Altivar Process 600

EAV64329 08/2015

Altivar Process 600

PROFIBUS DP Manual VW3A3607

EAV64329.01

08/2015

www.schneider-electric.com

The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical,
including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
2015 Schneider Electric. All rights reserved.

EAV64329 08/2015

Table of Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the Book. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 1 Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hardware Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Common Additional Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification and Maintenance Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I&M Record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 PROFIdrive Parameters Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIdrive Profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIdrive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROFIdrive Parameter Access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Hardware Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware and Description File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installation of the Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Routing Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Address] ( AdrC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[Data rate used] ( bdrU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[PPO profile used] (PrFL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[DP Master Active] ( dPMA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Communication Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definition of a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Profiles Supported by the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CIA402 Operating State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of Operating States. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cmd Register ( CMd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stop Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assigning Control Word Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
[CIA402 State Reg] ( EtA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive Powered by the Power Stage Supply . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive with Separate Control Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sequence for a Drive with Mains Contactor Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Telegram 100, 101, 102, 106, 107 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Drive with a Siemens S7-300 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of Drive with the Telegram 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring a Drive with the Telegram 101, 102, 106, or 107 . . . . . . . . . . . . . . . . . . . . . . . .
Parameters Management with the Telegram 100, 101, 102, 106, 107 . . . . . . . . . . . . . . . . .

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Telegram 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Command Word and Operating State Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference Frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Fieldbus Integration Tutorial. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus Integration Tutorial. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Communication Error Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring the Control Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the Drive for Operation in I/O Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode. . . . . . . . .
Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode. . . . . . . . . .

Chapter 6 Diagnostic and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection for Fieldbus Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus Function Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication Interruption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring of Communication Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control-Signal Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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EAV64329 08/2015

Safety Information
Important Information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, or maintain it. The following special messages may appear throughout this
documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.

PLEASE NOTE
Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel.
No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this
material.
A qualified person is one who has skills and knowledge related to the construction and operation of
electrical equipment and its installation, and has received safety training to recognize and avoid the
hazards involved.
Qualification Of Personnel
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. In addition, these
persons must have received safety training to recognize and avoid hazards involved. These persons must
have sufficient technical training, knowledge and experience and be able to foresee and detect potential
hazards that may be caused by using the product, by changing the settings and by the mechanical,
electrical and electronic equipment of the entire system in which the product is used. All persons working
on and with the product must be fully familiar with all applicable standards, directives, and accident
prevention regulations when performing such work.

EAV64329 08/2015

Intended Use
This product is a drive for three-phase synchronous and asynchronous motors and intended for industrial
use according to this manual.The product may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.Prior to using the product, you
must perform a risk assessment in view of the planned application. Based on the results, the appropriate
safety measures must be implemented.Since the product is used as a component in an entire system, you
must ensure the safety of persons by means of the design of this entire system (for example, machine
design). Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical
equipment should be installed, operated, serviced, and maintained only by qualified personnel.
Product Related Information
Read and understand these instructions before performing any procedure with this drive.

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
z

z
z
z
z
z
z
z

Only appropriately trained persons who are familiar with and understand the contents of this manual
and all other pertinent product documentation and who have received safety training to recognize and
avoid hazards involved are authorized to work on and with this drive system. Installation, adjustment,
repair and maintenance must be performed by qualified personnel.
The system integrator is responsible for compliance with all local and national electrical code
requirements as well as all other applicable regulations with respect to grounding of all equipment.
Many components of the product, including the printed circuit boards, operate with mains voltage. Do
not touch. Use only electrically insulated tools.
Do not touch unshielded components or terminals with voltage present.
Motors can generate voltage when the shaft is rotated. Prior to performing any type of work on the
drive system, block the motor shaft to prevent rotation.
AC voltage can couple voltage to unused conductors in the motor cable. Insulate both ends of unused
conductors of the motor cable.
Do not short across the DC bus terminals or the DC bus capacitors or the braking resistor terminals.
Before performing work on the drive system:
z Disconnect all power, including external control power that may be present.
z Place a Do Not Turn On label on all power switches.
z Lock all power switches in the open position.
z Wait 15 minutes to allow the DC bus capacitors to discharge. The DC bus LED is not an indicator
of the absence of DC bus voltage that can exceed 800 Vdc.
Measure the voltage on the DC bus between the DC bus terminals (PA/+, PC/-) using a properly
rated voltmeter to verify that the voltage is <42 Vdc
z If the DC bus capacitors do not discharge properly, contact your local Schneider Electric representative. Do not repair or operate the product.
Install and close all covers before applying voltage.

Failure to follow these instructions will result in death or serious injury.

WARNING
UNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.
z Carefully install the wiring in accordance with the EMC requirements.
z Do not operate the product with unknown or unsuitable settings or data.
z Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Damaged products or accessories may cause electric shock or unanticipated equipment operation.

EAV64329 08/2015

DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.
Contact your local Schneider Electric sales office if you detect any damage whatsoever.

WARNING
LOSS OF CONTROL
z

z
z
z
z

The designer of any control scheme must consider the potential failure modes of control paths and,
for critical control functions, provide a means to achieve a safe state during and after a path failure.
Examples of critical control functions are emergency stop, overtravel stop, power outage and restart.
Separate or redundant control paths must be provided for critical control functions.
System control paths may include communication links. Consideration must be given to the
implications of unanticipated transmission delays or failures of the link.
Observe all accident prevention regulations and local safety guidelines (1).
Each implementation of the product must be individually and thoroughly tested for proper operation
before being placed into service.

Failure to follow these instructions can result in death, serious injury, or equipment damage.
(1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition),
Safety Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed
Drive Systems.

NOTICE
DESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
Before switching on and configuring the product, verify that it is approved for the mains voltage
Failure to follow these instructions can result in equipment damage.

EAV64329 08/2015

EAV64329 08/2015

About the Book

At a Glance
Document Scope
The purpose of this document is to:
z Show you how to install the PROFIBUS DP fieldbus module on the drive.
z Show you how to configure the drive to use PROFIBUS DP fieldbus.
NOTE: Read and understand this document and all related documents (see below) before installing,
operating, or maintaining the drive.
Validity Note
This documentation is valid for the Altivar Process drives.
The technical characteristics of the devices described in this document also appear online. To access this
information online:
Step

Action

Go to the Schneider Electric home page www.schneider-electric.com.

In the Search box type the reference of a product or the name of a product range.
z Do not include blank spaces in the model number/product range.
z To get information on grouping similar modules, use asterisks (*).

If you entered a reference, go to the Product Datasheets search results and click on the reference that
interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the
product range that interests you.

If more than one reference appears in the Products search results, click on the reference that interests
you.

Depending on the size of your screen, you may need to scroll down to see the data sheet.

To save or print a data sheet as a .pdf file, click Download XXX product datasheet.

The characteristics that are presented in this manual should be the same as those characteristics that
appear online. In line with our policy of constant improvement, we may revise content over time to improve
clarity and accuracy. If you see a difference between the manual and online information, use the online
information as your reference.

EAV64329 08/2015

Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive information on all our products
on www.schneider-electric.com
The internet site provides the information you need for products and solutions
z The whole catalog for detailed characteristics and selection guides
z The CAD files to help design your installation, available in over 20 different file formats
z All software and firmware to maintain your installation up to date
z A large quantity of White Papers, Environment documents, Application solutions, Specifications... to
gain a better understanding of our electrical systems and equipment or automation
z And finally all the User Guides related to your drive, listed below:
Title of Documentation

Reference Number

Altivar Process ATV600 Getting Started

EAV63253 (English), EAV63254 (French),

EAV63255 (German), EAV63256 (Spanish),
EAV64310 (Italian), EAV64298 (Chinese)

Altivar Process ATV600 Getting Started Annex (SCCR)

EAV64300 (English)

Altivar Process ATV630, ATV650 Installation Manual

EAV64301 (English), EAV64302 (French),

EAV64306 (German), EAV64307 (Spanish),
EAV63257 (Italian), EAV64317 (Chinese)

Altivar Process ATV630, ATV650 Programming Manual

EAV64318 (English), EAV64320 (French),

EAV64321 (German), EAV64322 (Spanish),
EAV64323 (Italian), EAV64324 (Chinese)

Altivar Process ATV600 Modbus Serial Link Manual (Embedded)

EAV64325 (English)

Altivar Process ATV600 Ethernet Manual (Embedded)

EAV64327 (English)

Altivar Process ATV600 Ethernet IP - Modbus TCP Manual

(VW3A3720)

EAV64328 (English)

Altivar Process ATV600 PROFIBUS DP manual (VW3A3607)

EAV64329 (English)

Altivar Process ATV600 DeviceNet manual (VW3A3609)

EAV64330 (English)

Altivar Process ATV600 PROFINET manual (VW3A3627)

EAV64331 (English)

Altivar Process ATV600 CANopen Serial Link Manual (VW3A3608,

618, 628)

EAV64333 (English)

Altivar Process ATV600 Communication Parameters

EAV64332 (English)

Altivar Process ATV600 Safety Function manual

EAV64334 (English)

You can download these technical publications and other technical information from our website at
http://download.schneider-electric.com
Terminology
The technical terms, terminology, and the corresponding descriptions in this manual normally use the
terms or definitions in the relevant standards.
In the area of drive systems this includes, but is not limited to, terms such as error, error message, failure,
fault, fault reset, protection, safe state, safety function, warning, warning message, and so on.
Among others, these standards include:
z IEC 61800 series: Adjustable speed electrical power drive systems
z IEC 61508 Ed.2 series: Functional safety of electrical/electronic/programmable electronic safety-related
z EN 954-1 Safety of machinery - Safety related parts of control systems
z EN ISO 13849-1 & 2 Safety of machinery - Safety related parts of control systems.
z IEC 61158 series: Industrial communication networks - Fieldbus specifications
z IEC 61784 series: Industrial communication networks - Profiles
z IEC 60204-1: Safety of machinery - Electrical equipment of machines Part 1: General requirements
In addition, the term zone of operation is used in conjunction with the description of specific hazards, and
is defined as it is for a hazard zone or danger zone in the EC Machinery Directive (2006/42/EC) and in
ISO 12100-1.
Also see the glossary at the end of this manual.

