Atv71 Communication Parameters en v4

Altivar 71
Users manual
Communication parameters
Retain for future use
Software V1.6
Contents
Contents ____________________________________________________________________________________________________ 3
Document structure and directions for use __________________________________________________________________________ 5
Presentation _________________________________________________________________________________________________ 7
Software enhancements ________________________________________________________________________________________ 9
Enhancements made to version V1.2 in comparison to V1.1 _____________________________________________________ 9
Enhancements made to version V1.6 in comparison to V1.2 ____________________________________________________ 10
Notations___________________________________________________________________________________________________ 11
Description of parameters _______________________________________________________________________________ 11
Drive terminal displays __________________________________________________________________________________ 11
Profiles ____________________________________________________________________________________________________ 12
What is a profile? ______________________________________________________________________________________ 12
Functional profiles supported by the Altivar 71 _______________________________________________________________ 13
I/O profile __________________________________________________________________________________________________ 14
Definition ____________________________________________________________________________________________ 14
Control word - run on state [2 wire] (2C) ____________________________________________________________________ 16
Control word - run on edge [3 wire] (3C) ___________________________________________________________________ 17
Status word (ETA) _____________________________________________________________________________________ 18
Example: I/O profile with positioning by sensors function _______________________________________________________ 19
CiA402 profile _______________________________________________________________________________________________ 21
Functional description __________________________________________________________________________________ 21
CiA402 state chart _____________________________________________________________________________________ 22
Description of states ___________________________________________________________________________________ 23
Control word (CMD) ____________________________________________________________________________________ 25
Status word (ETA) _____________________________________________________________________________________ 27
Starting sequence _____________________________________________________________________________________ 28
Sequence for a drive powered by the power section line supply __________________________________________________ 29
Sequence for a drive with separate control section ____________________________________________________________ 31
Sequence for a drive with line contactor control ______________________________________________________________ 34
Command/reference switching __________________________________________________________________________________ 37
Channels ____________________________________________________________________________________________ 37
Not separate mode ____________________________________________________________________________________ 38
Separate mode _______________________________________________________________________________________ 38
Switching in not separate mode ___________________________________________________________________________ 39
Switching in separate mode ______________________________________________________________________________ 39
Channel switching _____________________________________________________________________________________ 40
Reference switching principle ____________________________________________________________________________ 42
Command switching principle ____________________________________________________________________________ 43
Assigning control word bits ______________________________________________________________________________ 44
Example: I/O profile with positioning by sensors function _______________________________________________________ 47
Copy on switching _____________________________________________________________________________________ 49
Forced local ________________________________________________________________________________________________ 50
Definition ____________________________________________________________________________________________ 50
Forced local mode and reference switching _________________________________________________________________ 51
Forced local mode and command switching _________________________________________________________________ 52
Priority stops ________________________________________________________________________________________________ 54
Priority stops on the graphic display terminal ________________________________________________________________ 54
Priority stops via the terminals or the network ________________________________________________________________ 54
Communication monitoring _____________________________________________________________________________________ 56
Principle _____________________________________________________________________________________________ 56
Network monitoring criteria ______________________________________________________________________________ 56
Behavior in the event of a network fault _____________________________________________________________________ 57
Detailed operation _____________________________________________________________________________________ 58
Assignment of setpoints from a network___________________________________________________________________________ 60
Setpoint parameters ___________________________________________________________________________________ 60
Without PID regulator __________________________________________________________________________________ 61
With PID regulator _____________________________________________________________________________________ 62
Configuration saving and switching ______________________________________________________________________________ 63
Saving the configuration ________________________________________________________________________________ 63
Restore configuration ___________________________________________________________________________________ 65
Configuration switching via control word ____________________________________________________________________ 66
Configuration switching by selection _______________________________________________________________________ 70
Parameter set switching _______________________________________________________________________________________ 72
Loading drive parameters ______________________________________________________________________________________ 77
Requirement _________________________________________________________________________________________ 77
Procedure ___________________________________________________________________________________________ 77
Command parameters ________________________________________________________________________________________ 79
Setpoint parameters __________________________________________________________________________________________ 82
Status parameters ___________________________________________________________________________________________ 84
3
Sommaire
Output value parameters ______________________________________________________________________________________ 92

Output values (speed) __________________________________________________________________________________ 92
Output values (torque) __________________________________________________________________________________ 93
Output values (motor) __________________________________________________________________________________ 94
Reference parameters ________________________________________________________________________________________ 96
References (speed) ____________________________________________________________________________________ 96
References (torque) ____________________________________________________________________________________ 97
Reference (regulator) ___________________________________________________________________________________ 98
Measurement parameters______________________________________________________________________________________ 99
Input measurements ___________________________________________________________________________________ 99
Thermal states ________________________________________________________________________________________ 99
Time _______________________________________________________________________________________________ 100
I/O parameters _____________________________________________________________________________________________ 102
Logic I/O ___________________________________________________________________________________________ 102
Analog inputs ________________________________________________________________________________________ 103
Analog outputs _______________________________________________________________________________________ 104
Encoder ____________________________________________________________________________________________ 105
Fault parameters____________________________________________________________________________________________ 106
Log parameters_____________________________________________________________________________________________ 113
Log of the following faults ______________________________________________________________________________ 117
Identification parameters _____________________________________________________________________________________ 121
CiA402 standard configuration and adjustment parameters___________________________________________________________ 124
ODVA standard configuration and adjustment parameters ___________________________________________________________ 128
Index of parameter codes _____________________________________________________________________________________ 130
4
Document structure and directions for use
Installation Manual
This manual describes:
Assembly
How to connect the drive
Programming Manual
Functions
Parameters
How to use the drive's display terminal (integrated display terminal and graphic display terminal)
Communication Parameters Manual

The operating modes specific to communication (state chart)
The interaction between communication and local control
The control, reference and monitoring parameters, with specific information for use via a bus or communication network
It does not include the drive adjustment and configuration parameters, which are contained in the Excel file supplied as an
appendix to this manual.
All the parameters are grouped together in an Excel file supplied as an appendix, with the following data:
- Code
- Name
- Addresses: logic, CANopen, INTERBUS, Device Net
- Category
- Read/write access
- Type: signed numerical, unsigned numerical, etc.
- Unit
- Factory setting
- Minimum value
- Maximum value
- Display on the graphic display terminal and the 7-segment integrated display terminal
- Relevant menu
This file offers the option of sorting and arranging the data according to any criterion chosen by the user.
Data relating to operation, interdependences and limits of use are described in the Programming Manual.
The various documents are to be used as follows:
1. For information about the drive and its programming, refer to the Programming Manual.
2. For information about communication and its programming, refer to the Parameters Manual.
3. Use the Parameters file to define any addresses and values of the adjustment and configuration parameters to be modified through
communication.
The section entitled "Loading drive parameters" on page 77 describes the recommended procedure for loading parameters
through communication.
Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO, Modbus Plus and Device Net
manuals
These manuals describe:
Assembly
Connection to the bus or network
Diagnostics
Configuration of the communication-specific parameters via the integrated display terminal or graphic display terminal
They describe the protocol communication services in detail.
"Controller Inside" Manual

This manual describes, for the "Controller Inside" card:
Assembly
Connection
Functions
Configuration
5
Documentation structure
Altivar 58/58F Migration Manual

This manual describes the differences between the Altivar 71 and the Altivar 58/58F.
It explains how to replace an Altivar 58 or 58F, including how to replace drives communicating on a bus or network.
Note: This Parameters Manual describes the parameters of the Altivar 71 profiles.
It does not describe the Altivar 58/58F compatibility parameters (SE8 profile).
These are detailed in the Altivar 58/58F Communication Variables Manual and the Migration Manual.
Altivar 78 Migration Manual

This manual describes the differences between the Altivar 71 and the Altivar 78.
It explains how to replace an Altivar 78.
6
Presentation
Magelis XBT Premium

The Altivar 71 drive has been designed to meet all the configuration requirements
encountered within the context of industrial communication installations.
It includes Modbus and CANopen communication protocols as standard.
Two integrated communication ports enable direct access to the Modbus protocol:
FTM FTM One RJ45 Modbus connector port 2 , located on the drive front panel,
which is used to connect:
The remote graphic display terminal
ATV 31
A Magelis industrial HMI terminal
ATV 71 The PowerSuite software workshop
One RJ45 Modbus network port 1 , located on the drives control terminals,
Sensors Sensors
which is dedicated to control and signaling by a PLC or other type of controller.
Example of configuration on the CANopen bus It can also be used to connect a display terminal or the PowerSuite software
workshop.
The CANopen protocol can be accessed from the Modbus network port via the
CANopen adapter 3 (1).
The Altivar 71 can also be connected to other networks and industrial communication
buses by using one of the communication option cards:
Ethernet TCP/IP
Modbus/Uni-Telway. This card provides access to additional functions, which
complement those of the integrated ports: Modbus ASCII and 4-wire RS 485
Fipio
Modbus Plus
Profibus DP
DeviceNet
INTERBUS
etc. (Please refer to the catalog)
The control section can be powered separately, thus allowing communication

(monitoring, diagnostics) to be maintained even if the power supply section fails.
2
The main communication functions of Altivar 58 and Altivar 58F drives are compatible
1 with the Altivar 71 (2):
- Connection
3 - Communication services
- Drive behavior (profile)
- Control and monitoring parameters
- Basic adjustment parameters
The PowerSuite software workshop supports the transfer of configurations from

Altivar 58 and Altivar 58F drives to the Altivar 71.
(1) If the CANopen adapter is installed, Modbus will not be available on the network port 1 .
(2) Please refer to the ATV 58(F)/ATV 71 Migration Manual supplied on the documentation CD-ROM.
7
Presentation
All the drive functions are accessible via the network:

Control
Monitoring
Adjustment
Configuration
If the "Controller Inside" programmable card is installed on the drive, its variables (%MW, etc.) can be accessed via the integrated Modbus
ports or the Ethernet option card.
The speed/torque command and reference can come from different sources:
The I/O terminals
The communication network
The "Controller Inside" programmable card
The remote graphic display terminal
The PowerSuite software workshop (for commissioning and maintenance)
The Altivar 71 drive's advanced functions can be used to manage switching of these command and reference sources according to
application requirements.
The periodic communication variables can be selected via:

The network configuration software (Sycon, etc.): CANopen, DeviceNet
The Altivar 71s communication scanner function: Profibus DP, Fipio, Modbus Plus
The network's IO Scanner function: Ethernet TCP/IP
With the exception of DeviceNet, regardless of network type, the Altivar 71 can be controlled:
In accordance with the Drivecom profile (CANopen CiA DSP 402)
In accordance with the I/O profile, whereby control is as straightforward and flexible as control via the I/O terminals
The DeviceNet card supports the ODVA standard profile.
Communication is monitored according to criteria specific to each protocol. Regardless of protocol type, the reaction of the drive to a
communication fault can be configured:
Drive fault involving: Freewheel stop, stop on ramp, fast stop or braked stop
Stop without drive fault
Maintain the last command received
Fallback position at a predefined speed
Ignore the fault
A command from the CANopen bus is handled with the same priority as an input from the drive terminals. This enables very good response
times to be achieved on the network port via the CANopen adapter.
8
Software enhancements
Since the Altivar ATV 71 was first launched, it has benefited from the addition of several new functions. Software version has now been
updated to V1.6. The new version can be substituted to the previous versions without making any changes.
Although this documentation relates to version V1.6, it can still be used with previous versions, as the updates merely involves the addition
of new values and parameters. None of the previous versions parameters have been modified or removed.
The software version is indicated on the nameplate attached to the body of the drive.
Enhancements made to version V1.2 in comparison to V1.1

Factory setting
Note 1: In version V1.1, the analog input was 0 10 V. For safety reasons, this input is configured as 0 + 10 V in the new version.
Note 2: In version V1.1, the analog output AO1 was assigned to the motor frequency. In the new version, this output is not
assigned.
Except for these two parameters, the factory setting of version V1.1 is retained in the new version. The new functions are inactive in the
factory setting.
Motor frequency range

The maximum output frequency range is extended from 1000 to 1600 Hz (depending on rating and selected control profile).
New parameters and functions
[1.2 MONITORING] (SUP-) menu

Addition of states and internal values relating to the new functions described below.
[1.3 SETTINGS] (SEt-) menu

[High torque thd.] (ttH)
[Low torque thd.] (ttL)
[Pulse warning thd.] (FqL)
[Freewheel stop Thd] (FFt)
[1.4 MOTOR CONTROL] (drC-) menu

[rpm increment] (InSP)
Extension to all drive ratings of the following configurations, formerly limited to 45 kW for ATV71pppM3X and 75 kW for ATV71pppN4:
synchronous motor [Sync. mot.] (SYn), sinus filter [Sinus filter] (OFI), noise reduction [Noise reduction] (nrd), braking balance [Braking
balance] (bbA).
[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

Input AI1 becomes configurable as 0 + 10 V or 0 10 V using [AI1 Type] (AI1t).
[AI net. channel] (AIC1)
New options for assigning relays and logic outputs: rope slack, torque greater than high threshold, torque less than low threshold,
motor rotating in forward direction, motor rotating in reverse, measured speed threshold attained, and load variation detection.
Analog output AO1 becomes usable as a logic output and can be assigned to the relay and logic output functions.
New option of modifying the scaling of the analog outputs using the parameters [Scaling AOx min] (ASLx) and [Scaling AOx max]
(ASHx).
New options for assigning analog outputs: signed motor torque and measured motor speed.
New options for assigning alarm groups: rope slack, torque greater than high threshold, torque less than low threshold, measured
speed threshold attained, and load variation detection.
9
Software enhancements
[1.7 APPLICATION FUNCT.] (Fun-) menu

The summing, subtraction and multiplier reference functions become assignable to the network analog input [Network AI] (AIU1)
New parameter [Freewheel stop Thd] (FFt) used to adjust a threshold for switching to freewheel at the end of a stop on ramp or fast stop.
New parameter: Brake engage at controlled zero speed [Brake engage at 0] (bECd).
The weight sensor [Weight sensor ass.] (PES) becomes assignable to the network analog input [Network AI] (AIU1).
New "rope slack" function, with the parameters [Rope slack config.] (rSd) and [Rope slack trq level] (rStL).
Use of the ramp [Acceleration 2] (AC2) during PID function starts and wake-ups.
Torque limitation [TORQUE LIMITATION] (tOL-) becomes configurable as a % or 0.1% using [Torque increment] (IntP) and can be
assigned to the network analog input [Network AI] (AIU1).
New "stop at calculated distance after end of slowdown travel" function, with the parameters [Stop distance] (Std), [Rated linear
speed] (nLS) and [Stop corrector] (SFd).
Positioning by sensor or limit switch [POSITIONING BY SENSORS] (LPO-) becomes configurable as positive or negative logic using
[Stop limit config.] (SAL) and [Slowdown limit cfg.] (dAL).
Parameter switching [PARAM.] (MLP-) becomes assignable to attained frequency thresholds [Freq. Th. attain.] (FtA) and
[Freq. Th. 2 attain.] (F2A).
New half floor function: [HALF FLOOR] (HFF-) menu.
[1.8 FAULT MANAGEMENT] (FLt-) menu

