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ATV61&71 Profibus DP 通讯手册


Altivar 61 / 71
Profibus DP

User's manual
Retain for future use

Contents

Before you begin_____________________________________________________

________________________________________ 4 Documentation structure_______________________________________________________________________________________ 5 Introduction _________________________________________________________________________________________________ 6 Presentation _____________________________________________________________________________________________ 6 Notation ________________________________________________________________________________________________ 6 Hardware setup _____________________________________________________________________________________________ Receipt _________________________________________________________________________________________________ Installing the card in the drive ________________________________________________________________________________ Connection to the bus______________________________________________________________________________________ Recommendations ________________________________________________________________________________________ Configuration ______________________________________________________________________________________________ Configuring the switches___________________________________________________________________________________ Control-signal configuration ________________________________________________________________________________ Configuring PZDs (communication scanner) ___________________________________________________________________ Configuring communication fault management _________________________________________________________________ Configuring monitored parameters ___________________________________________________________________________ Diagnostics ________________________________________________________________________________________________ Controlling the address and speed of the bus __________________________________________________________________ LEDs __________________________________________________________________________________________________ Control-signal diagnostics__________________________________________________________________________________ Communication faults _____________________________________________________________________________________ Card fault ______________________________________________________________________________________________ Software setup _____________________________________________________________________________________________ Profibus DP protocol______________________________________________________________________________________ Output PZDs ____________________________________________________________________________________________ Input PZDs _____________________________________________________________________________________________ PKW aperiodic service ____________________________________________________________________________________ 7 7 7 8 9

10 10 12 15 16 17 18 18 18 19 22 22 23 23 24 25 26

Software setup using PL7_____________________________________________________________________________________ 28

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.

3

Before you begin

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

DANGER
HAZARDOUS VOLTAGE
? Read and understand this manual before installing or operating the 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 in this variable speed drive, including printed wiring boards, operate at 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 for 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
DAMAGED EQUIPMENT
Do not operate or install any drive that appears damaged. Failure to follow this instruction can result in equipment damage.

4

Documentation structure

Installation manual
This manual describes: ? How to assemble the drive ? How to connect the drive

Programming manual
This manual describes: ? The functions ? The parameters ? How to use the drive display terminal (integrated display terminal and graphic display terminal)

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 (status chart) ? The interaction between communication and local control

Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO, Modbus Plus, DeviceNet ... 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

ATV58-58F/ATV71 compatibility 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.

5

Introduction

Presentation
The Profibus DP communication card (catalog number VW3 A3 307) is used to connect an Altivar 61 / 71 drive to a Profibus DP bus. Data is exchanged in order to make use of all the Altivar 61 / 71 functions: ? ? ? ? ? Configuring functions Uploading adjustment parameters Control-signaling Monitoring Diagnostics

The card has a 9-pin female SUB-D connector for connection to the Profibus DP bus. The connector and cable for connection to the Profibus DP bus must be ordered separately.

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 are displayed on the graphic display terminal in square brackets. Example: [Fallback speed] Parameter codes are displayed on the integrated 7-segment display terminal in round brackets. Example: (LFF).

Formats
In this manual, hexadecimal values are written as follows: 16#.

6

Hardware setup

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.

Presentation

1 LEDs

2

Addressing switches, also used to adjust the drive process data exchange mode

3 9-pin female SUB-D connector

Installing the card in the drive
See the Installation Manual.

7

Hardware setup

Connection to the bus
Connector pinout
The transmission interface conforms to the RS 485 standard and is electrically isolated from the drive. Pin 5 Pin 1

9-pin female SUB-D Pin 9 Pin 1 2 Signal Not connected Not connected Pin 4 5 Signal Not connected DGND (Ground) Pin 6 Pin 7 8 Signal Not connected RxD/TxD-P (Reception/Transmission +) Not connected

3

RxD/TxD-N (Reception/Transmission -)

6

VP (5 volts)

9

Connection accessories
Profibus DP bus connection elements Description Connectors Used With line terminator Intermediate connection Intermediate connection and connector port Profibus DP bus connection cables Description Profibus DP connection cables Length 100 m 400 m Example of connection: Profibus DP communication module: TSX-PBY100 Altivar 61 / 71 Altivar 61 / 71 Catalog number TSX PBS CA 100 TSX PBS CA 400 Catalog number 490 NAD 911 03 490 NAD 911 04 490 NAD 911 05

TSX PREMIUM PLC Intermediate connectors 490 NAD 911 04 Connector with line terminator 490 NAD 911 03

Profibus DP connection cable TSX PBS CAp00 (100 or 400 m)

8

Hardware setup

Recommendations
? The user can select the data rate from a range of 9.6 kbps to 12 Mbps. This selection, made when starting up the network, applies to all the bus subscribers. ? The maximum segment length is in inverse proportion to the data rate.

