below A Forc...

58 Configuration saving and switching Saving the configuration When a parameter is modified via the drive’s integrated display terminal or graphic display terminal, this parameter is automatically saved to the EEPROM non-volatile memory. When a parameter is modified using a PLC or an HMI terminal vi...

Configuration saving and switching 60 Restore configuration The restore configuration command is executed using bit 2 of the extended control word (CMI) . The return to factory settings command is executed using bit 0 of the extended control word (CMI) . The type of setting is determined by the acti...

61 Configuration saving and switching Configuration switching via control word The configuration or motor switching function (see the Programming Manual) can be used via the network or via the terminals. To use this function via a network, simply assign one or two bits of the control word to the mot...

63 Configuration saving and switching Function parameters Code Description CNF1 Parameter name: Assignment for 2 configurations Terminal display: [2 Configurations] Logic address: 8021 = 16#1F55 Type: WORD (listing) CANopen index: 2032/16 Read/write: R/WS INTERBUS index: 5FBC/9C Factory setting: 0 D...

Configuration saving and switching 64 Assignment of logic inputs and control bits for CNF1 and CNF2 Note: In [I/O profile] (IO) configuration, LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C) ; LI2 cannot be accessed either. Value Assignment Description/Condition 0 Not assigned...

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

67 Parameter set switching The parameter set switching function (see the Programming Manual) can be used via the network or via the terminals. To use this function via a network, simply assign one or two bits of the control word to parameter set switching via the [2 Parameter sets] (CHA1) and [3 Par...

Parameter set switching 68 CHA1 and CHA2 assignment values Note: In [I/O profile] (IO) configuration, LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C) , LI2, C101, C201, C301 and C401 cannot be accessed either. Value Assignment Description/Condition 0 [No] (nO) Not assigned 4 [...

72 Loading drive parameters Requirement Certain applications require parameters to be downloaded: • When the installation starts up• When the manufacturing range is changed• When a faulty device is replaced Neither the integrated ports nor the network cards of the drive provide a parameter file load...

73 Loading drive parameters Inconsistency examples The 2 adjustment parameters [Low speed] (3105- LSP ) and [High speed] (3104-HSP) comply with the consistency rule: 0 y [Low speed] (3105- LSP ) y [High speed] (3104- HSP ) y 10000. Example 1 Initial configuration V Configuration to be loaded: [High ...

74 Command parameters Code Description CMd Parameter name: Control word Terminal display: [Cmd value] CiA402 name: controlword DRIVECOM name: Control word Logic address: 8601 = 16#2199or 8501 = 16#2135 (1) Type: WORD (bit register) CANopen index: 6040/0 Read/write: R/W INTERBUS index: 5FB6/1B Device...

77 Setpoint parameters See section “Assignment of references from a network”, page 55 Code Description LFRD Parameter name: Speed reference CiA402 name: vl target velocity DRIVECOM name: Speed-Setpoint Logic address: 8602 = 16#219A Type: INT CANopen index: 6042/0 Read/write: R/W INTERBUS index: 6042...

79 Status parameters Code Description ETA Parameter name: Status word CiA402 name: Statusword DRIVECOM name: Statusword Logic address: 8603 = 16#219Bor 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 para...

87 Output value parameters Output values (speed) Code Description rFrd Parameter name: Output speed CiA402 name: vl control effort DRIVECOM name: Speed-Actual-Value Logic address: 8604 = 16#219C Type: INT CANopen index: 6044/0 Read/write: R INTERBUS index: 6044/0 Unit: rpm DeviceNet path: 2A/01/07 (...

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

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

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

97 I/O parameters Analog inputs Code Description AI1C Parameter name: Physical image of analog input 1 Logic address: 5242 = 16#147A Type: INT CANopen index: 2016/2B Read/write: R INTERBUS index: 5FB9/36 Unit: 0.001 V DeviceNet path: 7B/01/2B AI1r Parameter name: Standardized image of analog input 1...

I/O parameters 98 Analog outputs The analog outputs can be controlled via the network. Simply write these parameters. The outputs to be controlled must not be assigned to a drive function, otherwise the write operation has no effect. Code Description AI4C Parameter name: Physical image of analog inp...

99 I/O parameters Encoder Code Description AO2r Parameter name: Standardized image of analog output 2 Logic address: 5262 = 16#148E Type: INT CANopen index: 2016/3F Read/write: R/W INTERBUS index: 5FB9/3E (reading via PCP)5FB6/51 (writing via PCP) Unit: 1 DeviceNet path: 7B/01/3F AO3C Parameter name...

100 Fault parameters Code Description Errd Parameter name: CiA402 fault code CiA402 name: Error code DRIVECOM name: Malfunction code Logic address: 8606 = 16#219E Type: WORD (listing) CANopen index: 603F/0 Read/write: R INTERBUS index: 603F/0 Unit: - DeviceNet path: 29/01/0D (1)8C/01/07 (2) (1) ODVA...

107 Log parameters Description of last fault log Code Description dP0 Parameter name: Fault code on last fault Logic address: 7200 = 16#1C20 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 code" (LF...

111 Log parameters Log of the following faults The log shown for the first fault can be used to review the last 8 faults. All codes and addresses are summarized in the tables below. Fault n-1 Fault n-2 Log Code Logic address: CANopen index: INTERBUS index: DeviceNet path: Fault code dP1 7201 = 16#1C...

115 Identification parameters Code Description nCVr Parameter name: Drive nominal rating Logic address: 3020 = 16#0BCC Type: WORD (listing) CANopen index: 2000/15 Read/write: R INTERBUS index: 5FB0/0A Unit: - DeviceNet path: 70/01/15 0 = nO (Unknown rating) 4 = 037 (0.37 kW / 0.5 HP) 6 = 075 (0.75 k...

118 CiA402 standard configuration and adjustment parameters Code Description SMIL Parameter name: Minimum speed CiA402 name: vl velocity min speed DRIVECOM name: Speed-Min-Amount Logic address: 8607 = 16#219Fand 8608 = 16#21A0 Type: UDINT CANopen index: 6046/1 Read/write: R/W INTERBUS index: 6046/1 ...

122 ODVA standard configuration and adjustment parameters Code Description ACCd Parameter name: ODVA acceleration time ODVA name: AccelTime Logic address: - Type: UINT CANopen index: - Read/write: R/W INTERBUS index: - Unit: ms DeviceNet path: 2A/01/12 Parameter conforming to ODVA profile. Speed for...

123 Index of parameter 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 Standa...