10

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Altivar Process 600

Presentation
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Presentation

Chapter 1
Presentation

What Is in This Chapter?

This chapter contains the following topics:
Topic

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Page

Hardware Overview

12

Software Overview

13

11

Presentation

Hardware Overview
General
The VW3A3607 is a PROFIBUS DP fieldbus module that can be used in a PROFIBUS DP industrial
fieldbus. The module has a 9-pin female Sub-D connector for connection to the PROFIBUS DP network.
The figure shows the hardware presentation of the VW3A3607 PROFIBUS DP fieldbus module:

12

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Presentation

Software Overview
Compatibility
The VW3A3607 communication module enables the integration of a variable speed drive into a PROFIBUS
DP fieldbus. This module offers the possibility to control its host drive in native profile or with the
PROFIdrive profile.
Profile

Telegrams

Native drive profile (CiA402)

100,101,102,106,107

I/O profile

100,101,102,106,107

PROFIdrive

Fieldbus Module Features Overview

There are six modes of operation which are telegram 1, 100, 101, 102, 106, and 107. The telegram 1 is
based on the PROFIdrive V4.1 application profile part of the IEC 61800-7. The other telegrams are based
on the native profile of the drive.

Data is exchanged in order to make use of all the drive functions.

The following features are supported by the VW3A3607 PROFIBUS DP module:
z Four configurable telegrams (Optimizes the I/Os usage of the master)
z Mapping of the process data from the master
z Parameter management compliant with PROFIdrive V4.1
z Baud rate from 9.6 to 12000 kbps (Automatic detection of the bus speed)
z Supports standard identification & maintenance requests
z Supports diagnostic data with VSD status (Variable speed drive status)
z Several DP V1 messaging modes
z Host drive can be handled from two masters (MS0 and MS1)
z Quick setup from drive side

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13

Presentation

14

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Altivar Process 600

Basics
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Basics

Chapter 2
Basics

What Is in This Chapter?

This chapter contains the following sections:
Section
2.1

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Topic

Page

Introduction

16

2.2

Common Additional Features

17

2.3

PROFIdrive Parameters Channel

20

15

Basics
Introduction

Section 2.1
Introduction

Introduction
PROFIBUS
PROFIBUS DP is the fast PROFIBUS version which is specially designed for communication in production
processes and for building automation. Features of PROFIBUS DP includes simple connection of new
devices in the bus and high transmission rates.
Device Identification
A master device uses the Ident number to identify the device class of the connected slave. The Ident
number is a unique number assigned to each device class by the PNO.
Slave Address
Each device on the network must be assigned a unique address from 1 to 126.
The master (normally address 0 ... 2) can communicate with each slave via this address.
PROFIBUS DP V1 Communication
PROFIBUS DP-V1 allows cyclic and acyclic communication between master and slave. Acyclic
communication is slower than cyclic communication, however it enables the modification of parameters
during operation.
The product supports acyclic communication as per PROFIBUS specification for MS0 communication.
The product supports acyclic communication for DP-V1 as per PROFIBUS specification for MS1 and MS2
communication.
The following services are available for acyclic communication:

16

Service

Master Class 1

Master Class 2

READ

Read data set

Read data set

WRITE

Write data set

Write data set

INITIATE

Connect to master C2

ABORT

Terminate connection to master C2

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Basics
Common Additional Features

Section 2.2
Common Additional Features

What Is in This Section?

This section contains the following topics:
Topic

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Page

Identification and Maintenance Data

18

I&M Record

19

17

Basics

Identification and Maintenance Data

Overview
Identification & maintenance (I&M) is established through PNO
Supports the user during various scenarios of the device life cycle, such as:
z Configuration
z Commissioning
z Repair and update
z Operation and visualization
NOTE: These fields are read only (index AFF0 hex).
The access to the identification & maintenance data can be achieved using the PROFIBUS DPV1
mechanisms (IEC 611458-6).

18

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Basics

I&M Record
Description
The table provides the details of I&M record:

EAV64329 08/2015

Champ

Number of
Bytes

Value

Description

HEADER_MANUF_SPEC
MANUFACTURER_ID

10 bytes

(string)

Manufacturer-specific field

2 bytes

01 hex, 29 hex

129 hex: Schneider Electric

ORDER_ID
SERIAL_NUMBER

20 bytes

Identification object ID 1

Commercial name of the drive

16 bytes

Serial number

C1P1, C1P2, C1P3, C1P4

HARDWARE_REVISION

2 bytes

10 hex, 00 hex

SOFTWARE_REVISION

4 bytes

V, A, B, C

A = MSB of software version

B = LSB of software version
C = MSB of software revision

REVISION_COUNTER

2 bytes

xx hex, yy hex

Rev xy

PROFILE_ID

2 bytes

Defined by the PNO (3A00...3AFF,

PROFIdrive)

PROFILE_SPECIFIC_TYPE

2 bytes

Profile specific number

IM_VERSION

2 bytes

01 hex, 02 hex

Version I&M: 1.2

IM_SUPPORTED

2 bytes

00 hex, 01 hex

Managed index I&M I&M0

19

Basics
PROFIdrive Parameters Channel

Section 2.3
PROFIdrive Parameters Channel

What Is in This Section?

This section contains the following topics:
Topic

20

Page

PROFIdrive Profile

21

Parameter Structure

22

PROFIdrive Parameters

24

PROFIdrive Parameter Access

25

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Basics

PROFIdrive Profile
Overview
When operated with the PROFIdrive profile, the drive parameters are organized as defined by PNU
numbering and addressing modes. However, for people who are familiar with the Altivar parameters, this
addressing mode keeps the native structure of the device (based on Modbus addressing). PNU is
numbered from 0...65535 and each PNU represents a parameter (from single type as words to complex
data structure or arrays). PROFIdrive parameters from PNU 900 ...PNU 999 are standardized, they are
described below. All others PNUs are manufacturer-specific.
In the case of this drive, parameters can be separated in two groups:
Standardized PNUs (900...999)
z Drive parameters which are gathered in a single PNU entry point: PNU1000 and Modbus address as
subindex. It is also possible to access the parameters using the Modbus address as PNU for each
parameter (1001...59999) and 0 as subindex.
z

PROFIdrive Based on PROFIBUS

When the drive is operated in PROFIdrive profile, the parameter management takes benefit of the
PROFIBUS acyclic messaging features. With PROFIBUS, it is possible to exchange messages of variable
length between both masters (MS0 or MS1). These messages come in addition of the periodic data
exchange.

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21

Basics

Parameter Structure
PROFIdrive Telegram
The table describes the PROFIdrive header:
DU

Byte Nr

Request

Function code

Slot_num

0: global parameters

Index

47: Reserved for PROFIdrive

Length

Length of PROFIdrive parameter channel frame

Data

4...5

PROFIdrive parameter channel frame: check

PROFIdrive Parameter Structure

A parameter is defined with its PNU number from 1...65535.
Each parameter consists of 3 main areas:
z PWE: the value
z PBE: describes the parameter attributes
z Text area
The access to the 3 different areas of a parameter is specified by the attribute field of the parameter
request.
The following diagram summarizes the parameter model (For more information, refer to the profile drive
technology V4 standard).
The parameters and their sub parts are identified as follows:
PNU number + attribute

10 hex

PWE

+ Sub index

20 hex

PBE

+ Sub index

30 hex

Text

+ Sub index

Detail of the PBE Attribute

The diagram describes the PBE attribute:

22

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Basics

Drive Parameters
Each drive parameter can be represented according to the PNU standard structure. Drive parameters are
part of the PNU 1000 or can be accessed using the Modbus address as PNU number.
The table provides the possible values of a parameter according to the PNU properties:

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Parameter Property

Drive Implementation

Example

PNU number

1000

Sub index

Modbus address

CMD address: 8501

PWE

Value of the parameter 0...65535

PBE

Describes an array of 65535 words

Constant

Text

Drive parameter

23

Basics

PROFIdrive Parameters
PROFIdrive Standard Parameters
Parameters 900 to 999 are defined in accordance with the PROFIdrive profile.
The table describes the required parameters:
PNU

Sub -ID

Definition

Data Type

R/W

Comments

900

Controller > DO PNU900

contains the cyclical frame
if supervisor handles the
DO

Control telegram.
Image of PZD

907

Controller < DO
PNU900 contains the
cyclical frame if supervisor
handles the DO

Status telegram.
Image of PZD

922

Telegram selection

UINT

1,100,101,102,106,107

927

Operation priority

UINT

R/W

Enables control

928

Control priority

UINT

=1

930

Operating mode

UINT

=1

944

Error message counter

UINT

The value of PNU944 is incremented

each time an error is detected (+1 for
each new detected error)

947

Error number

UINT

This parameter contains the error code

value (error code = error number) of an
error detected by the drive.

963

Actual baud rate

UNIT

Current baud rate

964

Drive unit identification

Manufacturer ID

Defined by PNO (PROFIBUS

organization)

Drive unit

String

This UNIT contains the value xx

commercial catalog number (character
string)

Version (drive)

This parameter contains the firmware

version of the host drive XXyy version, IE

Firmware date (year)

INT

Firmware date (day/month) INT

This parameter contains the firmware

date (day/month)

Sub index 5 and 6 are not available.

