Stop commands, Assigning control word bits | Schneider Electric 61

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" command is active, no power is supplied to the motor and no torque is applied.

In the case of a closed-loop drive, if the "Halt" command is active, power continues to be supplied to the motor and torque is applied during stopping.

Regardless of the assignment of the [Type of stop] (Stt) parameter ([Fast stop] (FSt), [Ramp stop] (rMP), [Freewheel] (nSt), [DC injection] (dCI)), the drive remains in the "5 - Operation enabled" state.

A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes a change to the "4 - Switched on" state. A "Halt" command does not cause this transition.

A Freewheel Stop command at the terminals or using a bit of the control word assigned to Freewheel Stop causes a change to the "2 - Switch on disabled" state.

WARNING

RISK OF EQUIPMENT DAMAGE

When the braking loop is configured, it is necessary to use the "Halt" command (bit 8 of CMD command word) to stop.

Failure to follow these instructions can result in death, serious injury or equipment damage.

Assigning control word bits

In the CiA402 profile, fixed assignment of a function input is possible using the following codes:

Bit	Integrated Modbus	CANopen	Network card	"Controller Inside" card

bit 11	C111	C211	C311	C411

bit 12	C112	C212	C312	C412

bit 13	C113	C213	C313	C413

bit 14	C114	C214	C314	C414

bit 15	C115	C215	C315	C415

For example, to assign the DC injection braking to bit 13 of CANopen, simply configure the [DC injection assign.] (dCI) parameter with the [C213] (C213) value.

Bit 11 is assigned by default to the operating direction command [Reverse assign.] (rrS).

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Schneider Electric 61 user manual Stop commands, Assigning control word bits

Contents

Altivar Page Contents Contents Communication Parameters Manual Installation ManualDocument structure and directions for use Programming manual Interbus Presentation Presentation Enhancements made to version V1.4 in comparison to Factory settingSoftware enhancements Enhancements made to version V1.2 in comparison to Enhancements made to version V1.6 in comparison to Enhancements made to version V1.5 in comparison to Drive terminal displays NotationsDescription of parameters Profiles What is a profile? Odva profile Functional profiles supported by Altivar 61 drivesProfile CiA402 profile Definition Command CtL Profile Chcf Profile IOProfile Controller Inside control word Fixed assignments Control word run on state 2 wire 2C Control word run on edge 3 wire 3C Bit Status word ETA Functional description CiA402 profile Examples CiA402 state chartPower section line supply present or absent Fault Power section line supply present Description of states Summary Fault reaction activeFault Quick stop active Transition Bit Final state Example value Fault Enable QuickControl word CMD Bit Assignable Assigning control word bits Stop commands Ready to Status Drive Starting sequence Bus or network Enable Shutdown Sequence for a drive with separate control section Power section line supply Terminal display Status word Switch on Enable Shutdown Sequence for a drive with line contactor control Switch on Enable Channels Command/reference switchingChannel commands and references Command CtL Profile Chcf Separate SEP Not separate modeSeparate mode Command CtL Profile Chcf Not separ. SIM Switching in separate mode Switching in not separate mode Terminals tEr Terminals Channel switchingReference channel configuration Command channel configuration Switches AI1 Reference switching principle CiA402 profile not separate mode Command switching principleProfile or CiA402 profile separate mode Example Assigning control word bits Run on edge command 3 wire 3C Run on state command 2 wire 2C LI1 Copy on switching Forced local mode AI3C AI4C Forced local mode and reference switching Run Stop Forward Reverse Forced local mode and command switchingCiA402 profile separate mode AI1 Priority stops via the terminals or the network Priority stopsPriority stops on the graphic display terminal DC injection assign Channel Run on state command Run on edge commandOperation enabled Freewheel stop ass Network monitoring criteria Communication monitoringPrinciple Ignore nO Behavior in the event of a network faultFast stop FSt Fast stop CANopen com. COF for CANopen Monitoring of communication channels Detailed operation Special case involving Modbus TCP/IP Ethernet card Enabling of communication channels Reference parameters Assignment of references from a network MA2, MA3 Without PID regulatorFr1, Fr1b, Fr2 SA2, SA3, dA2, dA3 Key With PID regulatorFr1, Fr1b Fr2, FPI Saving the configuration Configuration saving and switching Modbus CANopen Network Set to CFG Restore configuration ConfigurationsCnF1 ConfigurationsCnF2 Configuration switching via control word Cnfs Cnfs Function parametersCNF1 CNF2 Description/Condition CFG Configuration switching by selection FrY SCSFCS Cfps Parameter set switchingCHA1 CHA2 CHA1 and CHA2 assignment values AD04 AD01AD02 AD03 S204 S201S202 S203 Load parameter set command Loading drive parameters ProcedureSaving the reference configuration Load the configuration Example Inconsistency examples Freewheel stop Freewheel stop ass. nSt Command parametersControl word Cmd value Code Extended control word Frequency ref Setpoint parametersLfrd LFR AIU1 Pisp ETA Status parameters Possible values in CiA402 profile LRS1 ETIExtended status word LRS3 LRS2 LRS5 LRS4 LRS7 LRS6 Active reference channel LRS8CRC CCC Active command channel Output frequency Output value parametersOutput values speed RFr Motor torque Output values torqueOtr Output torque OPr Output values motorLCr UOP References speed Reference parameters RPE References regulatorRPC RPF IPr Measurement parametersInput measurements ULn THb Thermal statesTHd THr Time Proc. Operat. Time Format of Date and Time parametersPEt Total process operating time OL1r ParametersLogic I/O Logic input map AI3C Analog inputsAI1C AI2C AO2C Analog outputsAI4C AO1C AO3r EncoderAO2r AO3C Errd Fault parametersCiA402 fault code 101 LFt Power removal External fault comApplication fault PowerSuite com CnF CICAPF Fdrd FDR faultILF1 ILF2 Fnb Fault counter LCP0 Description of last fault logLog parameters ULP0 DrC0 IP0CMP0 DCC0 RtP0 CrPO 110 Log of the following faults IP3 ULP3LCP3 EP3 IP5 ULP5LCP5 EP5 IP7 ULP7LCP7 EP7 InV Identification parametersNCVr Ucal PAn3 PAn0PAn1 PAn2 Device name characters 15 PAn6Device name characters 13 PAn7 Spal CiA402 standard configuration and adjustment parametersSmil Smal SPdt SPAtSPdL Deceleration DEC Speed setpoint factor denominator SPFnSpeed setpoint factor numerator SPFd Quick stop option code Disable operation option codeDotd Qstd LSPd Odva standard configuration and adjustment parametersACCd DECd Code Name Index of parameter codes CMP6 EP0 EP7 LCP3 PUC SCS ULP0 Atv61parametersenv4 2008-03