Option of reinitializing the drive without switching it off, using [Product reset] (rP).
Option of reinitializing the drive using a logic input without switching it off, using [Product reset assig.] (rPA).
Option of configuring the "output phase loss" fault [Output Phase Loss] (OPL) to [Output cut] (OAC) is extended to all drive ratings
(formerly limited to 45 kW for ATV71pppM3X and 75 kW for ATV71pppN4).
The external fault [EXTERNAL FAULT] (EtF-) becomes configurable as positive or negative logic using [External fault config] (LEt).
New monitoring function by speed measurement via the "Pulse input", using the [FREQUENCY METER] (FqF-) menu.
New load variation detection function, using the [DYNAMIC LOAD DETECT.] (dLd-) menu.
The braking unit short-circuit fault becomes configurable using [Brake res. fault Mgt] bUb).
[7 DISPLAY CONFIG.] menu

Addition in [7.4 TERMINAL ADJUSTMENT] of the [CONTRAST] and [STANDBY] parameters for adjusting the contrast of the graphic
display unit and setting it to standby.
Enhancements made to version V1.6 in comparison to V1.2

Extension of the range with addition of the drives ATV71pppY for network 500 to 690 V.
There are no new parameters, but the ranges of adjustment and factory settings of some parameters are adapted to the new voltage.
[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

Increase in adjustment range of delay parameters for relays and logic outputs : 0 to 60000 ms instead of 0 to 9999 ms.
10
Notations
Description of parameters
Identification
A parameter is defined by means of various character strings:
Code: 4 characters max. The code makes it possible to identify the parameter on the integrated 7-segment display terminal (Examples:
brt, tLIG)
Name: Description in plain text (used by the PowerSuite software workshop)
Terminal name: Character string in square brackets for the graphic display terminal [Gen. torque lim]
Addresses
There are 4 formats for specifying parameter addresses:
Logic address: Address for the Modbus messaging (RS485 and Ethernet TCI/IP) and the PKW indexed periodic variables (Fipio,
Profibus DP), in decimal and hexadecimal (preceded by 16#).
To optimize Modbus messaging performance, two addresses are given for the control word and the status word. The addresses
annotated "speed" are for use in rpm; the addresses annotated "frequency" are for use in Hz.
CANopen index: CANopen index/subindex in hexadecimal format, to be used for variable assignment of PDOs and SDO messaging
INTERBUS index: Index/subindex in hexadecimal for PCP messaging
DeviceNet path: Class/instance/attribute in hexadecimal
Read/write
R: Read only
R/W: Read and write
R/WS: Read and write, but write only possible when motor is at standstill
Type
WORD (bit register): Word where each bit represents an item of command, monitoring or configuration information
WORD (listing): Word where each value represents a possible choice for a configuration or state
INT: Signed integer
UINT: Unsigned integer
DINT: Signed double integer
UDINT: Unsigned double integer
Format
Hexadecimal values are written as follows: 16#pppp
Drive terminal displays

The menus that appear on the graphic display terminal are shown in square brackets.
Example: [1.9 COMMUNICATION].
The menus that appear on the integrated 7-segment display terminal always end with a dash and appear between round brackets.
Example: (COM-).
Parameter names are displayed on the remote graphic display terminal in square brackets.
Example: [Fallback speed].
The parameter codes displayed on the integrated 7-segment display terminal are shown in round brackets.
Example: (LFF).
11
Profiles
What is a profile?
There are three types of profile:
Communication profiles
Functional profiles
Application profiles
Communication profiles
A communication profile describes the characteristics of the bus or network:
Cables
Connectors
Electrical characteristics
Access protocol
Addressing system
Periodic exchange service
Messaging service
...
A communication profile is unique to a type of network (Fipio, Profibus DP, etc.) and is used by various different types of device.
Functional profiles
A functional profile describes the behavior of a type of device. It defines:
Functions
Parameters (name, format, unit, type, etc.)
Periodic I/O variables
State chart(s)
...
A functional profile is common to all members of a device family (variable speed drives, encoders, I/O modules, displays, etc.).
Ideally, functional profiles should be network-independent, but in reality they are not. They can feature common or similar parts. The
standardized (IEC 61800-7) functional profiles of variable speed drives are:
CiA402
PROFIDRIVE
CIP
DRIVECOM has been available since 1991.

CiA402 "Device profile for drives and motion control" represents the next stage of this standards development and is maintained by
Can In Automation.
Some protocols also support the ODVA (Open DeviceNet Vendor Association) profile.
Application profiles
Application profiles define in their entirety 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 network.
Although this aim is not always achieved, the profiles facilitate free competition.
12
Profiles
Functional profiles supported by the Altivar 71

I/O profile
Using the I/O profile simplifies PLC programming.
When controlling via the terminals or the display terminal, the I/O profile is used without knowing it.
With an Altivar 71, the I/O profile can also be used when controlling via a network.
The drive starts up as soon as the run command is sent.

The 16 bits of the control word can be assigned to a function or a terminal input.
This profile can be developed for simultaneous control of the drive via:
The terminals
The Modbus control word
The CANopen control word
The network card control word
The "Controller Inside" control word
The I/O profile is supported by the drive itself and therefore in turn by all the communication ports (integrated Modbus, CANopen and the
Ethernet, Fipio, ModbusPlus, Modbus, Uni-Telway, Profibus DP, DeviceNet, and INTERBUS communication cards).
CiA402 profile
The drive only starts up following a command sequence.
The control word is standardized.
5 bits of the control word (bits 11 to 15) can be assigned to a function or a terminal input.
The CiA402 profile is supported by the drive itself and therefore in turn by all the communication ports (integrated Modbus, CANopen and
the Ethernet, Fipio, ModbusPlus, Modbus, Uni-Telway, Profibus DP, DeviceNet, and INTERBUS communication cards).
The Altivar 71 supports the CiA402 profiles "Velocity mode".
In the CiA402 profile, there are two modes that are specific to the Altivar 71 and characterize command and reference management (see
section Command/reference switching, page 37):
Separate mode [Separate] (SEP)
Not separate mode [Not separ.] (SIM)
ODVA profile
The drive starts up as soon as the run command is sent.
The control word is standardized.
The ODVA profile is supported by the DeviceNet communication card.
13
I/O profile
Definition
The behavior of the drive is identical whether via the network or via the terminals.
The I/O profile is achieved via the following configuration:
Menu Parameter Value

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [I/O profile] (IO)
As well as to logic inputs of the terminals, drive functions can be assigned to control word bits.
A function input can be assigned to:
A terminal input (LI2 to LI14)
A Modbus control word bit (C101 to C115)
A CANopen control word bit (C201 to C215)
A network card control word bit (C301 to C315)
A Controller Inside control word bit (C401 to C415)
A switched bit (Cd00 to Cd15): See "Command/reference switching" section.
Schematic diagrams:
Fixed assignment on CANopen:
CANopen control word
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Function
C201 A
C202 B
Fixed assignment to terminals and on CANopen: :

bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Function
C201 A
C202 B
LI2 C
Terminals
LI14
LI13
LI12
LI11
LI10
LI9
LI8
LI7
LI6
LI5
LI4
LI3
LI2
LI1
14
bit 15 bit 15 bit 15
bit 14 bit 14 bit 14
LI14 bit 13 bit 13 LI14 bit 13
I/O profile


Terminals
Terminals

"Controller Inside" control word

Fixed assignment to terminals and on CANopen with command switching :

Fixed assignment to terminals, on CANopen and on "Controller Inside" card:
Terminals
CANopen
CCS
LI2
switching
Command
LI5
LI2
C202
C401
C201
C201
Cd02
C
B
A
C
B
A
Stop
Function
Fast stop
Function
15
I/O profile
Control word - run on state [2 wire] (2C)

Please refer to the [1.5 INPUTS / OUTPUTS CFG] (I-O-) section of the Programming Manual.
The forward run command is automatically assigned to input LI1 and to bit 0 of the various control words.
This assignment cannot be modified.
The run command is active on state 1:
Of input LI1, if the terminals are active
Of bit 0 of the control word, if the network is active
Bits 1 to 15 of the control words can be assigned to drive functions.
bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Configurable Configurable Configurable Configurable Configurable Configurable Configurable Forward

Configurable Configurable Configurable Configurable Configurable Configurable Configurable Configurable
In the case of a [2 wire] (2C) run on state command and I/O profile, fixed assignment of a function input is possible using the following
codes:
Fixed assignments
Bit Extended I/O "Controller Inside"
Drive terminals Logic I/O card Modbus CANopen Network card
card card
bit 0 Forward
bit 1 LI2 - - C101 C201 C301 C401
bit 2 LI3 - - C102 C202 C302 C402
bit 3 LI4 - - C103 C203 C303 C403
bit 4 LI5 - - C104 C204 C304 C404
bit 5 LI6 - - C105 C205 C305 C405
bit 6 - LI7 - C106 C206 C306 C406
bit 7 - LI8 - C107 C207 C307 C407
bit 8 - LI9 - C108 C208 C308 C408
bit 9 - LI10 - C109 C209 C309 C409
bit 10 - - LI11 C110 C210 C310 C410
bit 11 - - LI12 C111 C211 C311 C411
bit 12 - - LI13 C112 C212 C312 C412
bit 13 - - LI14 C113 C213 C313 C413
bit 14 - - - C114 C214 C314 C414
bit 15 - - - C115 C215 C315 C415
For example, to assign the operating direction command to bit 1 of CANopen, simply configure the [Reverse assign.] (rrS) parameter with
the value [C201] (C201).
16
I/O profile
Control word - run on edge [3 wire] (3C)

Please refer to the [1.5 INPUTS / OUTPUTS CFG] (I-O-) section of the Programming Manual.
The stop command is automatically assigned to input LI1 and to bit 0 of the control words.
This command enables running on state 1:
The forward run command is automatically assigned to input LI2 and to bit 1 of the control words.
The forward run command is active if the stop command is at 1 and on a rising edge (0 V 1):
Bits 2 to 15 of the control words can be assigned to drive functions.

Configurable Configurable Configurable Configurable Configurable Configurable Forward Stop

Configurable Configurable Configurable Configurable Configurable Configurable Configurable Configurable
In the case of a [3 wire] (3C) run on state command and I/O profile, fixed assignment of a function input is possible using the following
codes:
Fixed assignments
Bit Extended "Controller Inside"
Drive terminals Logic I/O card Modbus CANopen Network card
I/O card card
bit 0 Authorization to run (Stop)
bit 1 Forward
bit 2 LI3 - - C102 C202 C302 C402
bit 3 LI4 - - C103 C203 C303 C403
bit 4 LI5 - - C104 C204 C304 C404
bit 5 LI6 - - C105 C205 C305 C405
bit 6 - LI7 - C106 C206 C306 C406
bit 7 - LI8 - C107 C207 C307 C407
bit 8 - LI9 - C108 C208 C308 C408
bit 9 - LI10 - C109 C209 C309 C409
bit 10 - - LI11 C110 C210 C310 C410
bit 11 - - LI12 C111 C211 C311 C411
bit 12 - - LI13 C112 C212 C312 C412
bit 13 - - LI14 C113 C213 C313 C413
bit 14 - - - C114 C214 C314 C414
bit 15 - - - C115 C215 C315 C415
For example, to assign the operating direction command to bit 2 of CANopen, simply configure the [Reverse assign.] (rrS) parameter with
the value [C202] (C202).
17
I/O profile
Status word (ETA)

Power section
Reserved Reserved
Alarm Reserved (=1) line supply Fault Running Ready
(= 0 or 1) (= 0 or 1)
present

Command or
Direction of Stop via STOP Reference Reference
Reserved (=0) Reserved (=0) reference via Reserved (=0)
rotation key outside limits reached
network
The status word is identical in the I/O profile and the CiA402 profile. For more information, see section CiA402 profile, page 21.
18
I/O profile
Example: I/O profile with positioning by sensors function

Please refer to the [1.7 APPLICATION FUNCT.] (FUn-) section of the Programming Manual, under "Positioning by sensors".
In this example, a PLC is used to control the transfer of parts on a conveyor composed of transfer tables. Each table is controlled by a
variable speed drive. The PLC and the drives are connected via a CANopen network.
The PLC controls the operation of the installation via the CANopen bus.
The drive uses the stop sensor to inhibit transfer of the part if the next table is unavailable. In this case, the PLC enables the sensors.
If the next table is free, the drive transfers the part without stopping. In this case, the PLC disables the sensors.
The stop sensor is directly connected to the drive terminals.

The slowdown sensor, which is also directly connected (to the drive) enables a more precise stop.
Configuration schematic diagram:
Command channel 1
Cd1
tEr CANopen control word

LCC Positioning
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
by sensors
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Mdb
CAn
Forward
nEt
APP
Reverse
C201 Disabling of sensors
Terminals
LI14
LI13
LI12
LI11
LI10
LI9
LI8
LI7
LI6
LI5
LI4
LI3
LI2
LI1
Forward stop sensor

LI4
Reverse stop sensor
LI6
Forward slowdown sensor
LI5
Reverse slowdown sensor
LI8
19
I/O profile
Configure the following parameters:
Parameter Value Comment

Type of command On state (2 wire) The run command is obtained via bit 0 of the CANopen control
word.
Profile I/O profile
Reference 1 configuration CANopen The reference comes from the CANopen card.
Command 1 configuration CANopen The command comes from the CANopen card.
Assignment of stop sensor Input LI4
Assignment of slowdown sensor Input LI5
Assignment of sensor disable command Bit 1 of CANopen control
word
Configuration via the remote graphic display terminal:

[1.5 INPUTS / OUTPUTS CFG] (I-O-) [2/3 wire control] (tCC) [2 wire] (2C)
[Ref. 1 channel] (Fr1) [CANopen] (CAn)
[Cmd channel 1] (Cd1) [CANopen] (CAn)
[1.7 APPLICATION FUNCT.] (FUn-) [Stop FW limit sw.] (SAF) [LI4] (LI4)
[POSITIONING BY SENSORS] (LPO-)
[Slowdown forward] (dAF) [LI5] (LI5)
[Disable limit sw.] (CLS) [C201] (C201)
Note: On a [2 wire] (2C) state command, the forward command is automatically assigned to bit 0 of the CANopen control word.
20
CiA402 profile
Functional description
b Drive operation involves two main functions, which are illustrated in the two diagrams below (the values in brackets are the CANopen
addresses of the parameters):
Control diagram:
Statemachine
Controlword Statusword
(6040) (6041)
Simplified diagram of speed control in "Velocity" mode:
Power device
Limit Ramp
vl_target_velocity vl_velocity_demand
(6042) (6043) 3
M
vl_velocity_min_max amount (6046) vl_velocity_acceleration (6048)
vl_velocity_acceleration (6049)
vl_control_effort
(6044)
b The main parameters are shown with their CiA402 name and their CiA402/Drivecom index (the values in brackets are the parameter
codes).
These diagrams translate as follows for the Altivar system:
Control diagram:
State machine
Control word Status word
(CMD) (ETA)
Simplified diagram of speed regulation in "Velocity" mode:
Power
Reference limit Ramp Speed reference module
Speed reference
after ramp
(LFRD)
(FRHD) 3
M
Acceleration delta speed (SPAL)
Velocity min amount (SMIL) Acceleration delta time (SPAT)
Velocity max amount (SMAL) Deceleration delta speed (SPDL)
Deceleration delta time (SPDT)
Output speed
(RFRD)
21
CiA402 profile
CiA402 state chart
Power section line supply present or absent Fault