24

965

Profile identification
number

UINT

Profile identification numbers:

Byte 1 = 03: PROFIdrive
Byte 2 = 40: V4.01

980...989

Number list of defined

parameter (mandatory
parameter + PNU1000)

UINT

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Basics

PROFIdrive Parameter Access

Parameters Requests
There are 2 types of request:
z Request parameter (parameters are PNU number, attribute, and sub index)
z Change parameter (parameters are PNU number, attribute, and sub index)
These requests are able to manage one or more parameters or several attributes of one parameter. In
order to access to a specific attribute of a parameter, the request header contains: the PNU, the sub index,
and an attribute. This attribute defines whether the request mentions the value, the description area, or the
text area.
Parameter Reading
Request

Request data

Byte n+1

Byte n

Request reference = 01

Request ID = 01

Axis = 01 hex

Number of parameters = 01

Attribute = 10 hex *

Number of elements = 01

PNU number = 3E8 hex

Sub index = C81 hex (3201) ETA Modbus address
*refers to field value (PWE), 20 hex refers to the description field (PBE) and 30 hex to the text field.

Response
Byte n+1
Response header

Response data

Byte n

Request reference = 01

Request ID = 01

Axis = 01 hex

Number of parameters = 01

Format = 42 hex *

Number of elements = 01

PNU value = xxxx hex (value of ETA)

*format 42 hex specified that the returned value is a WORD.

NOTE: byte 41 hex, word 42 hex, standard integer 03 hex, double word 43 hex.
Parameter Writing
Request
Byte n+1

Byte n

Request header

Request reference = 01

Request ID = 02

Axis = 01 hex

Number of parameters = 01

Parameter number

Attribute = 10 hex *

Number of elements = 01

PNU number = 3E8 hex

Sub index = 2329 hex (9001) ACC Modbus address
Parameter value

Format = 42 hex

Amount values = 01

Value = 50 (ACC is set to 5 s)

*refers to field value (PWE), 20 hex refers to the description field (PBE) and 30 hex to the text field.

Response
Byte n+1
Response header

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Byte n

Request reference = 01

Request ID = 02

Axis = 01 hex

Number of parameters = 01

25

Basics

Request for Negative Response

The table lists the items of a negative response:
Byte n+1
Request header

Byte n

Request reference = 01

Request ID = 82*

Axis = 01 hex

Number of parameters = 01

Parameter number

Format = error 44 hex *

Number of values

Value

0x00: Impermissible PNU

0x01: Cannot change value
0x02: Low or high limit exceeded + sub index
0x03: Sub index detected error + sub index
0x04: No array
0x05: Incorrect data type
0x06: Setting not permitted + sub index
0x07: Cannot change description + sub index
0x09: No description
0x0B: No operation priority
0x0F: No text array available
0x11: Cannot execute the request. Reason not specified
0x14: Value impermissible
0x15: Response too long
0x16: Parameter address impermissible
0x17: Illegal format
0x18: Number of values inconsistent
0x19: Axis/DO nonexistent
0x20: Cannot change text
0x65: Invalid request reference
0x66: Invalid request ID
0x67: Invalid axis number / DO-ID
0x68: Invalid number of parameters
0x69: Invalid attribute
0x6B: Request too short

*for all negative responses the ID equals to response code or 80 hex.

With the sub index in addition to the detected error value, the total length of the answer is 10 bytes.

26

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Altivar Process 600

Hardware Setup
EAV64329 08/2015

Hardware Setup

Chapter 3
Hardware Setup

What Is in This Chapter?

This chapter contains the following topics:
Topic

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Page

Hardware Presentation

28

Firmware and Description File

29

Installation of the Module

30

Electrical Installation

31

Cable Routing Practices

33

27

Hardware Setup

Hardware Presentation
PROFIBUS DP Fieldbus Module
The figure shows the PROFIBUS DP fieldbus module equipped with a Sub-D 9 connector:

28

Sub-D 9 connector

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Hardware Setup

Firmware and Description File

Compatibility
The VW3A3607 fieldbus module version 1.9IE01 and higher is compliant with all Altivar process product
range.
The associated GSD is named as the following example:
SE100E2E.GSD
The files are available on www.schneider-electric.com.

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Hardware Setup

Installation of the Module

Before Starting
Verify that the catalog number printed on the label corresponds to the purchase order.
Remove the fieldbus module from its packaging and check that it has not been damaged in transit.

DANGER
ELECTRIC SHOCK OR UNANTICIPATED EQUIPMENT OPERATION
Do not use damaged products or accessories.
Failure to follow these instructions will result in death or serious injury.
Insertion of the Fieldbus Module
The table provides the procedure for insertion of the PROFIBUS DP fieldbus module in the drive:
Step

Action

Ensure that the power is off.

Locate the fieldbus module slot (A) on the bottom of the control part.

Add the corresponding sticker on the LED front panel of the drive.

Insert the module.

Check that the module is correctly inserted and locked mechanically in the drive.

Slot A

Removal of the Fieldbus Module

The table provides the procedure for removal of the PROFIBUS DP fieldbus module from the drive:
Step

30

Action

Ensure that the power is off.

Press the strip.

Remove the module while maintaining the strip pressed,

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Hardware Setup

Electrical Installation
Pin Layout
The VW3A3607 fieldbus module is equipped with a sub-D 9 female connector for the PROFIBUS DP
connection.
Use only validated PROFIBUS connectors. The PROFIBUS connectors are suitable for connecting the
fieldbus signal.
z Connect the PROFIBUS signals.
z If the device is at the end of the network, use a PROFIBUS connector with a terminating resistor.
z Fasten the cables to the cable guide. The cable guide is not a strain relief.

The table provides the pin out details of the sub-D 9 connector:
Pin

Signal

Meaning

Shield

Shield protective earth ground

Not connected

RxD/TxD-P

Receive/Transmit-data-P

CNTR-P

Control-P

DGND

Data ground

VP

Voltage plus

Not connected

RxD/TxD-N

Receive/Transmit-Data-N

Not connected

Cable Specification
Cable specifications are as follows:
Use equipotential bonding conductors.
z Use pre-assembled cables to reduce the wiring mistakes.
z Shield: both end grounded.
z Twisted-pair cable.
z Verify that wiring, cables, and connected interfaces meet the PELV requirements.
z The maximum cable length depends on the baud rate and the signal propagation delay, that is, shorter
bus cable for higher baud rate.
z

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Data rate (kbps)

9.6

19.2

93.75

187.5

500

1500

3000

6000

12000

Distance m (ft.)

1200
(4000)

1200
(4000)

1200
(4000)

1000
(3300)

400
(1300)

200
(650)

100
(330)

100
(330)

100
(330)

31

Hardware Setup

Terminating Resistor
Both ends of the entire PROFIBUS DP network must be terminated with a terminating resistor. Use
PROFIBUS connectors with integrated terminating resistors at both ends of the network.
The schematic diagram shows the terminating resistor combination:

32

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Hardware Setup

Cable Routing Practices

Installation Topology
The following figure shows an example of a wiring solution between a master and slaves using VW3A3607
fieldbus modules. The connector and cable for connection to the PROFIBUS DP network must be ordered
separately.

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Hardware Setup

34

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Altivar Process 600

Software Setup
EAV64329 08/2015

Software Setup

Chapter 4
Software Setup

What Is in This Chapter?

This chapter contains the following sections:
Section
4.1

EAV64329 08/2015

Topic

Page

Basic Settings

36

4.2

Communication Profile

42

4.3

Fieldbus Integration Tutorial

77

35

Software Setup
Basic Settings

Section 4.1
Basic Settings

What Is in This Section?

This section contains the following topics:
Topic

36

Page

Introduction

37

[Address] ( AdrC)

38

[Data rate used] ( bdrU)

39

[PPO profile used] (PrFL)

40

[DP Master Active] ( dPMA)

41

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Software Setup

Introduction
Overview
The parameters are described according to the graphic display terminal. These settings are also possible
from commissioning software.

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37

Software Setup

[Address] ( AdrC)
About This Parameter
This parameter defines the PROFIBUS DP slave address.
Access
The parameter is accessible in the [Communication] ( COM) /[Comm Parameters] ( CMP) , [Profibus]
( PbC-) menu.
The parameter number is 6601
Possible Settings

38

Settings

Code

Value

Description

[2...126]

2...126

2...126

PROFIBUS address
Factory setting: 126

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Software Setup

[Data rate used] ( bdrU)

About This Parameter
This parameter displays the current baud rate.
Access
The parameter is accessible in the [Display] ( Mon-) /[Communication map] ( CMM-) , [PROFIBUS
DIAG] ( Prb-) menu.
This is a read-only parameter
The parameter number is 6660
Possible Settings

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Settings

Code

Value

Description

[Automatic]]
[9600 bps]
[10 Kbps]
[19200 bps]
[45.45 Kbps]
[93.75 Kbps]
[187.5 Kbps ]
[500 Kbps]
[1.5 Mbps ]
[3 Mbps]
[6 Mbps]
[12 Mbps]

AUtO
9K6
10K
19K2
45K4
93K7
187K
500
1M5
3M
6M
12M

4
28
30
32
37
42
54
68
80
82
83
88

Current baud rate

Factory setting: Automatic

39

Software Setup

[PPO profile used] (PrFL)

About This Parameter
This parameter is used to select the actual profile for the device.
Access
The parameter is accessible in the [Display] ( Mon-) /[Communication map] ( CMM-) , [PROFIBUS
DIAG] ( Prb-) menu.
This is a read parameter.
The parameter number is 6665.
Possible Settings
The table presents the parameter settings:

40

Settings

Code

Value

Description

[UnCG]
[1]
[100]
[101]
[102]
[106]
[107]

unCG
1
100
101
102
106
107

0
1
100
101
102
106
107

UNCFG
Profidrive
Device specific
Device specific
Device specific
Device specific
Device specific
Factory setting: 0

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Software Setup

[DP Master Active] ( dPMA)

About This Parameter
This parameter displays the active PROFIBUS DP master.
Access
The parameter is accessible in the [Display] ( Mon-) /[Communication map] ( CMM-) , [PROFIBUS
DIAG] ( Prb-) menu.
This is a read-only parameter
The parameter number is 6666
Possible Settings

EAV64329 08/2015

Settings

Code

Value

Description

[MCL1]]
[MCL2]

1
2

1
2

Active master
Factory settings: 1

41

Software Setup
Communication Profile

Section 4.2
Communication Profile

What Is in This Section?