Data rate (kbps) Distance/segment (m)

9.6 1200

19.2 1200

93.75 1200

187.5 1000

500 400

1500 200

3000 100

6000 100

12000 100

Repeaters can be used to cover greater distances. ? The bus ends with a line terminator at each end of the segment. ? Do not connect more than 32 stations per segment without a repeater, or more than 127 with a repeater. ? Keep the bus away from the power cables (clearance of at least 30 cm). ? If it is necessary for power cables to cross each other, be sure they cross at right angles.

9

Configuration

Configuring the switches
Note: A new configuration of the switches (address and mode) will only be applied after the next power on of the drive.

Selecting the operating mode
The switch furthest to the left is used to determine the type of cyclic exchanges performed by the drive: ? Switch 0 (OFF): Altivar 61 / 71 mode ? Switch 1 (ON): Altivar 58 compatibility mode This manual only describes Altivar 61 / 71 mode. To find out about Altivar 58 compatibility mode, refer to the ATV58-58F/ATV71 migration manual.

10

Configuration

Coding the drive address
An Altivar 61 / 71 is identified on the bus by its address, coded between 0 and 126. The address corresponds to the binary number given by position 0 (up/OFF) or 1 (down/ON) of the 7 switches on the right of the card. The least significant bits are on the right. The table below indicates the positions of the switches for all configurable addresses: Addr. 0 1 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 Switches 0000 0000 0000 0001 0000 0010 0000 0011 0000 0100 0000 0101 0000 0110 0000 0111 0000 1000 0000 1001 0000 1010 0000 1011 0000 1100 0000 1101 0000 1110 0000 1111 0001 0000 0001 0001 0001 0010 0001 0011 0001 0100 0001 0101 0001 0110 0001 0111 0001 1000 0001 1001 0001 1010 0001 1011 0001 1100 0001 1101 0001 1110 0001 1111 Addr. 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 048 049 050 051 052 053 054 055 056 057 058 059 060 061 062 063 Switches 0010 0000 0010 0001 0010 0010 0010 0011 0010 0100 0010 0101 0010 0110 0010 0111 0010 1000 0010 1001 0010 1010 0010 1011 0010 1100 0010 1101 0010 1110 0010 1111 0011 0000 0011 0001 0011 0010 0011 0011 0011 0100 0011 0101 0011 0110 0011 0111 0011 1000 0011 1001 0011 1010 0011 1011 0011 1100 0011 1101 0011 1110 0011 1111 Addr. 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 Switches 0100 0000 0100 0001 0100 0010 0100 0011 0100 0100 0100 0101 0100 0110 0100 0111 0100 1000 0100 1001 0100 1010 0100 1011 0100 1100 0100 1101 0100 1110 0100 1111 0101 0000 0101 0001 0101 0010 0101 0011 0101 0100 0101 0101 0101 0110 0101 0111 0101 1000 0101 1001 0101 1010 0101 1011 0101 1100 0101 1101 0101 1110 0101 1111 Addr. 096 097 098 099 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 Switches 0110 0000 0110 0001 0110 0010 0110 0011 0110 0100 0110 0101 0110 0110 0110 0111 0110 1000 0110 1001 0110 1010 0110 1011 0110 1100 0110 1101 0110 1110 0110 1111 0111 0000 0111 0001 0111 0010 0111 0011 0111 0100 0111 0101 0111 0110 0111 0111 0111 1000 0111 1001 0111 1010 0111 1011 0111 1100 0111 1101 0111 1110 0111 1111

? Addresses 0 and 1 are usually reserved for the Profibus DP masters and must not be used to configure the Profibus DP address on an Altivar 61 / 71. ? It is not advised to use address 126, which is incompatible with SSA service (Set Slave Address) and with some network configuration softwares (Sycon, ...). Examples: Address 23

Address 89

The address can be checked via the display terminal (see Diagnostics section).

11

Configuration

Control-signal configuration
There are a number of possible configurations. For more information, refer to the programming and communication parameters manuals. The configurations below are just some of the possibilities available.

Control via Profibus DP in I/O profile
The command and the target come from Profibus DP. Control is in I/O profile. Configure the following parameters: Parameter Profile Target 1 configuration Command 1 configuration Value I/O profile Comment The run command is simply obtained by bit 0 of the command word.

Network card The target comes from Profibus DP. Network card The command comes from Profibus DP.

