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Schneider Electric
61 user manual
Models:
61
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Install
Error codes
CiA402 state chart
Maintenance
Reference channel configuration
Control word - run on state 2 wire 2C
Network problem
Command switching CCS CANopen Terminals
Procedure
FAULT MANAGEMENT FLt menu
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Contents
User’s Manual
Altivar
Communication parameters Software
Page
Contents
Contents
Output value parameters Output values speed Output values torque
Programming manual
Installation Manual
Document structure and directions for use
Communication Parameters Manual
Presentation
All the drive functions are accessible via the network Control
Presentation
1.3 SETTINGS SEt- menu
Factory setting
1.8 FAULT MANAGEMENT FLt menu
Software enhancements
Enhancements made to version V1.6 in comparison to
1.8 FAULT MANAGEMENT FLt- menu
Enhancements made to version V1.5 in comparison to
Software enhancements
Drive terminal displays
Notations
Description of parameters
Identification
Communication profiles
What is a profile?
Profiles
Functional profiles
CiA402 profile
Functional profiles supported by Altivar 61 drives
I/O profile
ODVA profile
CANopen control word
I/O profile
Definition
Function
Fast stop
Command switching CCS CANopen Terminals
Controller Inside control word
Stop
Fixed assignments
Control word - run on state 2 wire 2C
I/O profile
Control word - run on edge 3 wire 3C
I/O profile
Status word ETA
I/O profile
CiA402 profile
Functional description
Fault
CiA402 state chart
Power section line supply present or absent
Power section line supply present
3 - Ready to switch on
1 - Not ready to switch on
2 - Switch on disabled
4 - Switched on
6 - Quick stop active
7 - Fault reaction active
8 - Fault
Summary
Enable
Control word CMD
Fault
Enable
RISK OF EQUIPMENT DAMAGE
Stop commands
Assigning control word bits
CiA402 profile
Status word ETA
Fault
CiA402 profile
Status
power supply
Starting sequence
Power section line supply
Power section line supply
Bus or network
Sequence for a drive powered by the power section line supply
Power section line supply
DRIVE
operation
Enable
Shutdown8
Power section line supply
Sequence for a drive with separate control section
Control section power supply
Power section line supply
CiA402 profile
Power section line supply
Switch on
Control section power supply
CiA402 profile
Power section line supply
Enable
Control section power supply
CiA402 profile
Control section power supply
Sequence for a drive with line contactor control
Shutdown
Power section line supply
Power section line supply
Switch on
Control section power supply
CiA402 profile
Power section line supply
Enable
Control section power supply
CiA402 profile
Channels
Command/reference switching
Channel commands and references
10V +10V
Not separate mode
Separate mode
TERMINALS
Control register
Switching in not separate mode
Switching in separate mode
Command/reference switching
Command channel configuration
Channel switching
Reference channel configuration
Command/reference switching
Command/reference switching
Switches
VV VV
A detailed description is given in the Programming Manual
Reference switching principle
Command/reference switching
I/O profile CiA402 profile and separate mode
CiA402 profile not separate mode
Command switching principle
I/O profile or CiA402 profile separate mode
Command/reference switching
Command/reference switching
Assigning control word bits
Example
Command switching CCS CANopen Terminals
Run on edge command 3 wire 3C
Command/reference switching
Run on state command 2 wire 2C
The tables below show assignments on the basis of input or bit
Command/reference switching
CiA402 profile
1.6 COMMAND CtL
Copy on switching
Command/reference switching
Command Cd
Forced local mode
Definition
Forced local mode and reference switching
Forced local mode
Forced local mode
Forced local mode and command switching
CiA402 profile separate mode
Display terminal
Forced local mode
CiA402 profile not separate mode
Network
Priority stops via the terminals or the network
Priority stops
Priority stops on the graphic display terminal
Run on state command
5-Operation enabled
Command
Configuration
Command
Network monitoring criteria
Communication monitoring
Principle
Network problem
2. Stop without fault
Behavior in the event of a network fault
The drive can react in five possible ways 1. Drive fault
3. Ignore fault
Communication monitoring
Detailed operation
Monitoring of communication channels
Example
Communication monitoring
Enabling of communication channels
Special case involving Modbus TCP/IP Ethernet card
Example
Example
Assignment of references from a network
Reference parameters
Example
Assignment of references from a network
Without PID regulator
Network references
Fr1, Fr1b, Fr2
Error
With PID regulator
Network2H%
error threshold
Display terminal