Entry into
From all states
state chart
Fault
Not ready to switch on Fault reaction active
Fault disappeared
and faults reset
CMD=16#0080
Switch on disabled Fault
or
Disable voltage Disable

CMD=16#0000 voltage
or Disable
CMD=16#0000
STOP key voltage
Shutdown or
or CMD=16#0000 If Quick stop option code
CMD=16#0006 Quick stop
freewheel stop at or = 2:
CMD=16#0002
the terminals Quick stop transition after stop.
or
or CMD=16#0002 If Quick stop option code
STOP key
Power Removal or = 6:
STOP key Disable voltage
or CMD=16#0000
freewheel stop or
Ready to switch on at the terminals STOP key
or or
modification freewheel stop at
of a configuration terminals
parameter
or
Switch on Shutdown
CMD=16#0007 CMD=16#0006
Shutdown Switched on
CMD=16#0006
Disable
Switch on Enable operation
CMD=16#xxxF operation CMD=16#0007
CMD=16#xxxF or
fast stop
Quick stop
Operation enabled CMD=16#0002 Quick stop active
Examples:
ETA=16#0637: Stop or forward, speed reached
ETA=16#8637: Stop or reverse, speed reached
ETA=16#0237: Forward, accelerating or decelerating
ETA=16#8237: Reverse, accelerating or decelerating
Power section line supply present
Key: State Value of

status word
Power
Switched on absent
Power
present
Enable
operation Power absent
CMD=16#xxxF or present
Transition condition Status display on

with example of command graphic display terminal
22
CiA402 profile
Description of states
Each state represents an internal reaction by the drive.
This chart will change depending on whether the control word is sent (CMD) or an event occurs (a fault, for example).
The drive state can be identified by the value of the status word (ETA).
1 - Not ready to switch on

Initialization starts. This is a transient state invisible to the communication network.
2 - Switch on disabled
The drive is inactive.
The drive is locked, no power is supplied to the motor.
For a separate control section, it is not necessary to supply AC power to the power section.
For a separate control section with line contactor, the contactor is not controlled.
The configuration and adjustment parameters can be modified.
3 - Ready to switch on
Awaiting power section line supply.
For a separate control section, it is not necessary to supply AC power to the power section, but the system will expect it in order to change
to state "4 - Switched on".
For a separate control section with line contactor, the contactor is not controlled.
The configuration and adjustment parameters can be modified.
4 - Switched on
The drive is supplied with AC power but is stationary.
For a separate control section, the power section line supply must be present.
For a separate control section with line contactor, the contactor is controlled.

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.

Modification of a configuration parameter returns the drive to state "2 - Switch on disabled".
5 - Operation enabled
The drive is running.
For a separate control section, the power section line supply must be present.
For a separate control section with line contactor, the contactor is controlled.
The drive is unlocked, power is supplied to the motor.

The drive functions are activated and voltage is applied to the motor terminals.
However, in the case of an open-loop drive, if the reference is zero or the "Halt" command is applied, no power is supplied to the motor and
no torque is applied.
Auto-tuning (tUn) requires an injection of current into the motor. The drive must therefore be in state "5 - Operation enabled" for this
command.
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 (see Communication monitoring
page 56). In particular, if the channel is involved in the command and the reference, transition 4 will take place only after the
reference has been received for the first time.
The reaction of the drive to a "Disable operation" command depends on the value of the "Disable operation option code" (DOTD) parameter:
If the "Disable operation option code" parameter has the value 0, the drive changes to "4 - Switched on" and stops in freewheel stop.
If the "Disable operation option code" parameter has the value 1, the drive stops on ramp and then changes to "4 - Switched on".
23
CiA402 profile
6 - Quick stop active

Emergency stop
The drive performs a fast stop, after which restarting will only be possible once the drive has changed to the "Switch on disabled" state.
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 option code" (QSTD):
If the "Quick stop option code" parameter has the value 2, the drive stops according to the fast stop ramp and then changes to state
"2 - Switch on disabled".
If the "Quick stop option code" parameter has the value 6, the drive stops according to the fast stop ramp and then remains in state
"6 - Quick stop active" until:
- A "Disable voltage" command is received
- Or the STOP key is pressed
- Or there is a freewheel stop command via the terminals
7 - Fault reaction active

Transient state during which the drive performs an action appropriate to the type of fault.
The drive function is activated or deactivated according to the type of reaction configured in the fault management parameters.
8 - Fault
Drive faulty.
Summary
Power section line supply for Modification of configuration

State Power supplied to motor
separate control section 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
Yes, return to "2 - Switch on
4 - Switched on Required No
disabled" state
Yes, apart from an open-loop
drive with a zero reference or in
5 - Operation enabled Required No
the event of a "Halt" command
for an open-loop drive.
6 - Quick stop active Required Yes, during fast stop No
Depends on fault management Depends on fault management
7 - Fault reaction active -
configuration configuration
8 - Fault Not required No Yes
24
CiA402 profile
Control word (CMD)

Switch on
Fault reset Enable operation Quick stop Enable voltage
Reserved (=0) Reserved (=0) Reserved (=0) Authorization

Emergency Contactor
Ack. fault Run command to supply AC
stop control
power

By default, Halt
direction of
Assignable Assignable Assignable Assignable Reserved (=0) Reserved (=0)
rotation
Halt
command.
bit 7 bit 3 bit 2 bit 1 bit 0

Transition
Command Final state Fault Enable Quick Enable Example value
address Switch on
reset operation stop voltage
3 - Ready to
Shutdown 2, 6, 8 x x 1 1 0 16#0006
switch on
Switch on 3 4 - Switched on x x 1 1 1 16#0007
Enable 5 - Operation
4 x 1 1 1 1 16#000F
operation enabled
Disable
5 4 - Switched on x 0 1 1 1 16#0007
operation
2 - Switch on
Disable voltage 7, 9, 10, 12 x x x 0 x 16#0000
disabled
6 - Quick stop
11
active
Quick stop x x 0 1 x 16#0002
2 - Switch on
7, 10
disabled
2 - Switch on
Fault reset 15 0V1 x x x x 16#0080
disabled
x: Value is of no significance for this command.
0 V 1: Command on rising edge.
25
CiA402 profile
Stop commands:
The "Halt" command enables movement to be interrupted without having to leave the "5 - Operation enabled" state. The stop is performed
in accordance with the [Type of stop] (Stt) parameter.
In the case of an open-loop drive, if the "Halt" command is active, no power is supplied to the motor and no torque is applied.
In the case of a closed-loop drive, if the "Halt" command is active, power continues to be supplied to the motor and torque is applied during
stopping.
Regardless of the assignment of the [Type of stop] (Stt) parameter ([Fast stop] (FSt), [Ramp stop] (rMP), [Freewheel] (nSt), or [DC
injection] (dCI)), the drive remains in the "5 - Operation enabled" state.
A Fast Stop command at the terminals or using a bit of the control word assigned to Fast Stop causes a change to the "4 - Switched on"
state. A "Halt" command does not cause this transition.
A Freewheel Stop command at the terminals or using a bit of the control word assigned to Freewheel Stop causes a change to the "2 -
Switch on disabled" state.
Assigning control word bits

In the CiA402 profile, fixed assignment of a function input is possible using the following codes:
Bit Integrated Modbus CANopen Network card "Controller Inside" card

bit 11 C111 C211 C311 C411
bit 12 C112 C212 C312 C412
bit 13 C113 C213 C313 C413
bit 14 C114 C214 C314 C414
bit 15 C115 C215 C315 C415
For example, to assign the DC injection braking to bit 13 of CANopen, simply configure the [DC injection assign.] (dCI) parameter with
the [C213] (C213) value.
Bit 11 is assigned by default to the operating direction command [Reverse assign.] (rrS).
26
CiA402 profile
Status word (ETA)

Switch on Voltage Operation Ready to
Warning Quick stop Fault Switched on
disabled enabled enabled switch on
Power section Power section Awaiting
Emergency
Alarm line supply line supply Fault Running Ready power section
stop
disabled present line supply

Internal limit Target
Remote
active reached
Direction of Stop via
Reserved (=0) Reserved (=0) Command or Reserved (=0)
rotation STOP key Reference Reference
reference via
outside limits reached
network
bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ETA

Status Switch on Quick Voltage Operation Switched Ready to masked by
Fault 16#006F (1)
disabled stop enabled enabled on switch on
1 - Not ready to
0 x x 0 0 0 0 -
switch on
2 - Switch on
1 x x 0 0 0 0 16#0040
disabled
3 - Ready to
0 1 x 0 0 0 1 16#0021
switch on
4 - Switched on 0 1 1 0 0 1 1 16#0023
5 - Operation
0 1 1 0 1 1 1 16#0027
enabled
6 - Quick stop
0 0 1 0 1 1 1 16#0007
active
7 - Fault reaction
0 x x 1 1 1 1 -
active
16#0008 (2)
8 - Fault 0 x x 1 0 0 0
or 16#0028
x: In this state, the value of the bit can be 0 or 1.
(1) This mask can be used by the PLC program to test the chart state.
(2) Fault following state "6 - Quick stop active".
27
CiA402 profile
Starting sequence
The command sequence in the state chart depends on how power is being supplied to the drive.
There are three possible scenarios:
Control section
Control section
Power section
Power section
Power section
power supply
power supply
line supply
line supply
line supply
DRIVE DRIVE DRIVE
M M M
Line contactor
Power section
Direct Direct controlled by the drive
line supply
Control section
Not separate (1) Separate Separate
power supply
(1)
The power section supplies the control section.
28
CiA402 profile
Sequence for a drive powered by the power section line supply

Both the power and control sections are powered by the power section line supply.
If power is supplied to the control section, it has to be supplied to the power section as well.
The following sequence must be applied:
b Step 1
Send the "2 - Shutdown" command
From all states
13
Power section
line supply
Entry into state chart Fault reaction

7 active
0
14
Not ready to
1
switch on
8 Fault
1
Bus or network
Switch on 15
2
disabled
Shutdown 2
7
Disable voltage
or Quick stop
Ready to Disable voltage
3 10
DRIVE switch on or Quick stop
Disable
9 12
voltage Switch on 3
6 Shutdown
Shutdown 8 4 Switched on
Enable Disable
4 5
operation operation
Operation Quick stop
M 5 enabled 11 6
active
Quick stop
29
CiA402 profile
b Step 2
Check that the drive is in the "3 - Ready to switch on" state.
Then send the "4 - Enable operation" command.
The motor can be controlled (send a reference not equal to zero).
From all states
13
Power section
line supply Entry into state chart 7
Fault reaction
active
0
14
Not ready to
1
switch on
8 Fault
1
Bus or network
15
2 Switch on
disabled
Switch on 2 Disable voltage
7
or Quick stop
3 Ready to Disable voltage 10

9 Disable 12
voltage Switch on 3 6 Shutdown
Enable 4 Disable
5
operation operation
M Operation Quick stop
5 11 6
enabled active
Quick stop
Note: It is possible, but not necessary, to send the "3 - Switch on" command followed by the "4 - Enable Operation" command to switch
successively into the states "3 - Ready to Switch on", "4 - Switched on" and then "5 - Operation Enabled".
The "4 - Enable operation" command is sufficient.
30
CiA402 profile
Sequence for a drive with separate control section

Power is supplied separately to the power and control sections.
If power is supplied to the control section, it does not have to be supplied to the power section as well.
b Step 1
The power section line supply is not necessarily present.
From all states

Control section
13
Power section
power supply
line supply

7 active
0
14
Not ready to
1
switch on
8 Fault
1
Bus or network
Switch on 15
2
disabled
Shutdown 2 Disable voltage

7 or Quick stop

3 10
Disable
9 12
voltage Switch on 3
6 Shutdown
Enable Disable
4 5
operation operation
M 5 11 6
enabled active
Quick stop
31
CiA402 profile
b Step 2
Check that the power section line supply is present ("Voltage enabled" of the status word).
Power section line supply Terminal display Status word

Absent nLP 16#pp21
Present rdY 16#pp31
Send the "3 - Switch on" command
From all states

Control section
Power section
power supply
13
line supply

7
active
0
14
Not ready to
1 switch on
8 Fault
Bus or network
Switch on 15
2
disabled

7
or Quick stop
Ready to Disable voltage 10
3
9
Disable 12
Enable 4 Disable
operation 5
operation
M 5 11 6
enabled active
Quick stop
32
CiA402 profile
b Step 3
Check that the drive is in the "4 - Switched on" state.
If the power section line supply is still not present in the "4 - Switched on" state after a time delay [Mains V. time out] (LCt), the drive
will switch to fault mode (LCF).
From all states

Control section
13
Power section
power supply
line supply

7
active
0
14
Not ready to
1
switch on
8 Fault
1
Bus or network
Switch on 15
2
disabled

7
or Quick stop
3 10
Disable
9 12
Enable Disable
4 5
operation operation
M 5 11 6
enabled active
Quick stop
33
CiA402 profile
Sequence for a drive with line contactor control

Power is supplied separately to the power and control sections.
If power is supplied to the control section, it does not have to be supplied to the power section as well. The drive controls the line contactor.
b Step 1
The power section line supply is not present as the line contactor is not being controlled.
From all states

Control section
13
Power section
power supply
line supply

7
active
0
14
Not ready to
1
switch on Fault
8
1
Bus or network
Switch on 15
2
disabled
Shutdown 2 7
Disable voltage
or Quick stop
3 10
Disable
9 12
Enable Disable
4 5
operation operation
M 5 11 6
enabled active
Quick stop
34
CiA402 profile
b Step 2
Send the "3 - Switch on" command, which will close the line contactor and switch on the power section line supply.
From all states

Control section
Power section 13
power supply
line supply Entry into state chart Fault reaction

7
active
0
14
Not ready to
1
switch on
8 Fault
Bus or network
Switch on 15
2
disabled
7
or Quick stop
3 10
9 Disable 12
Enable 4 Disable
operation 5
operation
5 11 6
enabled active
Quick stop
35
CiA402 profile
b Step 3
Check that the drive is in the "4 - Switched on" state.
If the power section line supply is still not present in the "4 - Switched on" state after a time delay [Mains V. time out] (LCt), the drive
will switch to fault mode (LCF).
From all states

Control section
Power section
13
power supply
ine supply

7
active
0
14
Not ready to
1
switch on
8 Fault
Bus or network
Switch on 15
2
disabled
7 or Quick stop

3 10
9 Disable 12
Enable 4 Disable
operation 5 operation

5 11 6
enabled active
Quick stop
36
Command/reference switching
Channels
A channel is the name given to the source of a command or reference.
The 6 Altivar 71 channels are:

The terminals
The graphic display terminal
The integrated Modbus ports
The integrated CANopen port
A network card
The "Controller Inside" card
The Altivar 71 has 2 integrated Modbus ports. These 2 ports are physically independent of one another but together constitute a single logic
channel.
The drive does not distinguish between commands and references that come from the Modbus network port and those that come from the
Modbus HMI port.
With the Altivar 71 drive, it is possible to select the active command channel and the active reference channel:
Via configuration
Via switching at the terminals or via a communication network
Channel commands and references

All the drives command and reference parameters are managed on a channel-by-channel basis.
Only the control word (CMd), speed reference (LFrd) and frequency reference (LFr) are switched.
It is possible to identify the last value written for each channel and each command or reference parameter:
Parameter name Parameter code

Taken into
Communication Controller
account by the Modbus CANopen
card inside
drive
Control word CMd CMd1 CMd2 CMd3 CMd4
Extended control word CMI CMI1 CMI2 CMI3 CMI4
Speed setpoint (rpm) LFrd LFd1 LFd2 LFd3 LFd4
Frequency setpoint (0.1 Hz) LFr LFr1 LFr2 LFr3 LFr4
Torque setpoint Ltr Ltr1 Ltr2 Ltr3 Ltr4
PID regulator setpoint PISP PIr1 PIr2 PIr3 PIr4
Multiplying coefficient MFr MFr1 MFr2 MFr3 MFr4
37
Not separate mode

Command and reference come from the same channel.
Command Reference
-10V
TERMINALS
+10V
In CiA402 profile, not separate mode is configured via the terminal:

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Not separ.] (SIM)
Separate mode
Command and reference may come from different channels.
CANopen
CANopen
Command Reference
Digital
reference
TERMINALS
In CiA402 profile, separate mode is achieved via configuration with the terminal:

[1.6 - COMMAND] (CtL-) [Profile] (CHCF) [Separate] (SEP)
In I/O profile, the drive is automatically in separate mode.