Configuration via the graphic display terminal or the integrated display terminal: Menu Parameter Value

[1.6 - COMMAND] (CtL-)

[Profile] (CHCF) [Ref. 1 chan] (Fr1) [Cmd channel 1] (Cd1)

[I/O profile] (IO) [Com. opt card] (nEt) [Com. opt card] (nEt)

Control via Profibus DP or via the terminals in I/O profile
The command and the target both come from Profibus DP or the terminals. Input LI5 at the terminals is used to switch between Profibus DP and the terminals. Control is in I/O profile. Configure the following parameters: Parameter Profile Target 1 configuration Target 1B configuration Target switching Command 1 configuration Command 2 configuration Command switching Value I/O profile Network card Input LI5 Network card Terminals Input LI5 Comment The run command is simply obtained by bit 0 of the command word. Target 1 comes from Profibus DP. Input LI5 switches the target (1 ? 1B). Command 1 comes from Profibus DP. Command 2 comes from the terminals. Input LI5 switches the command.

Analog input 1 on the terminals Target 1B comes from input AI1 on the terminals.

Target 1B is connected to the functions (summing, PID, etc.) that remain active, even after switching. Configuration via the graphic display terminal or the integrated display terminal: Menu Parameter Value

[1.6 - COMMAND] (CtL-)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Profile] (CHCF) [Ref. 1 chan] (Fr1) [Cmd channel 1] (Cd1) [Cmd channel 2] (Cd2) [Cmd switching] (CCS) [Ref. 1B chan] (Fr1b) [Ref 1B switching] (rCb)

[I/O profile] (IO) [Com. card] (nEt) [Com. card] (nEt) [Terminals] (tEr) [LI5] (LI5) [AI1 ref.] (AI1) [LI5] (LI5)

12

Configuration

Control via Profibus DP in Drivecom profile
The command and the target come from Profibus DP. Control is in Drivecom profile. Configure the following parameters: Parameter Profile Target 1 configuration Value Combined Drivecom profile Network card Comment The run commands are in Drivecom profile, the command and the target come from the same channel. The command comes from Profibus DP.

Configuration via the graphic display terminal or the integrated display terminal: Menu Parameter Value

[1.6 - COMMAND] (CtL-)

[Profile] (CHCF) [Ref. 1 chan] (Fr1)

[Combined] (SIM) (factory setting) [Com. card] (nEt)

Control via Profibus DP or the terminals in Drivecom profile
The command and the target both come from Profibus DP or the terminals. Input LI5 at the terminals is used to switch between Profibus DP and the terminals. Control is in Drivecom profile. Configure the following parameters: Parameter Profile Target 1 configuration Target 2 configuration Target switching Value Combined Drivecom profile Network card Analog input 1 on the terminals Input LI5 Comment The run commands are in Drivecom profile, the command and the target come from the same channel. Target 1 comes from Profibus DP. Target 2 comes from input AI1 on the terminals. Input LI5 switches the target (1 ? 2) and the command.

Configuration via the graphic display terminal or the integrated display terminal: Menu Parameter Value

[1.6 - COMMAND] (CtL-)

[Profile] (CHCF) [Ref. 1 chan] (Fr1) [Ref. 2 chan] (Fr2) [Ref 2 switching] (rFC)

[Combined] (SIM) [Com. card] (nEt) [AI1 ref.] (AI1) [LI5] (LI5)

13

Configuration

Control in Drivecom profile via Profibus DP and target switching at the terminals
The command comes from Profibus DP. The target comes either from Profibus DP or from the terminals. Input LI5 at the terminals is used to switch the target between Profibus DP and the terminals. Control is in Drivecom profile. Configure the following parameters: Parameter Profile Target 1 configuration Target 1B configuration Target switching Command 1 configuration Command switching Value Separate Drivecom profile Network card Analog input 1 on the terminals Input LI5 Network card Channel 1 Comment The run commands are in Drivecom profile, the command and the target can come from different channels. Target 1 comes from Profibus DP. Target 1B comes from input AI1 on the terminals. Input LI5 switches the target (1 ? 1B). Command 1 comes from Profibus DP. Channel 1 is the command channel.

Target 1B is connected to the functions (summing, PID, etc.) that remain active, even after switching. Configuration via the graphic display terminal or the integrated display terminal: Menu Parameter Value

[1.6 - COMMAND] (CtL-)

[1.7 APPLICATION FUNCT.] (FUn-) [REFERENCE SWITCH.]