This section contains the following topics:
Topic

42

Page

Definition of a Profile

43

Functional Profiles Supported by the Drive

44

Functional Description

45

CIA402 Operating State Diagram

46

Description of Operating States

47

Summary

49

Cmd Register ( CMd)

50

Stop Commands

51

Assigning Control Word Bits

52

[CIA402 State Reg] ( EtA)

53

Starting Sequence

54

Sequence for a Drive Powered by the Power Stage Supply

55

Sequence for a Drive with Separate Control Stage

56

Sequence for a Drive with Mains Contactor Control

59

Telegram 100, 101, 102, 106, 107

61

Configuring Drive with a Siemens S7-300

64

Configuration of Drive with the Telegram 100

65

Configuring a Drive with the Telegram 101, 102, 106, or 107

66

Parameters Management with the Telegram 100, 101, 102, 106, 107

67

Telegram 1

71

State Diagram

72

Command Word and Operating State Word

73

Reference Frequency

76

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Software Setup

Definition of a Profile
Types of Profiles
There are 3 types of profile:
z Communication profiles
z Functional profiles
z Application profiles
Communication Profile
A communication profile describes the characteristics of a bus or network:
z Cables
z Connectors
z Electrical characteristics
z Access protocol
z Addressing system
z Periodic exchange service
z Messaging service
z ...
A communication profile is unique to a type of fieldbus (such as Modbus, PROFIBUS DP, and so on) and
is used by different types of devices.
Functional Profile
A functional profile describes the behavior of a type of device:
z Functions
z Parameters (such as name, format, unit, type, and so on.)
z Periodic I/O variables
z State chart
z ...
A functional profile is common to all members of a device family (such as variable speed drives, encoders,
I/O modules, displays, and so on).
They can feature common or similar parts. The standardized (IEC 61800-7) functional profiles of variable
speed drives are:
z CiA402
z PROFIDRIVE
z CIP
DRIVECOM has been available since 1991.
CiA402 device profile for drives and motion control represents the next stage of this standard development
and is now part of the IEC 61800-7 standard.
Some protocols also support the Open DeviceNet Vendor Association profile (ODVA).
Application Profile
Application profile defines the services to be provided by the devices on a machine. For example, CiA DSP
417-2 V 1.01 part 2: CANopen application profile for lift control systems - virtual device definitions.
Interchangeability
The aim of communication and functional profiles is to achieve interchangeability of the devices connected
via the fieldbus.

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Software Setup

Functional Profiles Supported by the Drive

I/O Profile
Using the I/O profile simplifies PLC programming.
The I/O profile mirrors the use of the terminal strip for control by utilizing 1 bit to control a function.
The I/O profile for the drive can also be used when controlling via a fieldbus.The drive starts up as soon as
the run command is sent.15 bits of the control word (bits 1...15) can be assigned to a specific function.
This profile can be developed for simultaneous control of the drive via:
z The terminals
z The Modbus control word
z The CANopen control word
z Ethernet Modbus TCP embedded
z The fieldbus module control word
The I/O profile is supported by the drive itself and therefore in turn by all the communication ports
(integrated Modbus, CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet fieldbus modules).
CiA402 Profile
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11...15) can be assigned to a function.
The CiA402 profile is supported by the drive itself and therefore by all the communication ports (Modbus,
CANopen, Ethernet, PROFIBUS DP, PROFINET, and DeviceNet).
The drive supports the velocity mode of CiA402 profile.
In the CiA402 profile, there are two modes that are specific to the drive and characterize commands and
references value management:
z Separate [Separate] (SEP)
z Not separate [Not separ.] (SIM),

44

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Software Setup

Functional Description
Introduction
Drive operation involves two main functions, which are illustrated in the diagrams below.
CiA402
The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in
brackets are the CANopen addresses of the parameter).
The following figure shows the control diagram for drive operation:

Simplified diagram for speed control in Velocity mode:

Altivar Drive
These diagrams translate as follows for the Altivar drive.
The following figure shows the control diagram for drive operation:

Simplified diagram for speed control in Velocity mode:

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Software Setup

CIA402 Operating State Diagram

State Diagram
After switching on and when an operating mode is started, the product goes through a number of operating
states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions. The operating states are internally monitored and influenced by monitoring functions.
The following figure shows the CIA402 state diagram:

46

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Software Setup

Description of Operating States

Drive Operating State
The operating state of the drive changes depending on whether the control word [Cmd Register]
( CMd) , is sent or an event occurs (an error detection, for example).
The drive operating state can be identified by the value of the status word [CIA402 State Reg] ( EtA) .
Operating State

Description

1 - Not ready to switch

on

Initialization starts. This is a transient state invisible to the communication network.

2 - Switch on disabled

The power stage is not ready to switch on.

The drive is locked, no power is supplied to the motor.
For a separate control stage, it is not necessary to supply the power.
For a separate control stage with mains contactor, the contactor is not closed.
The configuration and adjustment parameters can be modified.

3 - Ready to switch on

The power stage is ready to switch on and awaiting power stage supply mains.
For a separate control stage, it is not necessary to supply the power stage, but the
system expects it in order to change to state 4 - Switched on.
For a separate control stage with mains contactor, the contactor is not closed.
The drive is locked, no power is supplied to the motor.
The configuration and adjustment parameters can be modified.

4 - Switched on

Power stage is switched on.

For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is locked, no power is supplied to the motor.
The power stage of the drive is ready to operate, but voltage has not yet been
applied to the output.
The adjustment parameters can be modified.
If a configuration parameter is modified, the drive returns to the state 2 - Switch
on disable .

5 - Operation enabled

Power stage is enabled. The drive is in running state

For a separate control stage, the power stage must be supplied.
For a separate control stage with mains contactor, the contactor is closed.
The drive is unlocked, power is supplied to the motor.
The drive functions are activated and voltage is applied to the motor terminals.
If the reference value is zero or the Halt command is applied, no power is supplied
to the motor and no torque is applied. To perform [Auto tuning] ( tUn) , the drive
must be in state 5 - Operation enabled.
The adjustment parameters can be modified.
The configuration parameters cannot be modified.
NOTE: The command 4 - Enable operation must be taken into consideration
only if the channel is valid. In particular, if the channel is involved in the command
and the reference value, transition 4 is possible only after the reference value has
been received once.
The reaction of the drive to a Disable operation command depends on the
value of the [SwitchOnDisable Stp] ( dOtd) parameter:
z If the [SwitchOnDisable Stp] ( dOtd) parameter is set to 0, the drive changes
to operating state 4 - Switched on and stops in freewheel stop.
z If the [SwitchOnDisable Stp] ( dOtd) parameter is set to 1, the drive stops on
ramp and then changes to operating state 4 - Switched on.

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Software Setup

48

Operating State

Description

6 - Quick stop active

The drive performs a fast stop and remains locked in the operating state 6-Quick
stop active. Before restarting the motor, it is required to go to the operating state
2-switch on disabled.
During fast stop, the drive is unlocked and power is supplied to the motor.
The configuration parameters cannot be modified.
The condition for transition 12 to state 2 - Switch on disabled depends on the
value of the parameter
Quick stop mode (QStd):
If the Quick stop mode parameter has the value FST2, the drive stops according
to the fast stop ramp and then changes to state 2 - Switch on disabled .
If the Quick stop mode parameter has the value FST6, the drive stops according
to the fast stop ramp and then remains in state 6 - Quick stop active until:
z A Disable voltage command is received or
z The STOP key is pressed or
z A freewheel stop command via the digital input of the terminal.

7 - Fault reaction
active

Transient state during which the drive performs an action corresponding to the
selected error response.

8 - Fault

Error response terminated. Power stage is disabled.

The drive is locked, no power is supplied to the motor.

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Summary
Device Status Summary

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Operating State

Power Stage Supply for

Separate Control Stage

Power Supplied to
Motor

Modification of Configuration
Parameters

1 - Not ready to
switch on

Not required

No

Yes

2 - Switch on
disabled

Not required

No

Yes

3 - Ready to
switch on

Not required

No

Yes

4 - Switched on

Required

No

Yes, return to 2 - Switch on

disabled operating state

5 - Operation
enabled

Required

Yes

No

6 - Quick stop
active

Required

Yes, during fast stop

No

7 - Fault reaction
active

Depends on error response

configuration

Depends on error
response configuration

8 - Fault

Not required

No

Yes

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Software Setup

Cmd Register ( CMd)

Bit Mapping of the Control Word
Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Fault reset

Reserved
(=0)

Reserved
(=0)

Reserved
(=0)

Enable
operation

Quick stop

Enable
voltage

Switch on

1 = Run
command

0 = Quick
stop active

Authorization
to supply AC
power

Mains
contactor
control

0 to 1
transition =
Error is
reset (after
cause of
error is no
longer
active)

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Manufacturer
specific
assignable

Manufacturer
specific
assignable

Manufacturer
specific
assignable

Manufacturer
specific
assignable

Manufacturer
specific

Reserved
(=0)

Reserved
(=0)

Halt

Command

State
Transition

Final
Operating
State

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Fault
Reset

Enable
Operation

Quick
Stop

Enable
Voltage

Switch
On

Shutdown

2, 6, 8

3 - Ready
to switch
on

0006 hex

Switch on

4 Switched
on

0007 hex

Enable
operation

5 Operation
enabled

000F hex

Disable
operation

4 Switched
on

0007 hex

Disable
voltage

7, 9, 10, 12

2 - Switch
on
disabled

0000 hex

6 - Quick
stop
active

0002 hex

01

0080 hex

Quick stop 11

Fault
reset

7, 10

2 - Switch
on
disabled

15

2 - Switch
on
disabled

Halt

0 = Forward
direction
asked
1= Reverse
direction
asked

Example
Value

X: Value is of no significance for this command.