38
Switching in not separate mode

Switching takes place between 2 channels simultaneously for both reference and command.
CANopen
Control register Digital reference
CANopen
Command Reference
-10V
TERMINALS
+10v
In this example, the command and reference come either from CANopen or from the terminals.
Switching in separate mode

Switching can take place between 2 channels independently for the reference and command.
CANopen
Digital reference
CANopen
Command Reference
-10V
TERMINALS
+10V
In this example, the command always comes from the terminals; the reference can come either from CANopen or from the terminals.
39
Channel switching
Reference channel configuration
Reference channel configuration enables reference sources to be predefined, which can be modified or switched subsequently via a
command.
There are 3 predefined reference channels:

Reference channel 1
Reference channel 1B
Reference channel 2
Reference channels 1 and 1B are used for drive application functions.

Reference channel 2 is connected directly to the reference limiting function, bypassing the application functions.
The predefined reference channels are assigned via the [Ref. 1 channel] (Fr1), [Ref. 1B channel] (Fr1b) and [Ref. 2 channel] (Fr2)
configuration parameters, which can have the following values:
[No] (nO): Not assigned
[AI1] (AI1): Analog input AI1
[AI2] (AI2): Analog input AI2
[AI3] (AI3): Analog input AI3 (if extension card present)
[AI4] (AI4): Analog input AI4 (if extension card inserted)
[HMI] (LCC): Graphic display terminal
[Modbus] (Mdb): Integrated Modbus
[CANopen] (CAn): Integrated CANopen
[Com. card] (nEt): Communication card (if inserted)
[C.Insid. card] (APP): Controller Inside card (if inserted)
[RP] (PI): Frequency input, (if card inserted)
[Encoder] (PG): Encoder input (if card inserted)
Note: The "+speed/-speed" function is on reference channel 2. See the Programming Manual for more information.
Command channel configuration

Command channel configuration enables command sources to be predefined, which can be modified or switched subsequently via a
command.
There are 2 predefined command channels:

Command channel 1
Command channel 2
The predefined command channels are assigned via the [Cmd channel 1] (Cd1) and [Cmd channel 2] (Cd2) configuration parameters,
which can have the following values:
[Terminals] (tEr): Terminals
[HMI] (LCC): Graphic display terminal
[Modbus] (Mdb): Integrated Modbus
[CANopen] (CAn): Integrated CANopen
[Com. card](nEt): Communication card (if inserted)
[C.Insid. card] (APP): Controller Inside card (if inserted)
40
Switches
A channel switch is used to select predefined channels.
It can be:
Defined via configuration
Actuated either by an input (terminals) or a control word bit (network)
Written via a network during operation (modification of a configuration parameter)
The possible switch values are:
Function reference Direct reference Command switching

switching switching [Cmd switching] (CCS)
[Ref 1B switching] (rCb) [Ref. 2 switching] (rFC)
Channel 1 Fr1 Fr1 Cd1
Channel 1B Fr1b - -
Channel 2 - Fr2 Cd2

Drive input LI1 ... LI6
Logic I/O card input LI7 ... LI10
Extended I/O card input LI11 ... LI14
Modbus command bit bit 0 = C100 ... bit 15 = C115
CANopen command bit bit 0 = C200 ... bit 15 = C215
Network command bit bit 0 = C300 ... bit 15 = C315
Controller Inside command bit bit 0 = C400 ... bit 15 = C415
The values Fr1, Fr1b, Fr2, Cd1 and Cd2 are either configured or written via the network during operation.
In I/O and CiA402 (separate mode) profiles, independent switching is possible:
Type Channel 1 Channel 2 Switching

Function reference 1 Function reference 1B Function reference switching
[Ref. 1 channel] (Fr1) VV [Ref. 1B channel] (Fr1b) [Ref 1B switching] (rCb)
Reference Function reference 1 or 1B
Direct reference 2 Direct reference switching
[Ref. 1 channel] (Fr1) VV [Ref. 2 channel] (Fr2) [Ref. 2 switching] (rFC)
[Ref. 1B channel] (Fr1b)
Command 1 Command 2 Command switching
Command
[Cmd channel 1] (Cd1) VV [Cmd channel 2] (Cd2) [Cmd switching] (CCS)
In CiA402 profile (not separate mode) switching is simultaneous:
Type Channel 1 Channel 2 Switching

Function reference 1 or 1B
Direct reference 2
Reference [Ref. 1 channel] (Fr1) VV [Ref. 2 channel] (Fr2)
[Ref. 1B channel] (Fr1b) Direct reference switching
and
[Ref. 2 switching] (rFC)
Command Command 1 Command 2
[Cmd channel 1] (Cd1) VV [Cmd channel 2] (Cd2)
41
Reference switching principle

A detailed description is given in the Programming Manual.
This diagram shows reference switching as applicable to all the following modes:
I/O profile
CiA402 profile and separate mode
CiA402 profile and not separate mode
Reference channel 1
Fr1
AI1C AI1
AI2C AI2
LFr Display terminal

Terminal
LFr1 Modbus
Modbus
Function
LFr2 CANopen
CANopen reference
switching
LFr3 Network
Rseau
rCb Function
LFr4 Controller
Controller
Reference channel 1B
Fr1b
AI1C AI1
AI2C AI2 Fr1 Application
Fr1b function output
LIpp reference
LFr Display terminal C1pp
C2pp Direct reference
LFr1 Modbus C3pp switching Reference
C4pp limit Ramp
LFr2 CANopen
rFC
LFr3 Network
LFr4 Controller
Direct
Reference channel 2 reference 2
Fr2
AI1C AI1 Fr1
Fr2
AI2C AI2 LIpp
C1pp
LFr Display terminal C2pp
C3pp
LFr1 Modbus
C4pp
LFr2 CANopen
LFr3 Network
LFr4 Controller
42
Command switching principle

I/O profile or CiA402 profile (separate mode)

Command channel 1
Cd1
Terminals
LIx
Display terminal
RUN/STOP Terminal
FWD/REV
Modbus
CMD1 Modbus
CANopen
CMD2 CANopen
Network
CMD3 Rseau
Controller
CMD4 Controller
Command channel 2
Command
Cd2 switching
LIx Terminals
Bornier CCS Run
RUN/STOP Display terminal
Terminal Stop
FWD/REV Forward
Reverse
CMD1 Modbus
CMD2 CANopen
Cd1
CMD3 Network
Cd2
CMD4 Controller
Controller LIpp
C1pp
C2pp
C3pp
C4pp
CiA402 profile (not separate mode)
Reference channel 1 (1)

Fr1
LIx AI1
AI2

FWD/REV
Modbus
CMD1
CANopen
CMD2
Network
CMD3
Controller
CMD4
Direct
reference
Fr2 switching (1)
LIx AI1 rFC
Run
AI2 Stop
Forward
RUN/STOP Display terminal Reverse
FWD/REV
Modbus
CMD1
CANopen Fr1
CMD2 Fr2
Network LIpp
CMD3
C111 ... C115
Controller
CMD4 C211 ... C215
C311 ... C315
C411 ... C415
(1) In separate mode, command switching follows reference switching. It is therefore reference switching that switches the command.
43
Assigning control word bits

I/O profile
The I/O profile is extremely flexible in terms of assigning and switching the 16 control word bits.
To switch a control word bit using:

an input from the terminals
or a control word bit from another communication channel
simply configure a switched assignment for the function input (CDpp), instead of a fixed assignment (Cppp).
Inputs and bits of the same order are switched.

Inputs LI1 to LI6 of the drive terminals can be used to switch control word bits 0 to 5.
With a logic I/O card using inputs LI7 to LI10, control word bits 6 to 9 can also be switched.
With an extended I/O card using inputs LI11 to LI14, control word bits 10 to 13 can also be switched.
Once a bit has been assigned to a switchable assignment, it can no longer be assigned to a fixed assignment, and vice versa.
Example: Once a function input has been assigned to CD04, it cannot be assigned to LI5, C104, C204, C304 or C404.
Example
Function input A is always controlled by bit 1 of the CANopen control word.
Function input B is always controlled by input LI5 on the terminals.
Depending on the value of LI2, function input C is controlled:
Either by input LI3 on the terminals
Or by bit 2 of the CANopen control word

bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Function
C201 A
Cd02 C
Command
switching
CCS
CANopen
Terminals
Terminals
LI2
LI14
LI13
LI12
LI11
LI10
LI9
LI8
LI7
LI6
LI5
LI4
LI3
LI2
LI1
LI5 B
44
The tables below show assignments on the basis of input or bit.
Run on state command [2 wire] (2C):

In all macro configurations, bit 1 is assigned by default to the operating direction command [Reverse assign.] (rrS).
Fixed assignments
Switched
Bit Drive Extended Integrated "Controller
assignment Logic I/O card CANopen Network card
terminals I/O card Modbus Inside" card
bit 0 Forward
bit 1 Cd01 LI2 - - C101 C201 C301 C401
bit 2 Cd02 LI3 - - C102 C202 C302 C402
bit 3 Cd03 LI4 - - C103 C203 C303 C403
bit 4 Cd04 LI5 - - C104 C204 C304 C404
bit 5 Cd05 LI6 - - C105 C205 C305 C405
bit 6 Cd06 - LI7 - C106 C206 C306 C406
bit 7 Cd07 - LI8 - C107 C207 C307 C407
bit 8 Cd08 - LI9 - C108 C208 C308 C408
bit 9 Cd09 - LI10 - C109 C209 C309 C409
bit 10 Cd10 - - LI11 C110 C210 C310 C410
bit 11 Cd11 - - LI12 C111 C211 C311 C411
bit 12 Cd12 - - LI13 C112 C212 C312 C412
bit 13 Cd13 - - LI14 C113 C213 C313 C413
bit 14 Cd14 - - - C114 C214 C314 C414
bit 15 Cd15 - - - C115 C215 C315 C415
Run on edge command [3 wire] (3C):

In all macro configurations, bit 2 is assigned by default to the operating direction command [Reverse assign.] (rrS).
Fixed assignments
Switched
Bit Drive Extended Integrated "Controller
terminals I/O card Modbus Inside" card
bit 0 Run authorization
bit 1 Forward
bit 2 Cd02 LI3 - - C102 C202 C302 C402
bit 3 Cd03 LI4 - - C103 C203 C303 C403
bit 4 Cd04 LI5 - - C104 C204 C304 C404
bit 5 Cd05 LI6 - - C105 C205 C305 C405
bit 6 Cd06 - LI7 - C106 C206 C306 C406
bit 7 Cd07 - LI8 - C107 C207 C307 C407
bit 8 Cd08 - LI9 - C108 C208 C308 C408
bit 9 Cd09 - LI10 - C109 C209 C309 C409
bit 10 Cd10 - - LI11 C110 C210 C310 C410
bit 11 Cd11 - - LI12 C111 C211 C311 C411
bit 12 Cd12 - - LI13 C112 C212 C312 C412
bit 13 Cd13 - - LI14 C113 C213 C313 C413
bit 14 Cd14 - - - C114 C214 C314 C414
bit 15 Cd15 - - - C115 C215 C315 C415
45
CiA402 profile
Control word bits of the same order are switched if the function inputs are assigned to switchable bits.
Switching may be possible using LI12, LI13 or LI14 on an extended I/O card.
Once a bit has been assigned to a switchable assignment, it can no longer be assigned to a fixed assignment, and vice versa.
Example: Once a function input has been assigned to Cd04, it cannot be assigned to LI5, C104, C204, C304 or C404.
The table below shows assignments on the basis of input or bit.
Fixed assignments
Switched
Bit Drive Extended I/O Integrated "Controller
terminals card Modbus Inside" card
bit 0 - LI1 - - - - - -
bit 1 - LI2 - - - - - -
bit 2 - LI3 - - - - - -
bit 3 - LI4 - - - - - -
bit 4 - LI5 - - - - - -
bit 5 - LI6 - - - - - -
bit 6 - - LI7 - - - - -
bit 7 - - LI8 - - - - -
bit 8 - - LI9 - - - - -
bit 9 - - LI10 - - - - -
bit 10 - - - LI11 - - - -
bit 11 Cd11 - - LI12 C111 C211 C311 C411
bit 12 Cd12 - - LI13 C112 C212 C312 C412
bit 13 Cd13 - - LI14 C113 C213 C313 C413
bit 14 Cd14 - - - C114 C214 C314 C414
bit 15 Cd15 - - - C115 C215 C315 C415
46
Example: I/O profile with positioning by sensors function

Let us return to the example given in the "I/O profile" section.
In the diagram below, the command comes from CANopen alone:
Command channel 1
Cd1
tEr CANopen control word

LCC
Positioning
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
Mdb by sensors
CAn
nEt Forward
APP
Reverse
C201 Disabling of sensors
Terminals
LI14
LI13
LI12
LI11
LI10
LI9
LI8
LI7
LI6
LI5
LI4
LI3
LI2
LI1
LI4 Forward stop sensor
LI6
Reverse stop sensor
LI5
Forward slowdown sensor
LI8
For a different application, provision must be made to enable the switching of the run commands and the disabling of the sensors and the
reference at the terminals.
The new diagram will look like this:
Command channel 1
Cd1
tEr
bit 15
bit 14
bit 13
bit 12
bit 11
bit 10
bit 9
bit 8
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
LCC
Positioning
Mdb by sensors
CAn
nEt Forward
APP
Reverse
Command
switching CD01 Disabling of sensors
CCS
Command channel 2
Cd2 Terminals
tEr LI8
LI14
LI13
LI12
LI11
LI10
LI8
LI7
LI6
LI5
LI9
LI4
LI3
LI2
LI1
LCC
Mdb
CAn LI4 Forward stop sensor
nEt Reverse stop sensor
APP LI5 Forward slowdown sensor
47
Configure the following parameters:
Parameter Value Comment