[Profile] (CHCF) [Ref. 1 chan] (Fr1) [Cmd channel 1] (Cd1) [Cmd switching] (CCS) [Ref. 1B chan] (Fr1b) [Ref 1B switching] (rCb)

[Separate] (SEP) [Com. card] (nEt) [Com. card] (nEt) [ch1 active] (Cd1) [AI1 ref.] (AI1) [LI5] (LI5)

14

Configuration

Configuring PZDs (communication scanner)
PZDs are configured by configuring the communication scanner. The 8 periodic output variables are assigned by means of parameters nCA1 to nCA8. They are configured using the graphic display terminal via the [1.9 - COMMUNICATION] (COM-) menu and [COM. SCANNER OUTPUT] (OCS-) submenu. Note: [COM. SCANNER OUTPUT] (OCS-) submenu defines the data (parameters nCA1 to nCA8) from the PLC to the drive. An nCAp parameter with a value of zero does not designate any parameter in the drive. These 8 words are described in the table below: Parameter name Profibus variable PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 Default assignment Command word (CMD) Speed target (LFRD) Not used Not used Not used Not used Not used Not used

[Scan. Out1 address] (nCA1) [Scan. Out2 address] (nCA2) [Scan. Out3 address] (nCA3) [Scan. Out4 address] (nCA4) [Scan. Out5 address] (nCA5) [Scan. Out6 address] (nCA6) [Scan. Out7 address] (nCA7) [Scan. Out8 address] (nCA8)

The 8 periodic input variables are assigned by means of parameters nMA1 to nMA8. They are configured using the graphic display terminal via the [1.9 - COMMUNICATION] (COM-) menu and [COM. SCANNER INPUT] (ICS-) submenu. Note: [COM. SCANNER INPUT] (ICS-) submenu defines the data (parameters nMA1 to nMA8) from the drive to the PLC. An nMAp parameter with a value of zero does not designate any parameter in the drive. These 8 words are described in the table below: Parameter name Profibus variable PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 Default assignment Status word (ETA) Output speed (RFRD) Not used Not used Not used Not used Not used Not used

[Scan. In1 address] (nMA1) [Scan. In2 address] (nMA2) [Scan. In3 address] (nMA3) [Scan. In4 address] (nMA4) [Scan. In5 address] (nMA5) [Scan. In6 address] (nMA6) [Scan. In7 address] (nMA7) [Scan. In8 address] (nMA8)

Example of configuring PZDs via the graphic display terminal: RDY NET +0.00Hz 0A RDY NET +0.00Hz 0A

COM. SCANNER INPUT Scan. In1 address Scan. In2 address Scan. In3 address Scan. In4 address Scan. In5 address Code Scan. In6 address Scan. In7 address Scan. In8 address : : : : : : : : Quick 0 0 0 3201 8604 0 0 0

COM. SCANNER OUTPUT Scan. Out1 address Scan. Out2 address Scan. Out3 address Scan. Out4 address Scan. Out5 address Code Scan. Out6 address Scan. Out7 address Scan. Out8 address : : : : : : : : Quick 0 0 0 8501 8602 0 0 0

Note: All modifications to parameters nMA1 ... nMA8 or nCA1 ... nCA8 must be made with the motor stopped. The master PLC program should be updated to take account of this modification.

15

Configuration

Configuring communication fault management
The response of the drive in the event of a Profibus DP communication fault can be configured. RDY NET +0.00Hz 0A

COM. FAULT MANAGEMENT Network fault mgt Configuration can be performed using the graphic display terminal or the integrated display terminal via the [Network fault mgt] (CLL) parameter in the [1.8 - FAULT MANAGEMENT] (FLt-) menu ([COM. FAULT MANAGEMENT] (CLL-) submenu). CANopen fault mgt Modbus fault mgt : : : Freewheel Freewheel Freewheel

Code

Quick

The values of the [Network fault mgt] (CLL) parameter, which trigger a drive fault [Com. network] (CnF), are: Value Meaning : : : : Freewheel stop (factory setting). Stop on ramp. Fast stop. DC injection stop.

[Freewheel] (YES) [Ramp stop] (rMP) [Fast stop] (FSt) [DC injection] (dCI)

The values of the [Network fault mgt] (CLL) parameter, which do not trigger a drive fault, are: Value Meaning : : : : Fault ignored. Stop according to configuration of [Type of stop] (Stt). Change to fallback speed, maintained as long as the fault persists and the run command has not been removed. The drive maintains the speed at the time the fault occurred, as long as the fault persists and the run command has not been removed.

[Ignore] (nO) [Per STT] (Stt) [fallback spd] (LFF) [Spd maint.] (rLS)

The fallback speed can be configured in the [1.8 – FAULT MANAGEMENT] (FLt-) menu using the [Fallback speed] (LFF) parameter.