0[gs56] 1: Command on rising edge.

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Stop Commands
Halt Command
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.
If the Halt command is active, no power is supplied to the motor and no torque is applied.
Regardless of the assignment of the [Type of stop] ( Stt) parameter [Fast stop Assign] ( FSt) ,
[Ramp stop] ( rMP) , [Freewheel Stop] ( nSt) , or [DC Injection Assign] ( dCI) , the drive remains
in the 5 - Operation enabled state.
Fast Stop Command
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
Freewheel Command
A Freewheel Stop command using a digital input of the terminal or a bit of the control word assigned
to Freewheel Stop causes a change to operating state 2 - Switch on disabled.

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Software Setup

Assigning Control Word Bits

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

Fieldbus Module

Bit 11

C311

Bit 12

C312

Bit 13

C313

Bit 14

C314

Bit 15

C315

For example, to assign the DC injection braking to bit13 of the fieldbus module, simply configure the [DC
Injection Assign] ( dCI) parameter with the [C313] ( C313) value.
Bit 11 is assigned by default to the operating direction command [Reverse Assign] ( rrS) .

52

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[CIA402 State Reg] ( EtA)

Bit Mapping of the Status Word
Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Warning

Switch on
disabled

Quick stop

Voltage
enabled

Fault

Operation
enabled

Switched on

Ready to
switch on

Error
detected

Running

Ready

1 = Awaiting
power
Stage
supply

A warning is Power stage

active
supply
disabled

0 = Quick
Power stage
stop is active supply
present

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Manufacturer
-specific
Direction of
rotation

Manufacturerspecific Stop
via STOP key

Reserved
(=0)

Reserved
(=0)

Internal limit
active

Target
reached

Remote

Reserved (=0)

Reference
value outside
limits

Reference
value
reached

Command
or reference
value via
fieldbus

Operating
State

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Switch On
Disabled

Quick
Stop

Voltage
Enabled

Fault

Operation
Enabled

Switched
On

Ready to
Switch On

1 -Not
ready to
switch on

2 -Switch
on
disabled

0040 hex

3 -Ready
to switch
on

0021 hex

4 Switched
on

0023 hex

5 Operation
enabled

11

0027 hex

6 -Quick
stop
active

0007 hex

7 -Fault
reaction
active

8 -Fault

0008 hex(2)..
.0028 hex

(1)

ETA
Masked by
006F H (1)

This mask can be used by the PLC program to test the diagram state.

(2)

detected error following operating state 6 - Quick stop active.

X: In this state, the value of the bit can be 0 or 1.

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Starting Sequence
Description
The command sequence in the state diagram depends on how power is being supplied to the drive.
There are 3 possible scenarios:

Power stage
supply

Direct

Direct

Mains contactor controlled by the

drive

Control stage
supply

Not separate (1)

Separate

Separate

(1)

54

The power stage supplies the control stage.

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Sequence for a Drive Powered by the Power Stage Supply

Description
Both the power and control stages are powered by the power stage supply.
If power is supplied to the control stage, it has to be supplied to the power stage as well.
The following sequence must be applied:
Step 1
Apply the 2 - Shut down command

Step 2
z
z
z

Check that the drive is in the operating state 3 - Ready to switch on.
Then apply the 4 - Enable operation command.
The motor can be controlled (send a reference value not equal to zero).

NOTE: It is possible, but not necessary to apply the 3 - Switch on command followed by the 4 Enable Operation command to switch successively into the operating states 3 - Ready to Switch
on, 4 - Switched on and then 5 - Operation Enabled. The 4 - Enable operation command
is sufficient.

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Software Setup

Sequence for a Drive with Separate Control Stage

Description
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well.
The following sequence must be applied:
Step 1
z
z

56

The power stage supply is not necessarily present.

Apply the 2 - Shut down command

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Software Setup

Step 2
z
z

Check that the drive is in the operating state 3 - Ready to switch on.
Check that the power stage supply is present (Voltage enabled of the status word).

Power Stage Supply

Status Word

Absent

nLP

21 hex

Present

rdY

31 hex

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Terminal Display

Apply the 3 - Switch on command

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Software Setup

Step 3
z
z
z
z

58

Check that the drive is in the operating state 4 - Switched on.

Then apply the 4 - Enable operation command.
The motor can be controlled (send a reference value not equal to zero).
If the power stage supply is still not present in the operating state 4 - Switched on after a time delay
[Mains V. time out] ( LCt) , the drive triggers an error [Input Contactor] ( LCF) .

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Sequence for a Drive with Mains Contactor Control

Description
Power is supplied separately to the power and control stages.
If power is supplied to the control stage, it does not have to be supplied to the power stage as well. The
drive controls the mains contactor.
The following sequence must be applied:
Step 1
z
z

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The power stage supply is not present as the mains contactor is not being controlled.
Apply the 2 - Shutdown command.

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Software Setup

Step 2
z
z

60

Check that the drive is in the operating state 3 - Ready to switch on.
Apply the 3 - Switch on command, which closes the mains contactor and switch on the power stage
supply.

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Telegram 100, 101, 102, 106, 107

Overview
The following diagram shows the native modes for telegram 100:

The native mode of the PROFIBUS DP VW3A3607 is used when telegram 100 is used.
The PKW area of telegram 100, which is used for a simple parameter management, is compliant with the
PKW mechanism used with the PROFIBUS DP fieldbus module of the Altivar 32, 61, 71.
NOTE: After switching from one telegram to another, the drive shall be restarted to validate the new
configuration.
The following diagram shows the native modes for telegram 101, 106, 107:

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The following diagram shows the native modes for telegram 102:

Periodic Exchanges
The following table provides the details of telegram 100, 101, and 102
Telegram 100

Telegram 101

Telegram 102

PLC>VSD

VSD>PLC

PLC>VSD

VSD>PLC

PLC>VSD

PKW 1

PKE

PKE

PKE

PKE

VSD>PLC

PKW 2

R/W

R/W

R/W

R/W

PKW 3

PWE

PWE

PWE

PWE

PKW 4

PWE

PWE

PWE

PWE

Cyclic data 1

OCA1 address OMA1 address OCA1 address OMA1 address OCA1 address OMA1 address
of ETA =3201*
of ETA =3201* of CMD
of ETA =3201* of CMD
of CMD
=8501*
=8501*
=8501*

Cyclic data 2

OCA2 address OMA2 address OCA2 address OMA2 address OCA2 address OMA2 address
of RFRD
of LFRD
of RFRD
of LFRD
of RFRD
of LFRD
=8604*
=8602*
=8604*
=8602*
=8604*
=8602*

Cyclic data 3

OCA3 default
=0

OMA3 default
=0

OCA3 default
=0

OMA3 default
=0

Cyclic data 4

OCA4 default
=0

OMA4 default
=0

OCA4 default
=0

OMA4 default
=0

Cyclic data 5

OCA5 default
=0

OMA5 default
=0

OCA5 default
=0

OMA5 default
=0

Cyclic data 6

OCA6 default
=0

OMA6 default
=0

OCA6 default
=0

OMA6 default
=0

*:default Modbus address.

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The following table provides the details of telegram 106 and 107
Telegram 106

Telegram 107

PLC>VSD

VSD>PLC

PLC>VSD

VSD>PLC

PKW 1

PKE

PKE

PKE

PKE

PKW 2

R/W

R/W

R/W

R/W

PKW 3

PWE

PWE

PWE

PWE

PKW 4

PWE

PWE

PWE

PWE

Cyclic data 1

OCA1 address of
CMD =8501*

OMA1 address of
ETA =3201*

OCA1 address of
CMD =8501*

OMA1 address of
ETA =3201*

Cyclic data 2

OCA2 address of
LFRD =8602*

OMA2 address of
RFRD =8604*

OCA2 address of
LFRD =8602*

OMA2 address of
RFRD =8604*

Cyclic data 3

OCA3 default =0

OMA3 default =0

OCA3 default =0

OMA3 default =0

Cyclic data 4

OCA4 default =0

OMA4 default =0

OCA4 default =0

OMA4 default =0

Cyclic data 5

OCA5 default =0

OMA5 default =0

OCA5 default =0

OMA5 default =0

Cyclic data 6

OCA6 default =0

OMA6 default =0

OCA6 default =0

OMA6 default =0

Cyclic data 7

OCA7 default =0

OMA7 default =0

OCA7 default =0

OCA7 default =0

Cyclic data 8

OCA8 default =0

OMA8 default =0

OCA8 default =0

OCA8 default =0

Cyclic data 9

OCA9 default =0

OCA9 default =0

Cyclic data 10

OCA10 default =0

OCA10 default =0

Cyclic data 11

OCA11 default =0

OCA11 default =0

Cyclic data 12

OCA12 default =0

OCA12 default =0

Cyclic data 13

OCA13 default =0

OCA13 default =0

Cyclic data 14

OCA14 default =0

OCA14 default =0

Cyclic data 15

OCA15 default =0

OCA15 default =0

Cyclic data 16

OCA16 default =0

OCA16 default =0

*:default Modbus address.

The configuration of the cyclic data is made with the PROFIBUS DP master configuration tool. The Modbus
address of the parameter linked to each cyclic data must be defined as in the following example with the
HW configuration software:
Input cyclic data 1/2 and output cyclic data 1/2 are already preconfigured to (CMd) (8501) and (LFrd)
(8602); (EtA) (3201) and (rFrd) (8604).
If a null address Modbus is entered, no link between the related cyclic data and the drive is established. In
any case, the 6 cyclic data are not disabled and the 6 cyclic data takes place in the I/O memory image of
the controller.