Type of command On state (2 wire) The run command is obtained via bit 0 of the CANopen control word.
Profile IO profile
Reference 1 configuration CANopen Reference 1 comes from the CANopen card.
Command 1 configuration CANopen Command 1 comes from the CANopen card.
Reference 1B configuration AI1 Reference 1B comes from analog input 1. Reference 1B has to be taken
rather than reference 2, as use is to be made of the positioning function.
Command 2 configuration Terminals Command 2 comes from the terminals.
Assignment of stop sensor Input LI4 The sensor inputs are not switched.
Assignment of slowdown sensor Input LI5
Assignment of sensor disable Bit 1 switched.
command
Assignment of command switch Input LI8 The LI8 inputs enable the command and reference to be switched.
Assignment of application Input LI8
reference switch 1/1B
Configuration via the graphic display terminal:
Menu/submenu Parameter Value

[1.5 INPUTS / OUTPUTS CFG] (I-O-) [2/3 wire control] (tCC) [2 wire] (2C)
[Ref. 1 channel] (Fr1) [CANopen] (CAn)
[Cmd channel 1] (Cd1) [CANopen] (CAn)
[Cmd channel 2] (Cd2) [Terminals] (tEr)
[Cmd switching] (CCS) [LI8] (LI8)
[1.7 APPLICATION FUNCT.] (FUn-) [Stop FW limit sw.] (SAF) [LI4] (LI4)
[POSITIONING BY SENSORS] (LPO-)
[Slowdown forward] (dAF) [LI5] (LI5)
[Disable limit sw.] (CLS) [Cd01] (Cd01)
[Ref. 1B channel] (Fr1b) [Ref. AI1] (AI1)
[Ref 1B switching] (rCb) [LI8] (LI8)
48
Copy on switching
When switching channels, it is possible to copy the reference or command from function channel 1 to direct channel 2.
Menu Submenu
[1.6 COMMAND] (CtL-)
Parameter Possible values

[Copy channel 1 --> 2] No copy.
[No] (nO)
Copy reference
[Reference] (SP)
Copy command
[Command] (Cd)
Copy command and reference
[Cmd + ref.] (ALL)
If a copy is not made, the drive stops according to the configured stop type [Type of stop] (Stt) until the first command and reference are
received.
The reference before ramp (FrH) is copied unless the direct channel 2 reference is via +/- speed.
If the direct channel 2 reference is via +/- speed, the after ramp (rFr) reference is copied.
If the direct channel 2 command is via the terminals, the function channel 1 command is not copied even in pulse control (3-wire) [3 wire]
(3C).
If the direct channel 2 reference is via AI1, AI2, AI3, AI4, the encoder input or frequency input, the function channel 1 reference is not copied.
49
Forced local
Definition
Forced local mode supports switching to the terminals or display terminal.
This function complements channel switching and makes it possible to make use of an existing function from the Altivar 58 range.
Forced local mode is only available in CiA402 profile, not in I/O profile.
All other communication takes priority over forced local mode.
Forced local mode can be configured via the display terminal:
Menu Submenu
[1.9 COMMUNICATION] (COM-) [FORCED LOCAL] (LCF-)
Parameter Possible values

Forced local switch Function inactive:
[Forced local assign.] (FLO) [No] (nO)
Assignment to a logic input LI1 ... LI14:
[LI1] (LI1) ... [LI14] (LI14)
Forced local mode is active when the input is at state 1.
Forced local channel Forced local on stop
[Forced local Ref.] (FLOC) [No] (nO)
Assignment of the command to the terminals and of the reference to one of the analog inputs
AI1 ... A14
[AI2 ref.] (AI2), [AI3 ref.] (AI3), [AI4 ref.] (AI4)
Assignment of the command to the terminals and of the reference to the frequency input (if card
present)
[Pulse Input] (PI)
Assignment of the reference [HMI Frequency ref.] (LFr) and of the command
(RUN/STOP/FWD/REV buttons) to the graphic display terminal
[HMI] (LCC)
In "forced local" state:

Any attempts to write the parameter via one of these channels is rejected (applies to command, reference and adjustment
parameters).
However, the parameters can be read.
The drive does not register a communication fault.
On exiting "forced local" mode:

The drive copies the run commands, the direction and the forced local reference to the active channel (maintained).
Monitoring of the active command and reference channels resumes following a time delay [Time-out forc. local] (FLOt).
Drive control only takes effect once the drive has received the reference and the command.
The time delay [Time-out forc. local] (FLOt) (default value = 10 s) can be configured via the remote graphic display terminal:
Menu Submenu Parameter

[1.9 COMMUNICATION] (COM-) [FORCED LOCAL] (LCF-) [Time-out forc. local] (FLOt)
50
Forced local
Forced local mode and reference switching

This diagram shows reference switching as applicable to the following modes:

CiA402 profile and separate mode
CiA402 profile and not separate mode
Reference channel 1
Fr1
AI1C AI1
AI2C AI2
Forced local channel
Display terminal FLOC
LFr
Modbus AI1C AI1
LFr1 Function
CANopen reference AI2C AI2
LFr2 switching rCB
Network AI3C AI3
LFr3 Function
Controller AI4C AI4
LFr4
Reference channel 1B Display terminal

Fr1B LFr
AI1C AI1
AI2C AI2 Fr1 Application
Fr1b function output
LIpp reference
LFr Display terminal C111 ... C115
C211 ... C215 Direct reference Reference
LFr1 Modbus C311 ... C315 switching limit Ramp
Forced local
C411 ... C415 rFC switching FLO
CANopen
LFr2
LFr3 Network
LFr4 Controller
Direct
Reference channel 2 reference 2
Fr2
LI1 ... LI14
AI1C AI1 Fr1
Fr2
AI2C AI2 LIpp
C111 ... C115
Display terminal C211 ... C215
LFr
C311 ... C315
Modbus C411 ... C415
LFr1
LFr2 CANopen
Network
LFr3
LFr4 Controller
51
Forced local
Forced local mode and command switching

CiA402 profile (separate mode)
Command channel 1
Cd1
Terminals Forced local channel
LIx FLOC
LIx AI1
FWD/REV
AI2
CMD1 Modbus
AI3
CMD2 CANopen
AI4
CMD3 Network
CMD4 Controller
FWD/REV
Forced
local
Command channel 2 switching
Cd2 Command
FLO
switching
Terminals CCS Run
LIx
Stop
RUN/STOP Display terminal Forward
FWD/REV Reverse
CMD1 Modbus
CANopen LI1 ... LI14

CMD2
Cd1
CMD3 Network
Cd2
CMD4 Controller LIpp
C111 ... C115
C211 ... C215
C311 ... C315
C411 ... C415
52
Forced local
CiA402 profile (not separate mode)

Fr1
Forced local channel
LIx AI1 FLOC
AI2 LIx AI1
RUN/STOP AI2
Display terminal
FWD/REV AI3
CMD1 Modbus
AI4
CMD2 CANopen
CMD3 Network RUN/STOP Display terminal

CMD4 Controller FWD/REV
Forced
Direct local
reference switching
Fr2
switching FLO
AI1 rFC Run
LIx
Stop
AI2 Forward
Reverse
FWD/REV
CMD1 Modbus LI1 ... LI14
CANopen Fr1
CMD2 Fr2
CMD3 Network LIpp
C111 ... C115
Controller
CMD4 C211 ... C215
C311 ... C315
C411 ... C415
(1) In separate mode, command switching follows reference switching. It is therefore reference switching that switches the command.
53
Priority stops
Priority stops on the graphic display terminal

If the graphic display terminal is not the active command channel, pressing the STOP key on the graphic display terminal causes a
freewheel stop if:
The [Stop Key priority] (PSt) parameter in the [1.6 - COMMAND] (CtL-) menu is configured as [Yes] (YES) (factory setting).
If the graphic display terminal is the active command channel, the STOP key causes a stop according to the type of stop configured in the
[Type of stop] (Stt) parameter, regardless of the value of the [Stop Key priority] (PSt) parameter.
The effect of the graphic display terminal is not dependent on the profile.
Priority stops via the terminals or the network

I/O profile
In the I/O profile:
Stop and fault commands, configured as fixed assignments (LIpp, C1pp, C2pp, C3pp, C4pp), on terminal inputs or control word bits,
have priority even if the channel is not active.
Commands, configured as switched assignments (Cd00 ... Cd15), are active if and only if the channel is active.
Fixed assignments are configured using the following values:

Run on state command Run on edge command
Channel
[2 wire] (2C) [3 wire] (3C)
Drive terminals LI2 ... LI6 LI3 ... LI6
Logic I/O card LI7 ... LI10
Extended I/O card LI11 ... LI14
Integrated Modbus C101 ... C115 C102 ... C115
CANopen C201 ... C215 C202 ... C215
Communication card C301 ... C315 C302 ... C315
"Controller Inside" card C401 ... C415 C402 ... C415
Command Configuration =0 =1 Value for starting(1)

Freewheel stop [Freewheel stop ass.] (nSt) Stop No stop 1
Fast stop [Fast stop assign.] (FSt) Stop No stop 1
DC injection braking [DC injection assign.] (dCI) No braking Braking 0
External fault [External fault ass.] (EtF) No fault Fault 0
(1)
If the assignment is fixed, this is the value necessary for starting, even if another channel is active.
In the case of a run on edge command, configured via [3 wire] (3C) :

The stop command (run enable) is assigned by factory default to switched order 0 (equivalent to Cd00):
It is active at the terminals (LI1) only if the terminals are active.
It is active via the network (bit 0) only if the network is active.
54
Priority stops
CiA402 profile
In the CiA402 profile, separate or not separate mode:
External stop and fault commands, configured as fixed assignments (LIpp, C1pp, C2pp, C3pp, C4pp), on terminal inputs or control word
bits, have priority even if the channel is not active.
Commands, configured as switched assignments (Cd11 ... Cd15), are active if, and only if, the channel is active.
Fixed assignments are configured using the following values:

Run on state command Run on edge command
Channel
[2 wire] (2C) [3 wire] (3C)
Drive terminals LI2 ... LI6 LI3 ... LI6
Logic I/O card LI7 ... LI10
Extended I/O card LI11 ... LI14
Integrated Modbus C111 ... C115
CANopen C211 ... C215
Communication card C311 ... C315
"Controller Inside" card C411 ... C415
Cp11 is assigned by default to the reverse direction command [Reverse assign.] (rrS).
At the terminals:
Value for State reached since
Command Configuration =0 =1
starting(1) 5-Operation enabled
[Freewheel stop ass.]
Freewheel stop Stop No stop 1 2-Switch on disabled
(nSt)
Fast stop [Fast stop assign.] (FSt) Stop No stop 1 4-Switched on
[DC injection assign.]
DC injection braking No braking Braking 0 5-Operation enabled
(dCI)
External fault [External fault ass.] (EtF) No fault Fault 0 8-Fault
(1)
In run on edge command, configured by [3 wire] (3C), the stop command (run enable) is assigned by factory default to LI1. This command
is active even if the terminals are not the active channel.
Via the network:

Value for State reached since
Command Configuration =0 =1
starting(1) 5-Operation enabled
Fast stop [Fast stop assign.] (FSt) No stop Stop 0 4-Switched on
[DC injection assign.]
DC injection braking No braking Braking 0 5-Operation enabled
(dCI)
External fault [External fault ass.] (EtF) No fault Fault 0 8-Fault
(1)
In the CiA402 profile, the freewheel stop command [Freewheel stop ass.] (nSt) cannot be assigned to the control word. Freewheel stop is
obtained using the "5-Disable operation" or "Halt" commands with the type of stop [Type of stop] (Stt) parameter configured as
[Freewheel] (nSt).
55
Communication monitoring
The Altivar 71 drive incorporates communication monitoring mechanisms.
Principle
Following initialization (power-up), the drive waits until at least one command or reference parameter has been written for the first time by
the network.
Then, the network is monitored and, if a network fault occurs, the drive reacts according to the configuration (ignore fault, stop on drive fault,
maintain speed, fallback speed, or stop without fault).
The drive can start only once all the command and reference parameters of the active network have been written.
Network monitoring criteria

The network is monitored in accordance with protocol-specific criteria, which are summarized in the table below and specified in the
corresponding protocol manual.
Protocol Network problem Related drive fault (1)

Integrated Modbus ports Adjustable time-out for received requests destined for the drive [Modbus com.] (SLF1)
Bus Off
Life Guarding
Integrated CANopen port CANoverrun [CANopen com.] (COF)
Heartbeat
NMT state machine transition
Network management fault:
FDR fault [External fault com.] (EPF2)
IP address duplication fault
Modbus TCP/IP Ethernet
card Communication fault:
Adjustable time-out for received control word (I/O scanning or
messaging)
Network overload
Non-adjustable time-out for received periodic variables destined for
Fipio card
the drive
Adjustable time-out:
Either for received periodic variables (Peer cop) destined for the
Modbus Plus card drive
Or for Modbus messages destined for the drive, if no periodic
variables (Peer cop) configured
[Com. network] (CnF)
Modbus card Fixed time-out (10 s) for received requests destined for the drive
Uni-Telway card Fixed time-out (10 s) for master polling
Adjustable time-out (via the network configuration software) for
Profibus DP card
received periodic variables (PZD and PKW) destined for the drive
INTERBUS card Time-out for received periodic variables destined for the drive
Communication fault:
Adjustable time-out:
Either for received periodic variables (Polling and COS)
destined for the drive
DeviceNet card Or for network activity, if no periodic variables configured
Configuration fault:
The drive configuration is not compatible with the selected [External fault com.] (EPF2)
assembly
(1) If the drive is configured to trip on a fault in the event of a network fault
If an anomaly is detected, the port or network card indicates a network fault.
56
Behavior in the event of a network fault

In the event of a network fault (on a monitored channel), the drive reacts as specified in the [1.8 - FAULT MANAGEMENT] (FLt-) menu ([COM. FAULT
MANAGEMENT] (CLL-) submenu) by the following parameters:
[Modbus fault mgt] (SLL) for integrated Modbus
[CANopen fault mgt] (COL) for CANopen
[Network fault mgt] (CLL) for a network card
The Modbus TCP/IP Ethernet card can also trigger an external fault (in the event of an FDR fault or IP address duplication fault), to which
the drive reacts as specified in the [1.8 FAULT MANAGEMENT] (FLt-) menu ([EXTERNAL FAULT] (EtF-) submenu) by the [External fault
mgt] (EPL) parameter.
The drive can react in five possible ways:
1. Drive fault
[Freewheel] (YES) : Freewheel stop (factory setting)