16

Configuration

Configuring monitored parameters
Up to 4 parameters can be selected and their value displayed in the [1.2 - MONITORING] menu on the graphic display terminal. The selection is made via the [6 - MONITORING CONFIG.] menu ([6.3 - CONFIG. COMM. MAP] submenu). Each parameter in the range [Address 1 select] ... [Address 4 select] can be used to select the parameter logic address. An address at zero is used to disable the function. In the example given here, the monitored words are: ? Parameter 1 = Motor current (LCR): Logic address 3204; signed decimal format ? Parameter 2 = Motor torque (OTR): Logic address W3205; signed decimal format ? Parameter 3 = Last fault (LFT): Logic address W7121; hexadecimal format ? Disabled parameter: Address W0; default format: Hexadecimal format RDY NET +0.00Hz 0A

6.3 CONFIG. COMM. MAP. Address 1 select Format address 1 Address 2 select Format address 2 Address 3 select Code Format address 3 Address 4 select Format address 4 : : : : : : : : Quick Hex 0 Hex 3204 Signed 3205 Signed 7121

One of the three display formats below can be assigned to each monitored word: Format Hexadecimal Signed decimal Unsigned decimal Range 0000 ... FFFF -32,767 ... 32,767 0 ... 65,535 Terminal display [Hex] [Signed] [Not signed]

Note: If a monitored parameter: - has been assigned to an unknown address (e.g., 3200) - has been assigned to a protected parameter - has not been assigned the value displayed in the [COMMUNICATION MAP] screen will be "-----" (see "Diagnostics" section).

17

Diagnostics

Controlling the address and speed of the bus
From the terminal, select the [1.9 - COMMUNICATION] (COM-) menu ([PROFIBUS DP] (PbS-) submenu) to display both parameters: - [Address] (Adrc): Drive address on the bus configured on the switches - [Bit rate] (bdr): Bus speed imposed by the Profibus DP master These parameters cannot be modified.

LEDs
The Profibus DP card has two LEDs, ST and DX, visible through the window on the cover of the Altivar 61 / 71:

1.1 1.2 1.3 1.4 1.5 2.1 2.2 2.3 2.4 2.5

? The status of the Profibus DP card is indicated by the red ST (status) LED: LED 2.1. ? The status of the Profibus DP communication link is indicated by the green DX (data exchange) LED: LED 2.2.

ST DX

The table below gives the meaning of the various states of these two LEDs: Red ST LED (LED 2.1) Green DX Meaning LED (LED 2.2) The card has been configured and its parameters set correctly by the master. Corrective actions in the event of malfunction

The card is in Idle state, awaiting configuration.

Enter a value between 1 and 126 using the switches on the option card.

The card is in Wait_Prm or Wait_Cfg state.

Check the connection to the Profibus DP bus, start up the PLC and, if the drive has a communication card fault (CnF), reset it. Check the connection between the Profibus DP card and the drive.

The card is in ILF fault mode.

The card is in the "data exchange" state, and error-free data exchange is taking place.

No communication on the bus, no data is being exchanged.

Check the connection to the Profibus DP bus, start up the PLC.

LED states

LED off

Slow flashing (0.5 s)

LED on

Quick flashing (0.1 s)

18

Diagnostics

Control-signal diagnostics
On the graphic display terminal, the [1.2 - MONITORING] menu ([COMMUNICATION MAP] submenu) can be used to display control-signal diagnostic information between the Altivar 61 / 71 drive and the Profibus DP master: ? ? ? ? ? ? ? ? ? ? Active command channel Value of the command word (CMD) from the active command channel Active target channel Value of the target from the active target channel Value of the status word Values of four parameters selected by the user In the [COM. SCANNER INPUT MAP] submenu: PZD input values In the [COM SCANNER OUTPUT MAP] submenu: PZD output values In the [CMD. WORD IMAGE] submenu: Command words from all channels In the [FREQ. REF. WORD MAP] submenu: Frequency targets from all channels

Example of the display of communication diagnostic information RUN NET +50.00Hz 80A

COMMUNICATION MAP Command channel Cmd value Channel ref. active Frequency ref Status word Code W3204 W3205 W7132 W0 : : : : : : : : : Com. card 000FHex Com. card 500.0Hz 8627Hex Quick 53 725 0000Hex -----Hex

COM. SCANNER INPUT MAP COM SCANNER OUTPUT MAP CMD. WORD IMAGE FREQ. REF. WORD MAP MODBUS NETWORK DIAG MODBUS HMI DIAG CANopen MAP PROG. CARD SCANNER

19

Diagnostics

Displaying the command word
The [Command channel] parameter indicates the active command channel. The [Cmd value] parameter indicates the hexadecimal value of the command word (CMD) used to control the drive. The [CMD. WORD IMAGE] submenu is used to display the hexadecimal value of the command word produced by Profibus DP: ? Command word CMD3 .......... communication card channel .......... field [Com card cmd.]

Displaying the frequency target
The [Channel ref. active] parameter indicates the active target channel. The [Frequency ref] parameter indicates the value (in 0.1 Hz units) of the frequency target (LFR) used to control the drive. The [FREQ. REF. WORD MAP] submenu is used to display the value (in 0.1 Hz units) of the speed target produced by Profibus DP: ? Speed target LFR3 .......... Profibus DP channel .......... parameter [Com. card ref.]

Displaying the status word
The [Status word] parameter indicates the value of the status word (ETA).