1
2

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Modbus address is entered in this field

Data type is entered in this field

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Software Setup

Configuring Drive with a Siemens S7-300

GSD Installation
First download, and install the GSD file of the drive in the hardware configuration tool of the SIMATIC
STEP7 software.
You can find the GSD file and its associated picture on www.schneider-electric.com.
From the menu > Options > Install GSD File...
Once installed you can see the drive, in the library, as follow:

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Configuration of Drive with the Telegram 100

Description
With this telegram, the drive is controlled with two process data.
Configure master PLC and its PROFIBUS DP network. Then select and place the drive from the library to
the bus:

Define the addresses of the cyclic data and PKW data in the PLC periphery:

By default, the process data are linked to (CMd), (LFrd), (EtA) and (rFrd) (native CiA 402 profile
of the drive).
You can check that the exchanges are working properly with the Monitor/Modify function of the
configuration tool:

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Configuring a Drive with the Telegram 101, 102, 106, or 107

Configuring the Drive Communication Scanner
The configuration of the fieldbus module is defined by the master, by default the 2 first read and write are
linked to the default parameters: (CMd), (LFrd), (EtA) and (rFrd). The 4 next read or write
parameters are not configured.
To add new parameters or modify the default configuration of the communication scanner, open the
properties dialog box of the slave device and configure the OCA/OMA values in the parameter assignment
tab.

1
2

Internal Modbus address

Data type is entered in this field

New parameters are added or modified by entering the drive Modbus address.
For example: (OMA3) is configured to read the value of (ACC), which Modbus address is 9001.

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Parameters Management with the Telegram 100, 101, 102, 106, 107
Description
In native modes several accesses to the drive parameters are possible:
z The standard acyclic requests from PROFIdrive, for more information see PROFIdrive Parameters
Channel (see page 20).
z PKW mechanisms consistent with Altivar 32,61, and 71 for 16-bit data.
Parameter Management Through the PKW Area
With telegram 100, 101, 106, 107 you can read or write any drive parameter by using this PKW area. (This
addressing format is identical to the PKW mechanism of the Altivar 32,61, and 71).
NOTE: The management of the parameters (compatibility with series 1 product) is Schneider Electric
specific. Actually, previous versions of PROFIdrive also specified parameter management thought PKW,
are not compatible with Schneider Electric method. In recent versions, parameters are managed with
acyclic messages, and the PNO PKW method is obsolete.
The PKW area is made of four input words and four output words.
The table lists the controller-to-drive parameters in the input PKW area:
PKW Number

PKE Name

Description

PKW1

PKE

The Modbus address of the parameter is detailed here.

PKW2

R/W

Request code:
0: no request
1: read
2: write (16 bit)
3: write (32 bit)

PKW3

PWE

Parameter is used when PKW2 = 3

PKW4

PWE

Parameter value in case of write request

The table lists the drive-to-controller parameters in the output PKW area:

EAV64329 08/2015

PKW Number

PKE Name

Description

PKW1

PKE

Copy of the input PKE

PKW2

R/W

Response code:
0: no request
1: read done (16 bit)
2: write done (16 bit)
3: request in progress
4: read done (32 bit)
5: write done (32 bit)
7: read or write error

PKW3

PWE

Parameter is used when PKW2 = 4 or 5

PKW4

PWE

If the request is successful, the parameter value is copied here.

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Software Setup

DP V1 / Acyclic Messaging - Schneider Electric Specific

The PROFIBUS DPV1 telegram includes a header, described in the following diagram:

The following table lists the content of the DPV1 header:

DU

Byte - nr

Function code

Slot_num

Index

Length

Data

4-5

An indirection mechanism is used:

z Step 1:
DU

Bytes

Request

Positive answer

Negative answer

Function code

5E hex (read)
5F hex (write)

5E hex (read)
5F hex (write)

DF hex (read)
DE hex (write)

Slot_num

80 hex

Index

E9 hex

E9 hex

XX hex (error type)

Length

YY hex (error type)

Data

4-5

ZZZZ hex (ZZZZ is

the Modbus address

68

Step 2:

DU

Bytes

Request

Positive answer

Negative answer

Function code

5E hex (read)
5F hex (write)

5E hex (read)
5F hex (write)

DF hex (read)
DE hex (write)

Slot_num

80 hex

Index

EA hex

E9 hex

XX hex (error type)

Length

YY hex (error type)

Data

4-5

Read: Write: 0010 hex

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Software Setup

Basic DPV1 Messaging with Standard SFCs

The example below relies on the SFC58 and 59 (Integrated functions blocks of Simatic PLC). The read
or write operation is processed in two steps. In a first time, the Modbus address parameter is sent, and in
a second step the value is either written or read.

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Telegram 1
Overview
The following diagram shows the operating modes:

The following section describes how the VW3A3607 is operated when configured in PROFIdrive mode
(telegram 1).
The selection of this mode is done while configuring the slave device with the PROFIBUS DP network
configuration tool. It is out of the scope of this document to describe how to use such tool. However, you
can find in the examples (see Configuring the Drive With a Siemens S7-300 ) how to configure the
module for the Schneider PLCs and for the SIMATIC S7 PLCs.
Periodic Exchanges
The periodic exchanges, with PROFIdrive application class 1 profile consists of:
z 16-bit command word (STW1) and 16-bit reference word (NSOLL_A),
z 16-bit operating state word (ZSW1) and 16-bit actual velocity word (NIST_A).
The mapping of these words is automatically done when you select telegram 1 during the configuration of
the device.
NOTE: After switching from one telegram to another, restart the controller to validate the new
configuration.

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Software Setup

State Diagram
Description
The following state diagram shows the PROFIdrive state machine for the application class 1. The diagram
also describes the command word and operating state word.

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Command Word and Operating State Word

Overview
The table lists the command wording from PROFIdrive application profile class 1:
STW1
Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Fault reset

Enable
operation

Quick stop

Coast stop

ON/OFF

Bit 9

Bit 8

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Control and
reference by
PLC

The table lists the status from PROFIdrive application profile class 1:
ZSW1

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Bit 7

Bit 6

Bit 5

Warning

Switching
inhibited

Bit 15

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Quick stop
Coast stop
Error
not activated not activated detected

Operation
enabled

Ready to
operate

Ready to
switch ON

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Reserved

Reserved

Reserved

Reserved

F or n
reached or
exceeded

Control
requested

Speed error
found within
tolerance
range

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Software Setup

Command Word Details

STW1
Bit 0

Bit 1

Bit 2

Bit 3

ON

Switched on operating state; voltage at the power converters, indicates

that the power voltage is enabled.

OFF
(OFF 1)

The drive is ramped-down along the ramp (RFG) or along the current limit or
along the voltage limit of the d.c. Link if standstill is detected and power is
disabled when deceleration bit 1 of ZSW1 is still set.
An OFF command is interruptible (the drive returns to the
ready for switching on operating state).

No coast stop

Coast Stop (OFF2) not active.

Coast stop (OFF 2)

Power voltage disabled..

The drive goes into the Switching On Inhibited Power voltage is
disabled; the motor coasts down to a standstill.

No quick stop

Quick Stop (OFF3) not active.

Quick stop (OFF 3)

Quick stop; if required, withdraw the operating enable, the drive is decelerated
as fast as possible. For example, along the current limit or at the voltage limit
of the d.c. Link, at n / f = 0; if the rectifier pulses are disabled, the power
voltage is disabled (the contact is opened) and the drive goes into the
Switching On Inhibited operating state.
A Quick Stop command is not interruptible.

Enable operation

Enable electronics and pulses.

The drive then runs-up to the reference frequency.

Disable operation

The drive coasts down to a standstill (ramp-function generator to 0 or

tracking) and goes into the Switched on operating state (refer to control
word 1, bit 0).

The fault reset function is active with a positive edge; the drive error response
depends on the type of detected error. If the error response has isolated the
voltage, the drive then goes into the Switching On Inhibited operating
state.

Channel for the reference frequency and the command from the bus are
active.

Bit 4

Reserved

Bit 5

Reserved

Bit 6

Not used

Bit 7

Fault reset

Bit 8

Not used

Bit 9

Not used

Bit 10

Control by fieldbus

No control by fieldbus 0

74

Bit 11

Reserved

Bit 12

Reserved

Bit 13

Reserved

Bit 14

Reserved

Bit 15

Reserved

Channel for the reference frequency and the command from the bus are not
active.

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Software Setup

Operating State Word

ZSW1
Bit 0

Ready to switch ON

Mains power supply is switched on, electronics are initialized, pulses are
inhibited.

Not ready to switch

ON

Bit 1

Ready to operate

Refer to control word 1, bit 0.

Not ready to operate 0

Bit 2

Operation enabled

Drive follows a reference frequency. This means that:

z The electronic and the power stages are enabled (Refer to control word
1, bit 3),
z The drive is in running state.

Operation disabled

Either the power stage is disabled or the drive does not follow the reference
frequency.

Error detected

An error has been detected. The drive error response depends on the type of
detected error. The Fault Reset function may only be successfully used if the
detected error cause has disappeared or has been removed. If the detected
error response has disabled the power stage, the drive goes into the
Switching On Inhibited operating state, otherwise the drive returns to
Operation operating state.

No error detected

Coast stop not

activated

Coast stop activated

Coast stop (OFF 2) command is present.

Quick stop not

activated

Quick stop activated

Quick Stop (OFF 3) command is present.

Switching inhibited

The drive is in Switching on inhibited operating state.

Switching not
inhibited

Warning present

Warning information present in the service/maintenance parameter;

acknowledgement required.

No warning

Speed feedback
within tolerance
range

Actual value is within a tolerance band; dynamic speed discrepancies are

permissible.

Speed feedback out

of tolerance range

Control requested

The automation system controls the drive.