[Ramp stop] (rMP): Stop on ramp
[Fast stop] (FSt): Fast stop
[DC injection] (dCI): DC injection stop
The fault displayed will depend on the source of the communication fault:
[Modbus com.] (SLF1) for integrated Modbus
[CANopen com.] (COF) for CANopen
[Com. network] (CNF) for a network card
[External fault com.] (EPF2) for Ethernet card FRD and IP faults
The CiA402 state chart changes to "7 - Fault reaction active" and then to "8 - fault".
2. Stop without fault
[Per STT] (Stt): Stop according to configuration of [Type of stop] (Stt).
There is no drive fault.
If the CiA402 state chart is in "5-Operation enabled", it changes to "4-Switched on" after stopping.
3. Ignore fault
[Ignore] (nO): Fault ignored
4. Maintain speed
[Spd maint.] (rLS): The drive maintains the speed at the time the fault occurred, as long as the fault persists and the run command has
not been removed.
If the CiA402 state chart is in "5-Operation enabled", it remains there.
5. Fallback speed
[Fallback spd] (LFF): Change to fallback speed, maintained as long as the fault persists and the run command has not been removed.
If the CiA402 state chart is in "5-Operation enabled", it remains there.
The fallback speed can be configured in the [1.8 FAULT MANAGEMENT] (FLt-) menu using the [Fallback speed] (LFF) parameter.
Note: The drive will not start up immediately at the fallback speed. If there is a loss of communication, the drive will only run at the fallback
speed if the run command was present when the communication fault occurred.
In the event of a control system being used to ensure switchover to an active safe state if there is a loss of communication, drives that have
been stopped must always be left in the run state (5 - Operation enabled) with zero reference to ensure that they change to the fallback
speed.
57
Detailed operation
Monitoring of communication channels
The drive monitors all its communication channels.
Communication problems are indicated on the LEDs on the card or drive or on the graphic display terminal. However, a problem does
not always trigger a network fault or a drive fault.
- Example:
If a drive is controlled via the I/O and only monitored via an Ethernet network, an Ethernet communication problem does not cause
a fault.
As soon as a command or reference parameter has been written for the first time on a communication channel, this channel is said
to be connected.
A channel is said to be participant if it transmits a command or reference parameter necessary for controlling the drive (see list in the
table below).
Channel state Parameter Assignment

If the channel is the active [Cmd channel 1] (Cd1)
Control word (CMd)
command channel or [Cmd channel 2] (Cd2)
If the channel is the active [Ref. 1 channel] (Fr1)
reference channel Frequency reference (LFr) or Speed reference (LFrd) or [Ref. 1B channel](Fr1b)
or [Ref. 2 channel](Fr2)
[Cmd switching] (CCS)
Control word (CMd) containing a command or reference switch or [Ref 1B switching] (rCb)
or [Ref. 2 switching] (rFC)
[Summing ref. 2] (SA2)
Frequency reference (LFr) or Speed reference (LFrd), either or [Summing ref. 3] (SA3)
summing or subtracting or [Subtract ref. 2] (dA2)
or [Subtract ref. 3] (dA3)
Whatever the channel state
Torque reference (Ltr) [Torque ref. channel] (Tr1)
PID regulator reference (PISP) [Ref. 1 channel] (Fr1)
[PID feedback ass.] (PIF)
Network analog input [Network AI] (AIU1)
or [AI net. channel] (AIC1)
[Multiplier ref. 2] (MA2)
Reference multiplication coefficient (MFr)
or [Multiplier ref. 3] (MA3)
- Example:
If the operation on reference function [REF. OPERATIONS] (OAI-) is active and a summing reference [Summing ref. 2] (SA2)
has been assigned to [Modbus] (Mdb), the Modbus reference plays a part in control.
If a communication problem occurs on a connected participant channel, then the drive triggers a network fault.
The drive reacts according to the network fault configuration (drive fault, stop without fault, ignore fault, maintain speed or fallback
speed).
If a communication problem occurs on a non-participant or disconnected channel, the drive does not trigger a network fault or a drive
fault. This avoids, in particular, the occurrence of spurious faults when installations are powered up.
- Example:
A drive is controlled via CANopen and is powered up.
The PLC is powered up but is not in RUN mode. The network is operational but no parameter has been sent to the drive yet. If
the drive is disconnected from the CANopen network, a communication problem occurs, but no fault.
The channel disconnects in the event of a communication problem.
Note: A control word (CMd) of a channel other than the active channel with fixed bit assignments, other than channel switches (fast stop,
preset speeds, etc.) is not considered to be participant. A communication problem will not cause a network fault.
- Example:
A drive is equipped with a "Controller Inside" card and an Ethernet card.
The "Controller Inside" card controls the drive (command and reference).
One bit of the Ethernet control word is assigned to "fast stop".
If the drive is disconnected from the Ethernet network, the drive can no longer be stopped via Ethernet (however, a drive fault is
not triggered).
58
Enabling of communication channels

A communication channel is enabled if all its parameters assigned to drive functions have been received.
- Example:
A drive is in I/O profile with speed control. Modbus constitutes both the command and reference channel.
The Modbus channel will be enabled as soon as the control word and speed reference have been received.
The drive is only able to start if all participant channels are enabled.
- Example 1:
A drive in CiA402 profile is connected to Modbus, which is the active channel.
Unless the reference has been written at least once, it will not be possible to proceed to the "5-Operation enabled" state, even if
the "4-Enable operation" command is sent.
- Example 2:
A drive is connected to Modbus.
The terminals are both the reference and command channel.
The operation on reference function [REF. OPERATIONS] (OAI-) is active and summing input 2 is assigned to Modbus.
The drive will not start until the reference has been supplied by Modbus.
- Example 3:
A drive is configured for switching between the terminals and CANopen.
If the command switch is assigned to the Ethernet card, startup will only be possible once the Ethernet channel is enabled.
A communication problem disables a communication channel.
When switching from an enabled channel to a disabled channel, the drive immediately triggers a network fault.
=1
Channel disconnected 7 Network fault
Communication
problem and Command or Communication
non-participant 3 reference problem and
channel
1 participant 5
parameter
received channel
Communication Connected
problem and channel disabled
4
non-participant
channel
Communication
All parameters assigned
problem and
to drive functions have 2
participant 6
been received
channel
Channel
enabled
Special case involving Ethernet Modbus TCP/IP card

The Ethernet card can generate two types of network fault: a network management fault and a communication fault.
If a network management fault (FDR or IP address duplication fault) occurs, a drive fault is generated regardless of the state (active,
participant, etc.) of this channel.
59
Assignment of setpoints from a network
Setpoint parameters
The Altivar 71 supports a number of setpoint parameters, which must be selected according to the functions used in the drive.
Function used Input to be assigned Value Setpoint to be sent via the network
Speed reference [Ref.1 channel] (Fr1) [Modbus] (Mdb) or Speed reference (LFRD)
(rpm) [Ref.2 channel] (Fr2) [CANopen] (CAn) or
[Ref.1B channel] (Fr1b) [Com. card] (nEt)
Frequency reference [Ref.1 channel] (Fr1) [Modbus] (Mdb) or Frequency reference (LFR)
(0.1 Hz or high [Ref.2 channel] (Fr2) [CANopen] (CAn) or
resolution) [Ref.1B channel] (Fr1b) [Com. card] (nEt)
Sum [Summing ref. 2] (SA2) [Modbus] (Mdb) or Speed reference (LFRD) or Frequency reference (LFR)
[Summing ref. 3] (SA3) [CANopen] (CAn) or
[Com. card] (nEt) or
[Network AI] (AIU1)
Subtraction [Subtract. ref. 2] (dA2) [Modbus] (Mdb) or Speed reference (LFRD) or Frequency reference (LFR)
[Subtract. ref. 3] (dA3) [CANopen] (CAn) or
[Network AI] (AIU1)
Multiplication [Multiplier ref. 2] (MA2) [Modbus] (Mdb) or [Multiplying coeff.] (MFr)
[Multiplier ref. 3] (MA3) [CANopen] (CAn) or
[Network AI] (AIU1)
PID regulator [Ref.1 channel] (Fr1) [Modbus] (Mdb) or PID regulator reference (PISP)
[Ref.1B channel] (Fr1b) [CANopen] (CAn) or
[Com. card] (nEt)
[PID feedback ass.] (PIF) [Network AI] (AIU1) PID regulator feedback (AIU1)
[AI net. channel] (AIC1) [Modbus] (Mdb) or
[CANopen] (CAn) or
[Com. card] (nEt)
Torque control [Torque ref. channel] (Tr1) [Modbus] (Mdb) or Torque reference (LTR)
[CANopen] (CAn) or
[Com. card] (nEt)
Example 1:
The drive is to be controlled by sending the speed reference to the PID regulator via CANopen. No application function is used.
The following must be assigned: [Ref.1 channel] (Fr1) = [CANopen] (CAn)
The following must be sent: Speed reference (LFRD)
Example 2:
The drive is to be controlled by sending the PID regulator reference via Modbus.
The following must be assigned: [Ref.1 channel] (Fr1) = [Modbus] (Mdb)
The following must be sent: PID regulator reference (PISP)
Example 3:
The drive is to be controlled by sending the PID regulator reference and the feedback via the Ethernet card.
The following must be assigned:
- [Ref.1 channel] (Fr1) = [Com. card] (nEt)
- [PID feedback ass.] (PIF) = [Network AI] (AIU1)
- [AI net. channel] (AIC1) = [Com. card] (nEt)
The following must be sent:
- PID regulator reference (PISP)
- PID regulator feedback (AIU1)
60
Without PID regulator

[Ref 1B switching]
279/
H/>
0V nO
[Ref.1 channel]
2H$ AI1
Note: Forced local is not active in
FRA Preset speeds
2H$> AI2 [I/O profile].
[Ref.1B channel]
(FRA + SA2 + SA3 - dA2 - dA3) x MA2 x MA3
AI3
[Summing ref. 2] nO 72H
AI4
;-% (SP1)
Graphic display
terminal LCC
[Summing ref. 3]
SP2
;-&
[Subtract. ref. 2]
LI
@-% SP16
[Subtract. ref. 3]
Jog
@-& operation
[Multiplier ref. 2] nO
8-%
[Multiplier ref. 3]
+/- speed around a
8-&
reference
[PID REGULATOR]
:52 [High Ramps
LI speed]
nO
Channel 1
PID not assigned
HSP ACC DEC
Network references FrH FrO Power
nO
FrOd
stage M
Fr1, Fr1b, Fr2: [Ref.2 channel] nO
LSP
FrHd
AC2 DE2
LFr or LFrd
Channel 2
2H% [Low speed]

SA2, SA3, dA2, dA3: rFr
LFr, LFrd, or AIU1 279
Forced local rFrd
MA2, MA3: Key: H2/
[Ref. 2 switching]
MFr or AIU1
Parameter:
The black square represents the
factory setting assignment.
61
With PID regulator

[Ref 1B switching] 279/
H/>
[Ref.1 channel] 0V nO
PIP1
2H$ AI1 Note: Forced local is not active in
2H$> AI2 [I/O profile].
[Ref.1B channel] PIP2
AI3
72H
[Summing ref. 2]
FRA + SA2 + SA3 - dA2 - dA3
AI4
;-%
LCC
[Summing ref. 3]
;-&
Graphic display
[Subtract. ref. 2] terminal
@-%
[Subtract. ref. 3]
@-&
Network references
Fr1, Fr1b: PID B
A
PISP See diagram
below
SA2, SA3, dA2, dA3: [High
LI speed] Ramps (1)
LFr, LFrd, or AIU1
Fr2, FPI: HSP ACC DEC
FrH FrO Power
LFr or LFrd Channel 1
nO stage M
[Ref.2 channel] FrHd FrOd
LSP AC2 DE2
Network feedback 2H% [Low speed]
Channel 2
rFr
AIU1
279
rFrd
Forced local
H2/
[Ref. 2 switching]
A LI Restart B
Error (wake-up) error Auto/
Pr2 threshold
inversion Manual
Pr4 Ramp
PIC tLS PAU
PII rPC rdG POH AC2 rPO
nO nO
nO + rSL (1) +
rIG
Internal rPI - rPE x(-1) rPG (manu)
PrP YES 0 +
rP2 POL
reference YES
rP3 Gains
rP4
PIF rPF
nO Preset PID references
AI1 Predictive Ramps
..... Scaling speed
AI4 reference ACC DEC
[RP] (PI) PIF1 / PIF2 FPI x PSr
PIP1 / PIP2
[Encoder] (PG)
[Network AI]
(AIU1)
PID Preset manual references
feedback
Manual nO
reference
PIN
Key:
SP2
Parameter:
SP16 The black rectangle
represents the factory
setting assignment.
(1) Ramp AC2 is only active at startup of the PID function and during PID "wake-ups".
62
Configuration saving and switching
Saving the configuration

When a parameter is modified via the drives integrated display terminal or graphic display terminal, this parameter is automatically saved
to the EEPROM non-volatile memory.
Display
terminal
Current
configuration
(RAM)
Configuration 0 Configuration 1 Configuration 2 Factory settings

(EEPROM) (EEPROM) (EEPROM)
When a parameter is modified using a PLC or an HMI terminal via a network (Modbus, CANopen or a network card), this parameter is written
to the current configuration in the RAM volatile memory. It is not saved to the EEPROM non-volatile memory. If the drive control voltage is
disconnected, when it is reconnected, the parameter reverts to the initial value and the setting is lost.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC
No

63
To save the parameter, a save command must be executed using bit 1 of the extended control word (CMI).
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC
Extended control word: Set to 1

Save (CMI,1)

The save command is only active if the drive is stopped and not in "5-Operation enabled" state.
64
Restore configuration
The restore configuration command is executed using bit 2 of the extended control word (CMI).
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC

Restore configuration (CMI,2)

The return to factory settings command is executed using bit 0 of the extended control word (CMI). The type of setting is determined by the
active macro configuration parameter [Macro configuration] (CFG) and by the [PARAMETER GROUP LIST] (FrY) parameter which
defines the parameter groups concerned.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC

Factory setting (CMI,0)

[Macro configuration]
(CFG)
The restore command is only active if the drive is stopped and not in "5-Operation enabled" state.
65
Configuration switching via control word

The configuration or motor switching function (see the Programming Manual) can be used via the network or via the terminals.
Display
terminal
Current
configuration
(RAM)
Configuration switching
Terminals [2 Configurations](CnF1)
[3 configurations](CnF2)
Active
configuration 10
(CNFS) 00 01
11

To use this function via a network, simply assign one or two bits of the control word to the motor or configuration switching command via
the [2 Configurations] (CnF1) and [3 Configurations] (CnF2) parameters.
The active configuration can be read in the [Config. active] (CNFS) parameter.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC
Control word:
Configuration switching Set to 0/1
[2 Configurations](CnF1)
[3 configurations](CnF2)
Active
configuration 10
(CNFS) 00 01
11

66
When the configuration or motor switching function is configured on inputs or on control word bits, to save a configuration that is already
active, set bit 1 of the extended control word (CMI) to 1.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC

Save configuration (CMI,1)
Active
configuration 1 2 3
(CNFS)