Displaying parameters selected by the user
The four [W····] parameters indicate the value of the four words selected by the user. The address and display format of these parameters can be configured in the [6 - MONITORING CONFIG.] menu ([6.3 - CONFIG. COMM. MAP] submenu) (see "Configuration" section on page 10). The value of a monitored word equals "-----" if: - Monitoring has not been activated (address equals W0) - The parameter is protected - The parameter is not known (e.g., W3200)

20

Diagnostics

Displaying PZDs (communication scanner)
In the [1.2 - MONITORING] (SUP-) menu: - The [COM. SCANNER INPUT MAP] (ISA-) submenu is used to display the value of the 8 input PZDs (communication scanner input parameters NM1 to NM8). - The [COM SCANNER OUTPUT MAP] (OSA-) submenu is used to display the value of the 8 output PZDs (communication scanner output parameters NC1 to NC8). Configuration of these periodic parameters is described in the "Configuration" section. Example of displaying PZDs on the graphic display terminal: RUN NET +50.00Hz 80A RUN NET +50.00Hz 80A

COM. SCANNER INPUT MAP Com Scan In1 val. Com Scan In2 val. Com Scan In3 val. Com Scan In4 val. Com Scan In5 val. Code Com Scan In6 val. Com Scan In7 val. Com Scan In8 val. : : : : : : : : Quick 0 0 0 34359 600 0 0 0

COM SCANNER OUTPUT MAP Com Scan Out1 val. Com Scan Out2 val. Com Scan Out3 val. Com Scan Out4 val. Com Scan Out5 val. Code Com Scan Out6 val. Com Scan Out7 val. Com Scan Out8 val. : : : : : : : : Quick 0 0 0 15 598 0 0 0

In this example, only the first two parameters have been configured (default assignment).

[Com Scan In1 val.] [Com Scan In2 val.] [Com Scan Out1 val.] [Com Scan Out2 val.]

= = = =

[34343] Status word = 34359 = 16#8637 [600] Output speed = 600 [15] Command word = 15 = 16#000F [598] Speed target = 600

V Drivecom status "Operation enabled",

reverse operation, speed reached.
V 600 rpm V "Enable operation" (Run) command V 598 rpm

21

Diagnostics

Communication faults
Profibus DP communication faults are displayed by the red RD indicator of the Profibus DP card. In factory settings, a Profibus DP communication fault triggers a re-settable drive fault [Com. network] (CnF) and a freewheel stop. The response of the drive in the event of a Profibus DP communication fault can be changed (see "Configuring communication fault management"): - Drive fault[Com. network] (CnF) (freewheel stop, stop on ramp, fast stop or DC injection stop). - No drive fault (stop, maintain, fallback). The fault management is described in the user’s manual "Communication parameters", chapter "Communication monitoring": ? After initialization (power up), the drive checks that at least one of the command or target parameters has been written once via Profibus DP. ? Then, if a Profibus DP communication fault occurs, the drive reacts according to the configuration (stop, maintain, fallback ...). The origin of the last Profibus DP communication fault can be displayed by the parameter [Com. network] (CnF) : Value 0 1 2 3 Description of the values of the parameter [Com. network] (CnF) No faultt Time out on the reception of the periodic variables addressed to the drive. This time out is adjustable by the network configuration software.. Identification error between the Profibus DP card of the drive and the Profibus DP master. Identification error of the Profibus DP card of the drive (hardware problem).

The parameter [Com. network] (CnF) is displayed on the display terminal (graphic only): [1.10 DIAGNOSTICS] (DGT-) menu, [MORE FAULT INFO] (AFI-) submenu.

Card fault
The [Option int link] (ILF) fault appears when there are serious problems: - Hardware problem on the Profibus DP card itself. - Dialog faults between the option card and the drive. It is not possible to configure the behavior of the drive in the event of a [Option int link] (ILF) fault, the drive stops in freewheel. This type of fault cannot be reset. Two parameters display the origin of the last [Option int link] (ILF) faults : ? [Internal link fault 1] (ILF1) displays the error that occurred on option card no. 1 (directly mounted on the drive), ? [Internal link fault 2] (ILF2) displays the error that occurred on option card no. 2 (mounted on the option card no. 1), The parameter [Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2) are displayed on the display terminal (graphic only): [1.10 DIAGNOSTICS] (DGT-) menu, [MORE FAULT INFO] (AFI-) submenu. Value 0 1 2 3 4 5 6 7 8 9 10 11 101 102 103 Description of the values of the parameter Internal link fault 1] (ILF1) and [Internal link fault 2] (ILF2) No fault Loss of internal communication with the drive Hardware malfunction detected Error in the EEPROM checksum Faulty EEPROM Faulty Flash memory Faulty RAM memory Faulty NVRAM memory Faulty analog input Faulty analog output Faulty logic input Faulty logic output Unknown card Dialog faults between the option card and the drive Dialog time out between the option card and the drive