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Bit 8

Bit 9

Bit 10

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No control requested 0

Control by the automation system is not possible, only possible at the device
level, by another interface or the drive is controlled from a supervisor (Master
class 2).

Reference frequency 1
reached or exceeded

Actual output frequency reference frequency which may be set via the
parameter number.

Reference frequency 0
not reached

Bit 11

Reserved

Bit 12

Reserved

Bit 13

Reserved

Bit 14

Reserved

Bit 15

Reserved

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Software Setup

Reference Frequency
Channel for Reference Frequency
The reference frequency, written in NSOLL_A is defined by the following formula:
Reference frequency in Hz = (NSOLL_A x [Max Frequency] (tFr)) /4000 HEX
Reference Frequency Range
The table lists the different values for the reference frequency and the correspondence for the drive:
Value

Reference Frequency Used by the Drive

0x0000

0x4000

100% of [Max Frequency] (tFr)

0xC000

100% of [Max Frequency] (tFr)

PROFIdrive / Acyclic Messaging

For more information, see PROFIdrive Parameters Channel (see page 20).

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Fieldbus Integration Tutorial

Section 4.3
Fieldbus Integration Tutorial

Fieldbus Integration Tutorial

Simple LAD Language FC (Controlling the Drive in CiA 402 Mode)
The following example shows a simple LAD language FC for controlling the drive in CiA402 mode

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Software Setup

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Software Setup

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Operation
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Operation

Chapter 5
Operation

What Is in This Chapter?

This chapter contains the following sections:
Section

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Topic

Page

5.1

Operating States

82

5.2

Operating Modes

83

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Operation
Operating States

Section 5.1
Operating States

Configuring Communication Error Response

Description
The response of the drive in the event of communication interruption can be configured. Configuration can
be performed using the display terminal from the [Complete settings] (CSt-), [Error/Warning
handling] (CSWM-) menu, [Communication Module] ( COMO-) submenu, via the [Fieldbus
Interrupt Resp] ( CLL) parameter.
The values of the [Fieldbus Interrupt Resp] ( CLL) parameter, which triggers a transition to the
operating state fault () are:
Value

Meaning

[Freewheel Stop] (YES)

Freewheel stop (factory setting)

[Ramp stop] (rMP)

Stop on ramp

[Fast stop] ( FSt)

Fast stop

[DC injection] ( dCI)

DC injection stop

The values of the () parameter, which does not trigger a transition to the operating state fault are:
Value

Meaning

[Ignore] (nO)

Detected error ignored

[Per STT] (Stt)

Stop according to configuration of [Type of stop] (Stt)

[Fallback Speed] (LFF)

Change to fallback speed, maintained as long as the detected error persists

and the run command has not been removed

[Speed maintained] (rLS)

The drive maintains the speed at the time the detected error occurred, as long
as the detected error persists, and the run command has not been removed

The fallback speed can be configured in the [Complete settings] (CSt-), [Error/Warning handling]
(CSWM-) menu, [Fallback speed] ( LFF-) submenu, using the [FallbackSpeed] (LFF) parameter.

WARNING
LOSS OF CONTROL
If this parameter is set to nO, fieldbus communication monitoring is disabled.
z Only use this setting after a thorough risk assessment in compliance with all regulations and standards
that apply to the device and to the application.
z Only use this setting for tests during commissioning.
z Verify that communication monitoring has been re-enabled before completing the commissioning
procedure and performing the final commissioning test.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Operation
Operating Modes

Section 5.2
Operating Modes

What Is in This Section?

This section contains the following topics:
Topic

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Page

Configuring the Control Channel

84

Configuration of the Drive for Operation in I/O Profile

85

Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode

86

Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode

87

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Operation

Configuring the Control Channel

Overview
This chapter explains how to configure the drive for operation from the communication network through
three following examples.
z I/O mode - a simple command word (based on forward, reverse, and reset binary commands).
z Combined mode (with native profile CiA 402) - Both reference value and command word come from the
communication network.
z Separate (with native profile CiA 402) - reference value and command word come from separate
sources: for example, the command word (in CiA 402) comes from the communication network and the
reference value from the HMI.

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Operation

Configuration of the Drive for Operation in I/O Profile

Description
For the I/O profile, here is a simple example, which can be extended with additional features. The
command word is made of run forward (bit 0 of CMd), run reverse (bit 1 of CMd), and the function fault
reset (bit 7 of CMd).

The settings are the following:

[Ref Freq 1 Config] (Fr1)

[HMI] (HMI)

[Control Mode] (CHCF)

[I/O profile] IO

[Command switching] (CCS)

Default

[Cmd channel 1] (Cd1)

[Com. Module] (nEt)

The bits of the command word can now be configured.

In the [Command and Reference] ( CrP-) menu configure:
[Reverse Assign] (rrS)

[CD01] (Cd01)

In the [Error/Warning handling] ( CSWM-) menu, [Fault reset] ( rSt-) submenu, configure:
[Fault Reset Assign] (rSF)

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[CD07] (Cd07)

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Operation

Configuration of the Drive for Operation with CiA 402 Profile in Combined Mode
Description
This section describes how to configure the settings of the drive if it is controlled in CiA 402 mode. The
example focuses on the not separate mode. Additional modes are detailed in the drive programming
manual.
In the [Complete settings] (CSt-) menu, [Command and Reference] (CrP-) submenu:
z [Ref Freq 1 Config] (Fr1): is set on according to the communication source you can choose in the
following table:
Origin of the Control

Ref1 Channel Setting

PROFIBUS DP

[Ref. Freq-Com. Module] (nEt)

z
z

[Freq Switch Assign] (rFC) is set to default value ([Ref Freq 1 Config] (Fr1)).
[Control Mode] (CHCF): defines if the drive operates in combined mode (reference and command
from the same channel).

For the current example, [Control Mode] (CHCF) is adjusted to [Not separ.] (SIM) as reference and
control are originated from the communication network:

86

Profile

Ref1 Channel setting

CiA 402 combined mode

[Not separ.] (SIM)

CiA 402 separate mode

[Separate] (SEp)

I/O profile

[I/O profile] (IO)

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Operation

Configuration of the Drive for Operation with CiA 402 Profile in Separate Mode
Description
Alternate combinations are possible, see the drive programming manual for the list of possible settings.
For example:

The drive is controlled from the fieldbus (PROFIBUS DP) but the reference value is adjusted on the
controller terminal. The control word comes from the controller and is written according to CiA 402 profile.
The settings are as shown in the table:

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[Ref Freq 1 Config] (Fr1)

[AI1] (AI1)

[Control Mode] (CHCF)

[Separate] (SEp)

[Cmd channel 1] (Cd1)

[Com. Module] (nEt)

[Freq Switch Assign] (rFC)

Factory setting

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Operation

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Diagnostic and Troubleshooting
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Diagnostic and Troubleshooting

Chapter 6
Diagnostic and Troubleshooting

What Is in This Chapter?

This chapter contains the following topics:
Topic

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Page

Fieldbus Status LEDs

90

Connection for Fieldbus Mode

91

Fieldbus Function Test

92

Communication Interruption

93

Monitoring of Communication Channel

95

Control-Signal Diagnostics

97

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Diagnostic and Troubleshooting

Fieldbus Status LEDs

LED Indicators
The following figure describes the LEDs status module:

LED Description
Item

LED

Description

RUN

Module status

BF

Network Error status

Module Status
This LED indicates the module status:
Color & Status

Description

OFF

The device is powered off

Green ON

Fieldbus communication active

Network Error Status

Color & Status

90

Description

OFF

The device does not have a slave address or is powered off

Red ON

Fieldbus error is detected

Red flashing

Incorrect configuration

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Diagnostic and Troubleshooting

Connection for Fieldbus Mode

Description
If the product cannot be addressed via the fieldbus, first check the connections. The product manual
contains the technical data of the device and information on network and device installation. Check the
following:
z Power connections to the device
z Fieldbus cable and fieldbus wiring
z Network connection to the device

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Diagnostic and Troubleshooting

Fieldbus Function Test

Description
If the connections are correct, check the settings for the fieldbus addresses. After correct configuration of
the transmission data, test the fieldbus mode.
In addition to the controller that knows the device via the data in the GSD file and its address, a bus monitor
should be installed. As a passive device, it can display messages.
z Switch off or on the supply voltage of the drive system.
z Observe the network messages shortly after switching on the drive system. A bus monitor can be used
to record the elapsed time between telegrams and the relevant information in the telegram.
Possible Errors: Addressing, Parameterization, Configuration
If it is impossible to connect to a device, check the following:
z Addressing: The address of the network device must be between 2 to 126. Each network device must
have a unique address.
z Parameterization: The parameterized ident number and the user parameters must match the values
stored in the GSD file.
z Configuration: The data length in input and output direction must be identical to the length specified in
the GSD file.