Configuration saving and switching
Saving the configuration
Modbus CANopen Network
Display terminal
Set to
Configuration saving and switching
Modbus CANopen Network
terminal
Restore configuration
Display
Modbus
Set to 0/1
Configuration switching via control word
Terminal
Configuration saving and switching
Modbus CANopen Network
Configuration saving and switching
Display terminal
Set to
Assignment for 2 configurations
Function parameters
Configuration saving and switching
Assignment for 3 configurations
Description/Condition
Assignment of logic inputs and control bits for CNF1 and CNF2
Configuration saving and switching
Configuration saving and switching
Configuration switching by selection
Write
Display terminal
Restore configuration
Configuration saving and switching
Save configuration
Function parameters
Code
Parameter set switching
Function parameters
Description
Description/Condition
CHA1 and CHA2 assignment values
Parameter set switching
Logic address
Parameter set switching
Code
CANopen index
Logic address
Parameter set switching
Code
CANopen index
Code
Parameter set switching
Load parameter set command
Description
Load the configuration
Procedure
Saving the reference configuration
Loading drive parameters
Loading drive parameters
Inconsistency examples
Example
Example
Control word
Command parameters
Description
Parameter conforming to the CiA402 profile
Description
Command parameters
Code
Extended control word
Command parameters
Description
Description
Setpoint parameters
Code
Speed reference
Description
Setpoint parameters
Code
PID regulator reference
Status word
Status parameters
Description
Parameter conforming to CiA402 profile
Possible values in CiA402 profile
Status parameters
Code
Description
Status parameters
Code
Extended status word
Description
Status parameters
Code
Extended status word
Description
Status parameters
Code
Extended status word
Description
Status parameters
Code
Extended status word
Description
Status parameters
Code
Extended status word
Status parameters
Active command channel
Active configuration
Code
Code
Output value parameters
Output values speed
Description
Code
Output values torque
Output value parameters
Description
Output value parameters
Output values motor
Motor power
Code
Code
Reference parameters
References speed
Description
Code
References regulator
Reference parameters
Description
Power supply voltage
Measurement parameters
Input measurements
Power consumed by the drive
Code
Thermal states
Measurement parameters
Description
Measurement parameters
Time
IGBT alarm time
Code
Code
Format of Date and Time parameters
Measurement parameters
Description
Code
I/O parameters
Logic I/O
Description
Code
Analog inputs
I/O parameters
Description
Code
Analog outputs
I/O parameters
Description
Code
Encoder
I/O parameters
Description
Description
Fault parameters
CiA402 fault code
Errd
Description
Fault parameters
Code
16#7530
Description
Fault parameters
Altivar fault code
2 Control Eeprom
Description
Fault parameters
Code
37 Internal - hard init
Controller Inside card fault code
Fault parameters
Incorrect configuration
Network card fault code
Option card 2 fault code
Fault parameters
Option card 1 fault code
Ethernet fault code
Code
Fault parameters
Fault counter
Description
Fault code on last fault
Description of last fault log
Log parameters
Power supply voltage on last fault
Command channel active on last fault
Extended status word on last fault
Command word on last fault
Reference channel active on last fault
Date on last fault
Channels active on last fault
Motor operating time on last fault
Time on last fault
Bits
Log parameters
Format of Date and Time parameters
Year
Fault code
Log of the following faults
Fault n-1
Power supply voltage
Power supply voltage
Fault n-3
Fault code
Command word
Power supply voltage
Fault n-5
Fault code
Command word
Power supply voltage
Fault n-7
Fault code
Command word
Description
Identification parameters
Code
Drive nominal rating
Description
Identification parameters
Code
Device name characters 1 and
Description
Identification parameters
Code
Device name characters 13 and
Minimum speed
CiA402 standard configuration and adjustment parameters
Description
Parameter conforming to CiA402 profile
Description
CiA402 standard configuration and adjustment parameters
Code
Acceleration time delta
SPFd
CiA402 standard configuration and adjustment parameters
SPFn
Code
CiA402 standard configuration and adjustment parameters
Disable operation option code
Description
Description
ODVA standard configuration and adjustment parameters
Code
ODVA acceleration time
Name
Index of parameter codes
Code
Page
Name
Index of parameter codes
Code
Page
Index of parameter codes
DOTD
Name
Index of parameter codes
Code
Page
Name
Index of parameter codes
Code
Page
Name
Index of parameter codes
Code
Page
Index of parameter codes
rtP1
Index of parameter codes
ULP0
atv61parametersenv4 2008-03