22

Software setup

Profibus DP protocol
Data is exchanged according to the master-slave principle. Only the master can initialize communication. The slaves behave like servers responding to requests from masters. Several masters can coexist on the same bus. In this case, the slave I/O can be read by all the masters. However, a single master has write access to the outputs. The number of data items exchanged is defined at the time of configuration. A GSD file contains the configuration information for the Altivar 61 / 71 with Profibus DP. This file is used by the PLC during the configuration phases. The GSD file is unique to the whole Altivar 61 / 71 range. It does not describe the drive parameters, just the communication information. This file appears on the CD-ROM supplied with the drive. The Profibus DP card for Altivar 61 / 71 drives only supports Type 5 (Byte-String 28) cyclic frames in PPO (Parameter-Process Data-Object) format. Type 5 PPO cyclic frames feature 14 periodic variables that are used for 2 types of service: - I/O exchanges (PZD) - Aperiodic exchanges (PKW) for parameter setting, configuration and diagnostics PKW aperiodic exchanges are included in the cyclic frames and do not require special frames. An aperiodic exchange is used to read or write a parameter. The Altivar 61 / 71 PKW service does not conform to Profidrive.

23

Software setup

Output PZDs
The first eight bytes contain an aperiodic request (PKW) to write or read a parameter. The remaining 20 bytes contain the output PZDs (written from the Profibus master), of which only PZD1 to PZD8 are significant. 1 PKE 15 PZD4 NC4 16 2 3 0 17 PZD5 NC5 4 PKW R/W 18 19 PZD6 NC6 20 PWE 21 PZD7 NC7 22 23 PZD8 NC8 5 6 7 8 9 PZD1 NC1 24 25 10 11 PZD2 NC2 26 PZD9 Not used 27 12 13 PZD3 NC3 28 PZD10 Not used 14

PKW request: PKE RIW Parameter logic address Request code 0: No request 1: Read 2: Write For a read request: Not used For a write request: Parameter value

PWE

Cyclic control and adjustment parameters: PZD1: Communication scanner output word 1 (NC1) PZD2: Communication scanner output word 2 (NC2) PZD3: Communication scanner output word 3 (NC3) PZD4: Communication scanner output word 4 (NC4) PZD5: Communication scanner output word 5 (NC5) PZD6: Communication scanner output word 6 (NC6) PZD7: Communication scanner output word 7 (NC7) PZD8: Communication scanner output word 8 (NC8) The default assignment of the periodic output data is: ? PZD1 = Command word ? PZD2 = Speed target ? PZD 3 to PZD 10 = Not used

1 PKE 15

2

3 0 17

4 PKW R/W 18 PZD5 Not used

5

6 PWE

7

8

10 PZD1 Command word 23 24 PZD8 Not used

9

12 PZD2 Speed target 25 26 PZD9 Not used

11

13

14 PZD3 Not used

16 PZD4 Not used

19

20 PZD6 Not used

21

22 PZD7 Not used

27

28 PZD10 Not used

The assignment of PZDs is described in the Configuration section. How to display the value of the PZDs is described in the "Diagnostics" section.

24

Software setup

Input PZDs
The first eight bytes contain the response (PKW) to the aperiodic read/write request. The remaining 20 bytes contain the input PZDs (read mode), of which only PZD1 to PZD8 are significant.

1 PKE

2

3 0

4 PKW R/W/N

5

6 PWE

7

8

9 PZD1 NM1

10

11 PZD2 NM2

12

13 PZD3 NM3

14

15 PZD4 NM4

16

17 PZD5 NM5

18

19 PZD6 NM6

20

21 PZD7 NM7

22

23 PZD8 NM8

24

25

26 PZD9 Not used

27

28 PZD10 Not used

PKW request PKE R/W/N Parameter logic address Response code 0: No request 1: Successful read report 2: Successful write report 7: Error report For a successful request: Parameter value For an incorrect request: 0: Incorrect address 1: Write access denied Cyclic monitoring parameters: PZD1: Communication scanner input word 1 (NM1) PZD2: Communication scanner input word 2 (NM2) PZD3: Communication scanner input word 3 (NM3) PZD4: Communication scanner input word 4 (NM4) PZD5: Communication scanner input word 5 (NM5) PZD6: Communication scanner input word 6 (NM6) PZD7: Communication scanner input word 7 (NM7) PZD8: Communication scanner input word 8 (NM8) The default assignment of the periodic input data is: ? PZD1 = Status word (ETA) ? PZD2 = Output speed (RFRD) ? PZD 3 to PZD 10 = Not used 1 PKE 15 16 PZD4 Not used 2 3 0 17 4 PKW R/W 5 6 PWE 19 20 PZD6 Not used 21 22 PZD7 Not used 7 8 10 PZD1 Status word 23 24 PZD8 Not used 9 12 PZD2 Output speed 25 26 PZD9 Not used 11 13 14 PZD3 Not used

PWE

18 PZD5 Not used

27 28 PZD10 Not used

The assignment of PZDs is described in the Configuration section on page 11. How to display the value of the PZDs is described in the "Diagnostics" section.