When the configuration or motor switching function is configured on inputs or on control word bits, bit 2 of the extended control word (CMI)
must be set to 1.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC

Restore configuration (CMI,2)
Active
configuration 1 2 3
(CNFS)

The configuration switching commands are only active if the drive is stopped and not in "5-Operation enabled" state.
67
Function parameters
Code Description
CNF1 Parameter name: Assignment for 2 configurations
Terminal display: [2 Configurations]
Logic address: 8021 = 16#1F55 Type: WORD (listing)
CANopen index: 2032/16 Read/write: R/WS
INTERBUS index: 5FBC/9C Factory setting: 0
DeviceNet path: 9C/01/9C
See next page.
CNF2 Parameter name: Assignment for 3 configurations
Terminal display: [3 Configurations]
INTERBUS index: 5FBC/9D Factory setting: 0
DeviceNet path: 9C/01/9D
See next page.
CNFS Parameter name: Active configuration
Terminal display: [Config. active]
CANopen index: 2032/15 Read/write: R
INTERBUS index: 5FB9/CD
DeviceNet path: 89/01/15
0= The parameter set switching function is not configured

1= (CNF0): Configuration no. 0 active
Value of the control bit assigned by [2 Configurations] (CnF1) 0 1 0 1

Value of the control bit assigned by [3 Configurations] (CnF2) 0 0 1 1
Value of [Config. active] (CnFS) 1 2 3 3
Active configuration 0 1 2 2
68
Assignment of logic inputs and control bits for CNF1 and CNF2
Value Assignment Description/Condition

0 Not assigned
129 [LI1] (LI1) Logic inputs
to to
134 [LI6] (LI6) Drive with or without option
to to
138 [LI10] (LI10) With VW3A3201 logic I/O card
to to
142 [LI14] (LI14) With VW3A3202 extended I/O card
187 [C111] (C111) Control bit
to to
191 [C115] (C115) With integrated Modbus regardless of profile
to to
207 [C215] (C215) With integrated CANopen regardless of profile
to to
223 [C315] (C315) With a communication card regardless of profile
to to
239 [C415] (C415) With Controller Inside card regardless of profile
Note: In [I/O profile] (IO), LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C), LI2 cannot be accessed either.
69
Configuration switching by selection

The current configuration can be saved in one of the 3 non-volatile configurations in EEPROM using the "Save configuration" (SCS)
parameter. In this case, it is not necessary to assign a function in the control word.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC
Save configuration Write

(SCS)
1 2 3

One of the 3 non-volatile configurations in EEPROM can be restored to the current configuration using the "Restore configuration" (FCS)
parameter.
Note: Value 64 controls the return to factory settings.
Display
terminal Industrial
Modbus HMI
terminal
CANopen
Current
configuration
(RAM) Network PLC
Restore configuration Write

(FCS)
1 2 3 64

[Macro configuration]
(CFG)
The configuration switching commands are only active if the drive is stopped and not in "5-Operation enabled" state.
70
Function parameters
Code Description
SCS Parameter name: Save configuration
INTERBUS index: 5FBC/9A
DeviceNet path: 9C/01/9A
0= No save
1= Save to configuration no. 0
FCS Parameter name: Restore configuration
INTERBUS index: 5FBC/9B
DeviceNet path: 9C/01/9B
0= No restore
1= Restore configuration no. 0
64 = Factory setting
FrY Parameter name: Parameter group list
Terminal display: [PARAMETER GROUP LIST]
Logic address: 3022 = 16#OBCE Type: WORD (bit register)
INTERBUS index: 5FBC/06 Factory setting: 0
Selection of menus to be loaded

Bit 0: = 1: [All] (ALL) : All parameters
Bit 1: = 1: [Drive menu] (drM): The [1 DRIVE MENU] menu without [1.9 COMMUNICATION] and [1.14 CONTROL
INSIDE MENU]. In the [7 DISPLAY CONFIG.] menu, [Return std name] returns to [No].
Bit 2: = 1: [Settings] (SEt): The [1.3 SETTINGS] menu without the [IR compensation] (UFr), [Slip compensation]
(SLP) and [Mot. therm. current] (ItH) parameters.
Bit 3: = 1: [Motor param] (MOt): Motor parameters:
[Rated motor power] (nPr) - [Rated motor volt.] (UnS) - [Rated mot. current] (nCr) - [Rated motor freq.] (FrS) -
[Rated motor speed] (nSP) - [Auto tuning] (tUn) - [Auto tuning state] (tUS) - [U0] (U0) to [U5] (U5) - [Freq pt
1on 5pt V/F] (F1) to [F5] (F5) - [V. constant power] (UCP) - [Freq. Const Power] (FCP) - [Nominal I sync.]
(nCrS) - [Nom motor spdsync] (nSPS) - [Pole pairs] (PPnS) - [Syn. EMF constant] (PHS) - [Autotune L d-axis]
(LdS) - [Autotune L q-axis] (LqS) - [Cust. stator R syn] (rSAS) - [IR compensation] (UFr) - [Slip compensation]
(SLP) - the motor parameters that can be accessed in [Expert] mode.
The following selections can only be accessed if [Config. Source] (FCSI) = [Macro-Conf] (InI):
Bit 4: = 1: [Comm. menu] (COM): The [1.9 COMMUNICATION] menu without either [Scan. IN1 address] (nMA1) to
[Scan. IN8 address] (nMA8) or [Scan.Out1 address] (nCA1) to [Scan.Out8 address] (nCA8).
Bit 5: = 1: [Control Inside menu] (PLC): The [1.14 CONTROL INSIDE MENU] menu
Bit 6: = 1: [Monitor config.] (MOn): The [6 MONITORING CONFIG.] menu
Bit 7: = 1: [Display config.] (dIS): The [7 DISPLAY CONFIG.] menu
Bits 8 to 15: Reserved (= 0 or 1)
71
Parameter set switching
The parameter set switching function (see the Programming Manual) can be used via the network or via the terminals.
To use this function via a network, simply assign one or two bits of the control word to parameter set switching via the [2 Parameter sets]
(CHA1) and [3 Parameter sets] (CHA2) parameters.
The active set can be read in the "Active parameter set" (CFPS) parameter.
The parameter sets can be written via a network.
The parameter sets can be switched with the motor running.
Function parameters
Code Description
CHA1 Parameter name: Assignment for 2 sets
Terminal display: [2 Parameter sets]
Logic address: 12902 = 16#3266 Type: WORD (listing)
INTERBUS index: 5FBD/54 Factory setting: 0
DeviceNet path: A1/01/67
See next page.
CHA2 Parameter name: Assignment for 3 sets
Terminal display: [3 Parameter sets]
INTERBUS index: 5FBD/55 Factory setting: 0
See next page.
CFPS Parameter name: Active parameter set
INTERBUS index: 5FB9/EC
0= The parameter set switching function is not configured

1= [Set 1 active] (CFP1): Parameter set no. 1 active
Value of the control bit assigned by [2 Parameter sets] (CHA1) 0 1 0 1

Value of the control bit assigned by [3 Parameter sets] (CHA2) 0 0 1 1
Value of "Active parameter set" (CFPS) 1 2 3 3
Active parameter set 1 2 3 3
72
CHA1 and CHA2 assignment values
Value Assignment Description/Condition

0 [No] (nO) Not assigned
4 [Freq. Th. attain.] (FtA) Switching via [Freq. threshold] (Ftd)
13 [Freq. Th. 2 attain.] Switching via [Freq. threshold 2] (F2d)
(F2A)
to to
134 [LI6] (LI6) Drive with or without option
to to
138 [LI10] (LI10) With VW3A3201 logic I/O card
to to
142 [LI14] (LI14) With VW3A3202 extended I/O card
160 [CD00] (Cd00) Switchable bit
to to
170 [CD10] (Cd10) In [I/O profile] (IO)
171 [CD11] (Cd11) Switchable bit
to to
175 [CD15] (Cd15) Regardless of profile
to to
186 [C110] (C110) With integrated Modbus in [I/O profile] (IO)
to to
191 [C115] (C115) With integrated Modbus regardless of profile
to to
202 [C210] (C210) With integrated CANopen in [I/O profile] (IO)
to to
207 [C215] (C215) With integrated CANopen regardless of profile
to to
218 [C310] (C310) With a communication card in [I/O profile] (IO)
to to
223 [C315] (C315) With a communication card regardless of profile
to to
234 [C410] (C410) With Controller Inside card in [I/O profile] (IO)
to to
239 [C415] (C415) With Controller Inside card regardless of profile
Note: In [I/O profile] (IO), LI1 cannot be accessed and if [2/3 wire control] (tCC) = [3 wire] (3C), LI2, C101, C201, C301 and C401
cannot be accessed either.
73
Parameter sets can be loaded via the following parameters:
Address table:
No. Code Logic address: CANopen index: INTERBUS index: DeviceNet path:
1 AD01 12911 = 16#326F 2063/C 5FBF/8C 9F/01/8C
2 AD02 12912 = 16#3270 2063/D 5FBF/8D 9F/01/8D
3 AD03 12913 = 16#3271 2063/E 5FBF/8E 9F/01/8E
4 AD04 12914 = 16#3272 2063/F 5FBF/8F 9F/01/8F
5 AD05 12915 = 16#3273 2063/10 5FBF/90 9F/01/90
6 AD06 12916 = 16#3274 2063/11 5FBF/91 9F/01/91
7 AD07 12917 = 16#3275 2063/12 5FBF/92 9F/01/92
8 AD08 12918 = 16#3276 2063/13 5FBF/93 9F/01/93
9 AD09 12919 = 16#3277 2063/14 5FBF/94 9F/01/94
10 AD10 12920 = 16#3278 2063/15 5FBF/95 9F/01/95
11 AD11 12921 = 16#3279 2063/16 5FBF/96 9F/01/96
12 AD12 12922 = 16#327A 2063/17 5FBF/97 9F/01/97
13 AD13 12923 = 16#327B 2063/18 5FBF/98 9F/01/98
14 AD14 12924 = 16#327C 2063/19 5FBF/99 9F/01/99
15 AD15 12925 = 16#327D 2063/1A 5FBF/9A 9F/01/9A
Table of values for set no. 1:

1 S101 12931 = 16#3283 2063/20 5FBF/9B 9F/01/9B
2 S102 12932 = 16#3284 2063/21 5FBF/9C 9F/01/9C
3 S103 12933 = 16#3285 2063/22 5FBF/9D 9F/01/9D
4 S104 12934 = 16#3286 2063/23 5FBF/9E 9F/01/9E
5 S105 12935 = 16#3287 2063/24 5FBF/9F 9F/01/9F
6 S106 12936 = 16#3288 2063/25 5FBF/A0 9F/01/A0
7 S107 12937 = 16#3289 2063/26 5FBF/A1 9F/01/A1
8 S108 12938 = 16#328A 2063/27 5FBF/A2 9F/01/A2
9 S109 12939 = 16#328B 2063/28 5FBF/A3 9F/01/A3
10 S110 12940 = 16#328C 2063/29 5FBF/A4 9F/01/A4
11 S111 12941 = 16#328D 2063/2A 5FBF/A5 9F/01/A5
12 S112 12942 = 16#328E 2063/2B 5FBF/A6 9F/01/A6
13 S113 12943 = 16#328F 2063/2C 5FBF/A7 9F/01/A7
14 S114 12944 = 16#3290 2063/2D 5FBF/A8 9F/01/A8
15 S115 12945 = 16#3291 2063/2E 5FBF/A9 9F/01/A9
74
Table of values for parameter set no. 2:

1 S201 12951 = 16#3297 2063/34 5FBF/AA 9F/01/AA
2 S202 12952 = 16#3298 2063/35 5FBF/AB 9F/01/AB
3 S203 12953 = 16#3299 2063/36 5FBF/AC 9F/01/AC
4 S204 12954 = 16#329A 2063/37 5FBF/AD 9F/01/AD
5 S205 12955 = 16#329B 2063/38 5FBF/AE 9F/01/AE
6 S206 12956 = 16#329C 2063/39 5FBF/AF 9F/01/AF
7 S207 12957 = 16#329D 2063/3A 5FBF/B0 9F/01/B0
8 S208 12958 = 16#329E 2063/3B 5FBF/B1 9F/01/B1
9 S209 12959 = 16#329F 2063/3C 5FBF/B2 9F/01/B2
10 S210 12960 = 16#32A0 2063/3D 5FBF/B3 9F/01/B3
11 S211 12961 = 16#32A1 2063/3E 5FBF/B4 9F/01/B4
12 S212 12962 = 16#32A2 2063/3F 5FBF/B5 9F/01/B5
13 S213 12963 = 16#32A3 2063/40 5FBF/B6 9F/01/B6
14 S214 12964 = 16#32A4 2063/41 5FBF/B7 9F/01/B7
15 S215 12965 = 16#32A5 2063/42 5FBF/B8 9F/01/B8
Table of values for set no. 3:

1 S301 12971 = 16#32AB 2063/48 5FBF/B9 9F/01/B9
2 S302 12972 = 16#32AC 2063/49 5FBF/BA 9F/01/BA
3 S303 12973 = 16#32AD 2063/4A 5FBF/BB 9F/01/BB
4 S304 12974 = 16#32AE 2063/4B 5FBF/BC 9F/01/BC
5 S305 12975 = 16#32AF 2063/4C 5FBF/BD 9F/01/BD
6 S306 12976 = 16#32B0 2063/4D 5FBF/BE 9F/01/BE
7 S307 12977 = 16#32B1 2063/4E 5FBF/BF 9F/01/BF
8 S308 12978 = 16#32B2 2063/4F 5FBF/C0 9F/01/C0
9 S309 12979 = 16#32B3 2063/50 5FBF/C1 9F/01/C1
10 S310 12980 = 16#32B4 2063/51 5FBF/C2 9F/01/C2
11 S311 12981 = 16#32B5 2063/52 5FBF/C3 9F/01/C3
12 S312 12982 = 16#32B6 2063/53 5FBF/C4 9F/01/C4
13 S313 12983 = 16#32B7 2063/54 5FBF/C5 9F/01/C5
14 S314 12984 = 16#32B8 2063/55 5FBF/C6 9F/01/C6
15 S315 12985 = 16#32B9 2063/56 5FBF/C7 9F/01/C7
75
Code Description
VAL Parameter name: Load parameter set command
CANopen index: 2063/02 Read/write: R/W
INTERBUS index:
0 = Function not used or a new set of parameters has been taken into account
1 = Request to write a new set of parameters
2 = A new set of parameters is being written
Procedure:
Write the addresses and values of the sets.
Set VAL to 1.
Once the new sets have been taken into account, the drive resets (VAL) to 0.
76
Loading drive parameters
Requirement
Certain applications require parameters to be downloaded:
When the installation starts up
When the manufacturing range is changed
When a faulty device is replaced
Neither the integrated ports nor the network cards of the drive provide a parameter file loading procedure (except for the faulty device
replacement (FDR) mechanism of the VW3 A3 310 Modbus Ethernet TCP/IP card).
Parameter loading is therefore based on write requests that have to be programmed in the controller (PLC, etc.).
If the controller is limited to writing parameters sequentially, the final configuration risks not being identical to the one desired.
The differences between the configuration to be loaded and the real configuration result from consistency checking of the drive parameters.
The drive checks relationships between the parameters, and if they are not correct:
It automatically modifies a parameter which is offered for writing (pedestal, deadband) or
Writing of the parameter is rejected
Examples illustrating this problem are given on page 78.
The controller must therefore follow a procedure that includes a phase of disabling the consistency check function.
Procedure
All the operations described below must be carried out with the motor stopped, with no run command to the drive.
Saving the reference configuration