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Communication Interruption
Description
The drive triggers an error [Internal Link Error] (ILF) when the following events occur:
z Hardware error is detected on the PROFIBUS DP module
z Communication interruption between the PROFIBUS DP module and the drive
The response of the drive in the event of an [Internal Link Error] (ILF) error cannot be configured, and
the drive stops in freewheel. This detected error requires a power reset.
The diagnostic parameter can be used to obtain more detailed information about the origin of the [Internal
Link Error] (ILF) ([InterCom Error1] (ILF1) if the detected error has occurred on fieldbus module in
slot A).
The [InterCom Error1] (ILF1) parameter can be accessed on the graphic display terminal in the
[Communication map] (CMM-) menu, [PROFIBUS DIAG] (pRb-) submenu.
Value

Description of the values of the [InterCom Error1] (ILF1) parameter

No error detected

Internal communication interruption with the drive

Hardware error detected

Error found in the EEPROM checksum

EEPROM

Flash memory

RAM memory

NVRAM memory

101

Unknown module

102

Communication interruption on the drive internal bus

103

Time out on the drive internal bus (500 ms)

Diagnostic (PROFIBUS DP Service)

PROFIBUS DP diagnostic is associated with specific data which can be helpful during maintenance:
z The error code, if a detected error is present,
z The value of ETA operating state word,
z The value of the output frequency.
This data report and gives an indication on the drive status when the diagnostic event was triggered
Byte

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Description

1...6

Reserved

Ext_Diag_Data

External diagnostic data length = 6

IF ETA.bit 3 = 1: ADL LFT LSB

Otherwise: 0

ADL ETA LSB

10

ADL ETA MSB

11

LSB of the last value of the output speed

12

MSB of the last value of the output speed

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Diagnostic and Troubleshooting

Enabling Diagnostics
By default, extended diagnostics are disabled. They can be activated during the configuration phase as
shown below:

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Monitoring of Communication Channel

Channel for Command and Reference Value
All the drive commands and reference value parameters are managed on a channel-by-channel basis.
Parameter Name

Parameter Code
Taken Into Account Modbus
by the Drive
Serial

CANopen

Fieldbus Module Ethernet

Embedded

Control word

( CMd)

( CMd1)

( CMd2)

( CMd3)

( CMd5)

Extended control
word

( CMI)

( CMI1)

( CMI2)

( CMI3)

( CMI5)

Reference speed
(rpm)

( LFd)

( LFd1)

( LFd2)

( LFd3)

( LFd5)

Reference frequency
(0.1 Hz)

( LFr)

( LFr1)

( LFr2)

( LFr3)

( LFr5)

Reference value for

torque control mode
(0.1% of the nominal

( LTR)

( LTR1)

( LTR2)

( LTR3)

( LTR5)

Reference value
supplied by PI
controller

( PISP)

( PIr1)

( PIr2)

( PIr3)

( PIr5)

Reference value
supplied by analog
multiplier function

( MFr)

( MFr1)

( MFr2)

( MFr3)

( MFr5)

torque)(1)

(1):

If available

Network Monitoring Criteria

The table provides the details of the detected errors
Protocol

Criteria

PROFIBUS module

External error from the fieldbus module [Fieldbus Error] ( EPF2)

0:No error detected

Error Code
[Fieldbus Com Interrupt] ( CnF)

1: Network timeout for received

requests destined for the drive
2: Identification error between the
module and the master
3: Master in clear mode
4: Master class 2 timeout
EEPROM detected error

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[Internal Link Error] ( ILF)

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Diagnostic and Troubleshooting

Monitoring of Communication Channels

Communication channels are monitored if they are involved in one of the following parameters:
z The control word ([Cmd Register] ( CMd) ) from the active command channel
z The control word containing the command switch (bit configured on [Cmd switching] ( CCS) )
z The control word containing the switch for reference value 11B (bit configured on [Ref 1B switching]
( rCb) )
z The control word containing the switch for reference value 12 (bit configured on [Freq Switch Assign]
( rFC) )
z The reference frequency or reference speed ([Ref Frequency] ( LFr) or LFRD: Nominal speed
value) from the active channel for reference value
z Summing reference frequency or reference speed ([Ref Frequency] ( LFr) or LFRD: Nominal speed
value) 2 (assigned to [Summing Input 2] ( SA2) )
z Summing reference frequency or reference speed ([Ref Frequency] ( LFr) or LFRD: Nominal speed
value) 3 (assigned to [Summing Input 3] ( SA3) )
z Subtracting reference frequency or reference speed ([Ref Frequency] ( LFr) or LFRD: Nominal
speed value) 2 (assigned to [Subtract Ref Freq 2] ( dA2) )
z Subtracting reference frequency or reference speed ([Ref Frequency] ( LFr) or LFRD: Nominal
speed value) 3 (assigned to [Subtract Ref Freq 3] ( dA3) )
z The reference value given by the PID controller (PISP)
z The PID controller feedback ([AI Virtual 1] ( AIU1) )
z The multiplication coefficient of the reference values ([Multiplying coeff.] ( MFr) ) 2 (assigned to [Ref
Freq 2 Multiply] ( MA2) )
z The multiplication coefficient of the reference values ([Multiplying coeff.] ( MFr) ) 3 (assigned to [Ref
Freq 3 Multiply] ( MA3) )
As soon as one of these parameters has been written once to a communication channel, it activates
monitoring for that channel.
If a communication warning is sent (in accordance with the protocol criteria) by a monitored port or fieldbus
module, the drive triggers a communication interruption.
The drive reacts according to the communication interruption configuration (operating state Fault,
maintenance, fallback, and so on)
If a communication warning occurs on a channel that is not being monitored, the drive does not trigger a
communication interruption.
Enabling of Communication Channels
A communication channel is enabled once all the parameters involved have been written at least one
time.The drive is only able to start if all channels involved in command and reference value are enabled.
For example:
A drive in DSP402 profile is connected to an active communication channel.
It is mandatory to write at least 1 time the reference value and the command in order to switch from 4Switched on to 5-Operation enabled state.
A communication channel is disabled:
z In the event of a communication warning.
z In forced local mode.
NOTE: On exiting forced local mode:
z
z
z

96

The drive copies the run commands, the direction, and the forced local reference value to the active
channel (maintained).
Monitoring of the active command and reference value channels resumes following a time delay [Timeout forc. local] ( FLOt) .
Drive control only takes effect once the drive has received the reference value and the command from
the active channel.

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Control-Signal Diagnostics
Introduction
On the display terminal, the [Display] ( MON-) , [Communication map] ( CMM-) submenu can be
used to display control-signal diagnostic information between the drive and the controller:
z Active command channel [Command Channel] ( CMdC)
z Value of the control word [Cmd Register] ( CMd) from the active command channel [Command
Channel] ( CMdC)
z Active reference frequency channel [Ref Freq Channel] ( rFCC)
z Value of the reference frequency [Pre-Ramp Ref Freq] ( FrH) from the active target channel [Ref
Freq Channel] ( rFCC)
z Value of the operating state word [CIA402 State Reg] ( EtA)
z Specific data for all available fieldbus are in dedicated submenus.
z In the [Command word image] ( CWI-) submenu: control words from all channels
z In the [Freq. ref. word map] ( rWI-) submenu: reference frequency values produced by all channels
Control Word Display
The [Command Channel] ( CMdC) parameter indicates the active command channel.
The [Cmd Register] ( CMd) parameter indicates the hexadecimal value of the control word (CMD) used
to control the drive.
The [Command word image] ( CWI-) submenu ([COM. Module cmd.] ( CMd3) ) parameter is used
to display the hexadecimal value of the control word from the fieldbus module.
Reference Frequency Display
The [Ref Freq Channel] ( rFCC) parameter indicates the active channel for reference frequency.
The [Ref Frequency] ( LFr) parameter indicates the value (in 0.1 Hz units) of the reference frequency
used to control the drive.
The [Freq. ref. word map] ( rWI-) submenu ([Com Module Ref Freq] ( LFr3) parameter is used
to display the value (in 0.1 Hz units) of the reference frequency from the fieldbus.
Operating State Word Display
The [CIA402 State Reg] ( EtA) parameter gives the value of the operating state word (ETA).
The table provides the bit details of ETA parameter:

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Bit

Description

DRIVECOM

Status word

Bit0 = 1

Ready to switch on

Bit1 = 1

Switched on

Bit2 = 1

Operation enabled

Bit3 = 1

Operating state fault

Bit4 = 1

Power stage is switched on

Bit5 = 0

Quick stop

Bit6 = 1

Switch on disabled

Bit7 = 1

Warning

Bit8 = 1

Drivecom reserved

Bit9 = 0

Forced local mode in progress

Bit10 = 1

Reference value reached (steady state)

Bit11 = 1

Reference value exceeded (< LSP or > HSP)

Bit12

Reserved

Bit13

Reserved

Bit14 = 1

Stop imposed via STOP key

Bit15 = 0

Motor rotation in forward direction (or stopped)

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Glossary
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Glossary
A
Abbreviations
Req. = Required
Opt. = Optional

D
Display terminal
The display terminal menus are shown in square brackets.
For example: [Communication]
The codes are shown in round brackets.
For example: (COM-)
Parameter names are displayed on the display terminal in square brackets.
For example: [Fallback Speed]
Parameter codes are displayed in round brackets.
For example: (LFF)
DP
Decentralized Periphery

E
Error
Discrepancy between a detected (computed, measured, or signaled) value or condition and the specified
or theoretically correct value or condition.

F
Factory setting
Factory settings when the product is shipped
Fault
Fault is an operating state. If the monitoring functions detect an error, a transition to this operating state is
triggered, depending on the error class. A "Fault reset" is required to exit this operating state after the
cause of the detected error has been removed. Further information can be found in the pertinent standards
such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).
Fault Reset
A function used to restore the drive to an operational state after a detected error is cleared by removing
the cause of the error so that the error is no longer active.

M
Monitoring function
Monitoring functions acquire a value continuously or cyclically (for example, by measuring) in order to
check whether it is within permissible limits. Monitoring functions are used for error detection.
MS0, MS1
Number of a master in the network.

P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.

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Glossary

PELV
Protective Extra Low Voltage, low voltage with isolation. For more information: IEC 60364-4-41
PLC
Programmable logic controller
PNO
PROFIBUS Nutzerorganisation e.V. (PROFIBUS User organization).
Power stage
The power stage controls the motor. The power stage generates current for controlling the motor.

Q
Quick Stop
The quick Stop function can be used for fast deceleration of a movement as a response to a detected error
or via a command.

W
Warning
If the term is used outside the context of safety instructions, a warning alerts to a potential problem that
was detected by a monitoring function. A warning does not cause a transition of the operating state.

Z
Zone of operation
This term is used in conjunction with the description of specific hazards, and is defined as it is for a hazard
zone or danger zone in the EC Machinery Directive (2006/42/EC) and in ISO 12100-1.

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08/2015