Contents
Contents ____________________________________________________________________________________________________ 3
Document structure and directions for use __________________________________________________________________________ 5
Presentation _________________________________________________________________________________________________ 6
Software enhancements ________________________________________________________________________________________ 8
Enhancements made to version V1.2 in comparison to V1.1 _____________________________________________________ 8
Enhancements made to version V1.4 in comparison to V1.2 _____________________________________________________ 8
Enhancements made to version V1.5 in comparison to V1.4 _____________________________________________________ 9
Enhancements made to version V1.6 in comparison to V1.5 _____________________________________________________ 9
Notations___________________________________________________________________________________________________ 10
Description of parameters _______________________________________________________________________________ 10
Drive terminal displays __________________________________________________________________________________ 10
Profiles ____________________________________________________________________________________________________ 11
What is a profile? ______________________________________________________________________________________ 11
Functional profiles supported by Altivar 61 drives _____________________________________________________________ 12
I/O profile __________________________________________________________________________________________________ 13
Definition ____________________________________________________________________________________________ 13
Control word - run on state [2 wire] (2C) ____________________________________________________________________ 15
Control word - run on edge [3 wire] (3C) ____________________________________________________________________ 16
Status word (ETA) _____________________________________________________________________________________ 17
CiA402 profile _______________________________________________________________________________________________ 18
Functional description __________________________________________________________________________________ 18
CiA402 state chart _____________________________________________________________________________________ 19
Description of states ___________________________________________________________________________________ 20
Control word (CMD) ____________________________________________________________________________________ 22
Status word (ETA) _____________________________________________________________________________________ 24
Starting sequence _____________________________________________________________________________________ 25
Sequence for a drive powered by the power section line supply __________________________________________________ 26
Sequence for a drive with separate control section ____________________________________________________________ 28
Sequence for a drive with line contactor control ______________________________________________________________ 31
Command/reference switching __________________________________________________________________________________ 34
Channels ____________________________________________________________________________________________ 34
Not separate mode ____________________________________________________________________________________ 35
Separate mode _______________________________________________________________________________________ 35
Switching in not separate mode ___________________________________________________________________________ 36
Switching in separate mode ______________________________________________________________________________ 36
Channel switching _____________________________________________________________________________________ 37
Reference switching principle ____________________________________________________________________________ 39
Command switching principle ____________________________________________________________________________ 40
Assigning control word bits ______________________________________________________________________________ 41
Copy on switching _____________________________________________________________________________________ 44
Forced local mode ___________________________________________________________________________________________ 45
Definition ____________________________________________________________________________________________ 45
Forced local mode and reference switching _________________________________________________________________ 46
Forced local mode and command switching _________________________________________________________________ 47
Priority stops ________________________________________________________________________________________________ 49
Priority stops on the graphic display terminal ________________________________________________________________ 49
Priority stops via the terminals or the network ________________________________________________________________ 49
Communication monitoring _____________________________________________________________________________________ 51
Principle _____________________________________________________________________________________________ 51
Network monitoring criteria ______________________________________________________________________________ 51
Behavior in the event of a network fault _____________________________________________________________________ 52
Detailed operation _____________________________________________________________________________________ 53
Assignment of references from a network _________________________________________________________________________ 55
Reference parameters __________________________________________________________________________________ 55
Without PID regulator __________________________________________________________________________________ 56
With PID regulator _____________________________________________________________________________________ 57
Configuration saving and switching ______________________________________________________________________________ 58
Saving the configuration ________________________________________________________________________________ 58
Restore configuration ___________________________________________________________________________________ 60
Configuration switching via control word ____________________________________________________________________ 61
Configuration switching by selection _______________________________________________________________________ 65
Parameter set switching _______________________________________________________________________________________ 67
Loading drive parameters ______________________________________________________________________________________ 72
Requirement _________________________________________________________________________________________ 72
Procedure ___________________________________________________________________________________________ 72
Command parameters ________________________________________________________________________________________ 74
Setpoint parameters __________________________________________________________________________________________ 77
Status parameters ___________________________________________________________________________________________ 79
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