Enable

CiA402 profile

bStep 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" state after a time delay[Mains V. time out] (LCt), the drive will switch to fault mode (LCF).

From all states

Bus or network

Control section power supply		Power section line supply

DRIVE

9Disablevoltage Shutdown 8


									13


Entry into state chart							7	Fault reaction
							7			active
										active
			0
									14
									14
	1	Not ready to
	1	Not ready to
		switch on					8			Fault
							8			Fault
			1
			1

							15
	2	Switch on
		Switch on
		disabled
		disabled

					Disable voltage

Shutdown 2
Shutdown 2
				7 or Quick stop
				7 or Quick stop

	3	Ready to				Disable voltage
		Ready to				Disable voltage			10
		switch on				or Quick stop			10
		switch on				or Quick stop
										12
Switch on 3					Shutdown
Switch on 3			6
			6


	4	Switched on
	4	Switched on

Disable

operation

5 operation

Operation

Quick stop

enabled

active

Quick stop

Page 33

Image 33

Schneider Electric 61 user manual Enable

Contents

Altivar Page Contents Contents Document structure and directions for use Installation ManualProgramming manual Communication Parameters Manual Interbus Presentation Presentation Software enhancements Factory settingEnhancements made to version V1.2 in comparison to Enhancements made to version V1.4 in comparison to Enhancements made to version V1.6 in comparison to Enhancements made to version V1.5 in comparison to Notations Description of parametersDrive terminal displays Profiles What is a profile? Profile Functional profiles supported by Altivar 61 drivesCiA402 profile Odva profile Command CtL Profile Chcf Profile IO ProfileDefinition 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 Power section line supply present or absent Fault CiA402 state chartPower section line supply present Examples Description of states Fault Fault reaction activeQuick stop active Summary Control word CMD Final state Example value Fault Enable QuickBit Assignable Transition Bit 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 Command/reference switching Channel commands and referencesChannels Separate mode Not separate modeCommand CtL Profile Chcf Not separ. SIM Command CtL Profile Chcf Separate SEP Switching in separate mode Switching in not separate mode Reference channel configuration Channel switchingCommand channel configuration Terminals tEr Terminals Switches AI1 Reference switching principle Command switching principle Profile or CiA402 profile separate modeCiA402 profile not 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 Forced local mode and command switching CiA402 profile separate modeRun Stop Forward Reverse AI1 Priority stops Priority stops on the graphic display terminalPriority stops via the terminals or the network Operation enabled Channel Run on state command Run on edge commandFreewheel stop ass DC injection assign Communication monitoring PrincipleNetwork monitoring criteria Fast stop FSt Fast stop Behavior in the event of a network faultCANopen com. COF for CANopen Ignore nO 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 Fr1, Fr1b, Fr2 Without PID regulatorSA2, SA3, dA2, dA3 MA2, MA3 Fr1, Fr1b With PID regulatorFr2, FPI Key Saving the configuration Configuration saving and switching Modbus CANopen Network Set to CFG Restore configuration ConfigurationsCnF1 ConfigurationsCnF2 Configuration switching via control word Cnfs CNF1 Function parametersCNF2 Cnfs Description/Condition CFG Configuration switching by selection SCS FCSFrY CHA1 Parameter set switchingCHA2 Cfps CHA1 and CHA2 assignment values AD02 AD01AD03 AD04 S202 S201S203 S204 Load parameter set command Saving the reference configuration ProcedureLoad the configuration Loading drive parameters Example Inconsistency examples Control word Command parametersCmd value Freewheel stop Freewheel stop ass. nSt Code Extended control word Lfrd Setpoint parametersLFR Frequency ref AIU1 Pisp ETA Status parameters Possible values in CiA402 profile ETI Extended status wordLRS1 LRS3 LRS2 LRS5 LRS4 LRS7 LRS6 LRS8 CRCActive reference channel CCC Active command channel Output values speed Output value parametersRFr Output frequency Otr Output values torqueOutput torque Motor torque LCr Output values motorUOP OPr References speed Reference parameters RPC References regulatorRPF RPE Input measurements Measurement parametersULn IPr THd Thermal statesTHr THb Time PEt Format of Date and Time parametersTotal process operating time Proc. Operat. Time Logic I/O ParametersLogic input map OL1r AI1C Analog inputsAI2C AI3C AI4C Analog outputsAO1C AO2C AO2r EncoderAO3C AO3r Fault parameters CiA402 fault codeErrd 101 LFt Application fault External fault comPowerSuite com Power removal CIC APFCnF ILF1 FDR faultILF2 Fdrd Fnb Fault counter Log parameters Description of last fault logULP0 LCP0 CMP0 IP0DCC0 DrC0 RtP0 CrPO 110 Log of the following faults LCP3 ULP3EP3 IP3 LCP5 ULP5EP5 IP5 LCP7 ULP7EP7 IP7 NCVr Identification parametersUcal InV PAn1 PAn0PAn2 PAn3 Device name characters 13 PAn6PAn7 Device name characters 15 Smil CiA402 standard configuration and adjustment parametersSmal Spal SPdL SPAtDeceleration DEC SPdt Speed setpoint factor numerator SPFnSPFd Speed setpoint factor denominator Dotd Disable operation option codeQstd Quick stop option code ACCd Odva standard configuration and adjustment parametersDECd LSPd Code Name Index of parameter codes CMP6 EP0 EP7 LCP3 PUC SCS ULP0 Atv61parametersenv4 2008-03