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User’s Manual
Retain for future use
Altivar 61
Communication parameters
Software V1.8
3
Contents
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
Enhancements made to version V1.8 in comparison to V1.6 _____________________________________________________ 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
Contents
4
Output value parameters ______________________________________________________________________________________ 87
Output values (speed) __________________________________________________________________________________ 87
Output values (torque) __________________________________________________________________________________ 88
Output values (motor) __________________________________________________________________________________ 89
Reference parameters ________________________________________________________________________________________ 90
References (speed) ____________________________________________________________________________________ 90
References (regulator) __________________________________________________________________________________ 91
Measurement parameters______________________________________________________________________________________ 92
Input measurements ___________________________________________________________________________________ 92
Thermal states ________________________________________________________________________________________ 93
Time ________________________________________________________________________________________________ 94
I/O parameters ______________________________________________________________________________________________ 96
Logic I/O ____________________________________________________________________________________________ 96
Analog inputs _________________________________________________________________________________________ 97
Analog outputs ________________________________________________________________________________________ 98
Encoder _____________________________________________________________________________________________ 99
Fault parameters____________________________________________________________________________________________ 100
Log parameters_____________________________________________________________________________________________ 107
Description of last fault log ______________________________________________________________________________ 107
Log of the following faults ______________________________________________________________________________ 111
Identification parameters _____________________________________________________________________________________ 115
CiA402 standard configuration and adjustment parameters___________________________________________________________ 118
ODVA standard configuration and adjustment parameters ___________________________________________________________ 122
Index of parameter codes_____________________________________________________________________________________ 123
5
Document structure and directions for use
Installation Manual
This manual describes:
• Assembly
• How to connect the drive
Programming manual
This manual describes:
• Functions
• Parameters
• Use of the drive terminal (integrated display terminal and graphic display terminal)
Communication Parameters Manual
This manual describes:
• The operating modes specific to communication (state chart)
• The interaction between communication and local control
• The control, reference and monitoring parameters with specific information for use via a bus or communication network
It does not include the drive adjustment and configuration parameters, which are contained in the Excel file supplied as an
appendix.
All the parameters are grouped together in an Excel file supplied as an appendix, with the following data:
-Code
-Name
- Addresses: logical, CANopen, INTERBUS, DeviceNet
- Category
- Read/write access
- Type: signed numerical, unsigned numerical, etc.
-Unit
- Factory setting
- Minimum value
- Maximum value
- Display on graphic display terminal and 7-segment integrated display terminal
- Menu concerned
This file offers the option of sorting and arranging the data according to any criterion chosen by the user.
Data relating to operation, interdependences and limits of use are described in the Programming Manual.
The various documents are to be used as follows:
1. Design and programming of the drive with the Programming Manual
2. Design and programming of the communication with the Parameters Manual
3. Definition of addresses and any values of the adjustment and configuration parameters to be modified by communication with the
parameter files
The section entitled "Loading drive parameters" on page 72 describes the recommended procedure for loading parameters
through communication.
Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO, Modbus Plus and DeviceNet,
etc., manuals
These manuals describe:
• Assembly
• Connection to the bus or network
• Diagnostics
• Configuration of parameters specific to communication via the integrated display terminal or the graphic display terminal
They describe the protocol communication services in detail.
ATV 38/ATV 61 Migration Manual
This manual describes the differences between the Altivar 61 and the Altivar 38 and explains how to replace an Altivar 38, including how
to replace drives communicating on a bus or a network.
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