25

Software setup

PKW aperiodic service
The PKW service, consisting of PKE, R/W, R/W/N, and PWE, enables aperiodic access to Altivar 71 parameters in read and write mode.

Output PKWs
PKE
Parameter logic address

R/W
0: No request 1: Read 2: Write One-off read and write requests can be triggered continuously while R/W equals 1 or 2. Note: Values other than 0, 1 and 2 should not be used. In particular, the values 16#0052 and 16#0057 must not be used, as these are reserved for compatibility with the Altivar 58/58F.

PWE
If write: Value to be written

Input PKWs
PKE
Copies the output PKE value

R/W/N
0: No request 1: Correct read operation 2: Correct write operation 7: Read or write error

PWE
? If correct read operation: Parameter value. This can be limited by the drive if the maximum value is exceeded by the write operation. ? If correct write operation: Value of the write PWE ? If there is an error: 0: Incorrect address 1: Write operation refused Note: The parameters in the output PZDs should not be changed by the PKW service. Parameters linked to output PZDs should not be changed by the PKW service. Example: The speed target and the frequency target.

26

Software setup

Examples of PKW aperiodic exchanges
Example of aperiodic write operation: Acceleration time ACC (address 9001) = 10 s, unit 0,1s (values in hexadecimal format). 1 23 2 29 3 00 4 02 5 00 6 00 7 00 8 64 etc. etc.

ACC = 10 s

Write request

Address 9001 = 2329h The positive response is identical to the write request, aperiodic part (bytes 1 to 8). Example of negative response: 1 23 2 29 3 00 4 07 5 00 6 00 7 00 8 0 etc. etc.

0 (incorrect address) Negative response

27

Software setup using PL7

Correspondence between cyclic data and PL7 PRO words
In PL7, cyclic exchanges between the Profibus DP master (e.g., TSX Premium PLC + TSX PBY100 module) and the Altivar 61 / 71 take the form of input words %IWxy.0.k and output words %QWxy.0.k, where "x" = number of the PLC rack and "y" = location of the Profibus DP module in the PLC rack.

Profibus PKW

PL7 output word %QWxy.0 %QWxy.0.1 %QWxy.0.2 %QWxy.0.3 %QWxy.0.4 %QWxy.0.5 %QWxy.0.6 %QWxy.0.7 %QWxy.0.8 %QWxy.0.9 %QWxy.0.10 %QWxy.0.11 %QWxy.0.12 %QWxy.0.13

PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10

Altivar 61 / 71 parameter PKE R/W Not used PWE NC1 NC2 NC3 NC4 NC5 NC6 NC7 NC8 Not used

Profibus PKW

PL7 input word %IWxy.0 %IWxy.0.1 %IWxy.0.2 %IWxy.0.3 %IWxy.0.4 %IWxy.0.5 %IWxy.0.6 %IWxy.0.7 %IWxy.0.8 %IWxy.0.9 %IWxy.0.10 %IWxy.0.11 %IWxy.0.12 %IWxy.0.13

PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10

Altivar 71 parameter PKE R/W/N Not used PWE NM1 NM2 NM3 NM4 NM5 NM6 NM7 NM8 Not used

Default configuration of the periodic variables Profibus PKW PKE R/W Not used PWE PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 PL7 output word %QWxy.0 %QWxy.0.1 %QWxy.0.2 %QWxy.0.3 %QWxy.0.4 %QWxy.0.5 %QWxy.0.6 %QWxy.0.7 %QWxy.0.8 %QWxy.0.9 Command word (CMD) Speed target (LFRD) Not used Not used Not used Not used PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10 Altivar 61 / 71 parameter Profibus PKW PKE R/W Not used PWE PL7 input word %IWxy.0 %IWxy.0.1 %IWxy.0.2 %IWxy.0.3 %IWxy.0.4 %IWxy.0.5 %IWxy.0.6 %IWxy.0.7 %IWxy.0.8 %IWxy.0.9 %IWxy.0.10 %IWxy.0.11 %IWxy.0.12 %IWxy.0.13 Status word (ETA) Output speed (RFRD) Not used Not used Not used Not used Not used Not used Not used Not used Altivar 61 / 71 parameter

%QWxy.0.10 Not used %QWxy.0.11 Not used %QWxy.0.12 Not used %QWxy.0.13 Not used

28

atv61_71_Profibus_EN_V2 2007-02


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