1. Identify the parameters of the reference drive that differ from the factory setting. These parameters can be identified easily using the
PowerSuite software (which displays the list of parameters).
2. Reserve a parameter map table in the controller (PLC, etc.). This map table is a series of addresses and values. The last parameter to
be loaded is identified by an address equal to -1.
3. Enter the addresses of the modified parameters into the controller's map table by copying the list given by the PowerSuite software.
4. Initialize the values in the map table. There are two possible methods:
- Enter the values manually.
- Program an automatic read function in the controller. Connect the controller to the reference drive. Save the reference
configuration in the map table.
Loading the configuration

The program in the controller (PLC, etc.) must perform the following operations:
1. Command a drive factory setting:
Write the value 16#0001 to the extended control word (8504-CMI).
2. Disable the parameter consistency check function:

3. Load the configuration:

Write the parameters one after another using the map table.
4. Enable the parameter consistency check function:

5. Check the drive configuration:

Read and compare the parameters one after another against the map table.
77
Loading drive parameters
Inconsistency examples
The two adjustment parameters [Low speed] (3105-LSP) and [High speed] (3104-HSP) comply with the consistency rule:
0 y [Low speed] (3105-LSP) y [High speed] (3104-HSP) y 10000.
Example 1
Initial configuration V Configuration to be loaded:
[High speed] (3104-HSP) = 30 Hz V [High speed] (3104-HSP) = 60 Hz
[Low speed] (3105-LSP) = 20 Hz V [Low speed] (3105-LSP) = 40 Hz
"Request n: Request to write [Low speed] (3105-LSP) to 40 Hz

"Consistency check: The consistency rule [Low speed] (3105-LSP) y [High speed] (3104-HSP) has not been observed:
- The [Low speed] (3105-LSP) parameter actually written into the drive is 30 Hz.
"Request n+1: Request to write [High speed] (3104-HSP) = 60 Hz

"Consistency check: The consistency rules have been observed:
- The [High speed] (3104-HSP) parameter is correctly written as 60 Hz in the drive.
The loaded configuration differs from the configuration to be loaded:

[Low speed] (3105-LSP) = 30 Hz instead of [Low speed] (3105-LSP) = 40 Hz
The drive can operate between 30 Hz and 40 Hz, which is not desired.
Example 2
Initial configuration V Configuration to be loaded:
[High speed] (3104-HSP) = 60 Hz V [High speed] (3104-HSP) = 30 Hz
[Low speed] (3105-LSP) = 40 Hz V [Low speed] (3105-LSP) = 0 Hz
"Request n: Request to write [High speed] (3104-HSP) to 30 Hz

"Consistency check: The consistency rule [Low speed] (3105-LSP) y [High speed] (3104-HSP) has not been observed:
- The [High speed] (3104-HSP) parameter actually written into the drive is 40 Hz.
"Request n+1: Request to write [Low speed] (3105-LSP) = 0 Hz

"Consistency check: The consistency rules have been observed:
- The [Low speed] (3104-HSP) parameter is correctly written as 0 Hz in the drive.
The loaded configuration differs from the configuration to be loaded:

[High speed] (3104-HSP) = 40 Hz instead of [High speed] (3104-HSP) = 30 Hz
The drive can operate between 30 Hz and 40 Hz, which is not desired.
78
Command parameters
Code Description
CMd Parameter name: Control word
Terminal display: [Cmd value]
CiA402 name: controlword
DRIVECOM name: Control word
Logic address: 8601 = 16#2199 Type: WORD (bit register)

or 8501 = 16#2135 (1)
INTERBUS index: 6040/0
DeviceNet path: B7/01/01

(1) Note: This parameter is available at two logic addresses to optimize exchanges via Modbus messaging (Modbus
function 16 = 16#10 Write Multiple Registers):
- If the drive has to be controlled in terms of speed, it is preferable to use address 8601, since the speed reference
is at address 8602.
- If the drive has to be controlled in terms of frequency, it is preferable to use address 8501, since the frequency
reference is at address 8502.
Parameter conforming to CiA402 profile
Possible values in the IO profile
On state command [2 wire] (2C) On edge command [3 wire] (3C)

bit 0: Forward (on state) command bit 0: Stop (run authorization)
= 0: No forward command = 0: Stop
= 1: Forward command = 1: Run is authorized on a forward or reverse
command
bit 1: Forward (on 0 V 1 rising edge) command
The assignment of bit 0 cannot be modified. It corresponds to The assignment of bits 0 and 1 cannot be modified. It
the assignment of the terminals. It can be switched. Bit 0 corresponds to the assignment of the terminals. It can be
(Cd00) is only active if the channel of this control word is switched. Bits 0 (Cd00) and 1 (Cd01) are only active if the
active. channel of this control word is active.
Bits 1 to 15 can be assigned to commands. Bits 2 to 15 can be assigned to commands.
For example, to change the direction of operation using bit 2 of the control word of the active channel, simply configure the
[Reverse assign.] (rrS) parameter:
To the value [C102] (C102) ... [C402] (C402) for a fixed assignment
To the value [CD02] (Cd02) for a switched assignment
The stop commands:

Freewheel stop [Freewheel stop ass.] (nSt)
Fast stop [Fast stop assign.] (FSt) are active at value 0, in the same way as on the terminals.
= 0: Stop
= 1: No stop command
DC injection braking [DC injection assign.] (dCI) is active at value 1, in the same way as on the terminals.
= 0: No braking command
= 1: Braking
If a fixed assignment is made [C101] (C101) to [C115] (C115) ... [C401] (C401) to [C415] (C415), the freewheel stop, fast
stop and DC injection braking commands are always active, even if the channel is not active. If these commands are
configured as fixed assignments, the following settings must be made in order to start, even if another channel is active:
Freewheel stop = 1
Fast stop = 1
DC injection braking = 0
If a switched assignment is made [CD00] (Cd00) to [Cd15] (Cd15) the freewheel stop, fast stop and DC injection braking
commands are only active if the channel is active.
79
Command parameters
Code Description
Possible values in CiA402 profile, separate or not separate mode

bit 0: "Switch on"/Contactor command
bit 1: "Disable voltage"/Authorization to supply AC power
bit 2: "Quick stop"/Emergency stop
bit 3: "Enable operation"/Run command
bit 4: Reserved (set to 0)

bit 7: "Fault reset"/Fault acknowledgment active on 0 V 1 rising edge
bit 8: Halt Stop according to the [Type of stop] (Stt) parameter without leaving the 5 - Operation enabled state
bit 11: Direction of rotation command Default assignment; this bit can be assigned to another command.
= 0: Forward rotation
= 1: Reverse rotation
bit 12: Can be assigned to a command

For the description of bits 0, 1, 2, 3, 7 and 8, see the "CiA402 profile" section.
The CiA402 standard enables the drive manufacturer to use bits 11 to 15 in a specific way. On the Altivar 71, they can be
assigned to function commands. Bit 11 is assigned by default to control the direction of rotation, although it can be assigned
to another command. A new assignment deletes the assignment to the direction of rotation command. Bits 12 to 15 have no
default assignment. For example, to control DC injection braking using bit 12 of the Modbus control word, simply set the
[DC injection assign.] (dCI)) parameter to value [C212] (C212).
The fast stop command configured by [Fast stop assign.] (FSt) is active at 1:
= 0: No stop command
= 1: Stop
The DC injection braking command configured by [DC injection assign.] (dCI) is active at 1:
= 0: No braking command
= 1: Braking
With a fixed assignment ([C1pp], [C2pp], [C3pp] or [C4pp]), the fast stop and DC injection braking commands are priority
stops, even if the channel is not active. If these commands are configured as fixed assignments, the following settings must
be made in order to start, even if another channel is active:
Fast stop command = 0
DC injection braking command = 0
With a switched assignment ([Cdpp]), the fast stop and DC injection braking commands are only operational if the channel
is active.
The freewheel stop [Freewheel stop ass.] (nSt) command cannot be assigned in CiA402 profile.
80
Command parameters
Code Description
CMI Parameter name: Extended control word
INTERBUS index: 5FB6/1E
DeviceNet path: 8B/01/69
bit 0: RAM factory setting command according to the [PARAMETER GROUP LIST] (FrY) parameter (active at 1). If you
also wish to return the EEPROM to the factory setting, bit 1 must also be set to 1 (both commands can be executed
simultaneously).
bit 1: Save configuration to EEPROM non-volatile memory command (active at 1).
This bit automatically changes to 0 after the request is taken into account. The command is only active if the drive
is stopped, and not in "5-Operation enabled" state.
Note: If CMI is a periodic network variable, the PLC program must write it to 0 after the first request is taken into
account. The life of the EEPROM memory is limited to 100,000 write operations.
Note: If the motor or configuration switching function is active, the configuration in the RAM is saved to the
EEPROM in the configuration designated by [Config. Active] (CnFS).
bit 2: Restore configuration to EEPROM non-volatile memory command (active on 0 to 1 rising edge).
This bit automatically changes to 0 after the request is taken into account.
The command is only active if the drive is stopped, and not in "5-Operation enabled" state.
Note: If CMI is a periodic network variable, the PLC program must write it to 0 after the first request is taken into
account.
This does not adversely affect the life of the EEPROM memory, but permanently copies the configuration
in the memory to the current configuration.
Note: If the motor or configuration switching function is active, the configuration in the EEPROM designated by
[Config. Active] (CnFS) is copied to the RAM.
bit 3: Reserved (= 0)
bit 9: Definition of the frequency reference (LFr) and output frequency (rFr) unit:
=0: 0.1 Hz
=1: Standardized value 16 signed bits based on the maximum frequency. The value 32767 corresponds to
[Max frequency] (tFr). The default value of [Max frequency] (tFr) is 60 Hz, and the resolution is then
approximately 0.0018 Hz.
This function has no effect on the speed reference (LFrd) or the output speed (rFrd).
bit 10: Fast stop command (active at 1)
bit 11: DC injection braking command (active at 1)
bit 12: Direction of rotation command

= 0: Forward
= 1: Reverse
bit 15: Parameter consistency check
= 0: The check is activated. Each time a parameter is written, the drive checks the relationship between the written
parameter and the configuration in the drive. For example, the [High speed] (HSP) parameter must be less than
the [Max frequency] (tFr) parameter. If an attempt is made to write a value greater than the [Max frequency] (tFr)
parameter to the [High speed] (HSP) parameter, the write operation is accepted, but the value is limited to that of
[Max frequency] (tFr).
= 1: The check is deactivated. The drive is locked in stop mode. In this drive state, the configuration can be written
parameter by parameter and the drive does not modify the values that are written.
1V0: The change from 1 to 0 triggers a calculation of the consistency of the configuration. Some parameters can be
modified automatically by the drive.
81
Setpoint parameters
See section Assignment of setpoints from a network, page 60
Code Description
LFRD Parameter name: Speed setpoint
CiA402 name: vl target velocity
DRIVECOM name: Speed-Setpoint
Logic address: 8602 = 16#219A Type: INT
INTERBUS index: 6042/0 Unit: rpm
DeviceNet path: 2A/01/08 (1)

8C/01/03 (2)
Parameter conforming to CiA402 and ODVA profiles

Signed value. This parameter changes the direction of operation according to its sign.
LFR Parameter name: Frequency reference
Terminal display: [Frequency ref.]
Logic address: 8502 = 16#2136 Type: INT
INTERBUS index: 5FB6/1C Unit: 0.1 Hz or standardized

16 signed bits based on the
DeviceNet path: 8B/01/67 maximum frequency (TFR)
Signed value.
The unit depends on the value of bit 9 of the extended control word (CMI):
= 0: 0.1 Hz
= 1: High resolution: Standardized value at maximum frequency in 16 signed bits. The value 32767 = 16 # 7FFF
corresponds to [Max frequency] (tFr). The default value of [Max frequency] (tFr) is 60 Hz, and the resolution is
then approximately 0.0018 Hz.
LTR Parameter name: Torque reference
Terminal display: [HMI torque ref.]
CiA402 name: Target torque
DRIVECOM name: Torque-Setpoint-External
INTERBUS index: 5FB6/1F Unit: 0.001 "Nominal motor torque"
DeviceNet path: 8B/01/6A

Signed value.
The "Nominal motor torque" is not accessible as a drive parameter. It is the result of a calculation on the other characteristics.
(1) ODVA standard path. It can be used for explicit messaging. Do not use it for configuring an assembly.
(2) Altivar path. Avoid using it for explicit messaging, to ensure better interchangeability. This is the path that must be used for configuring
an assembly.
82
Setpoint parameters
Code Description
Int Parameter name: Torque unit
Logic address: 9260 = 16#242C Type: WORD (listing)
CANopen index: 203E/3D Read/write: R/WS
INTERBUS index: 5FBF/35 Factory setting: According to drive rating
DeviceNet path: 8F/01/3D
0 = 0.01 Nm
1 = 0.1 Nm
2 = 1 Nm
3 = 10 Nm
This parameter is only used and can only be configured with DeviceNet. It sets the unit for the LTCR and OTRN parameters.
LtCr Parameter name: Torque setpoint (Nm)
Logic address: 9261 = 16#242D Type: INT
CANopen index: 203E/3E Read/write: R/W
INTERBUS index: 5FB6/3D Unit: 0.01 - 0.1 - 1 - 10 Nm

According to Int page 83
DeviceNet path: 2A/01/0C
PISP Parameter name: PID regulator setpoint
INTERBUS index: 5FB6/1D Unit: 1
Signed value.
If the PID regulator is to be controlled via a network, this reference must be written, in accordance with the protocol:
Either via messaging
Or by assigning this parameter in the periodic variables
AIU1 Parameter name: Network analog input
Terminal display: [Network AI]
Logic address: 5281 = 16 #14A1 Type: INT
INTERBUS index: 5FB9/40 Unit: 1
MFr Parameter name: Multiplying coefficient
Terminal display: [Multiplying coeff.]
Logic address: 11831 = 16#2E37 Type: UINT
INTERBUS index: 5FB6/3E Unit: 1%
DeviceNet path: 9C/01/20
83
Status parameters
Code Description
ETA Parameter name: Status word
CiA402 name: Statusword
DRIVECOM name: Statusword
Logic address: 8603 = 16#219B Type: WORD (bit register)

or 3201 = 16#0C81 (1)
INTERBUS index: 6041/0

(1) Note: This parameter is available at two logic addresses to optimize exchanges via Modbus messaging (Modbus
function 4 = 16#04 Read Input Registers):
- If the drive has to be monitored in terms of speed, it is preferable to use address 8603, since the output speed is
at address 8604.
- If the drive has to be monitored in terms of frequency, it is preferable to use address 3201, since the output
frequency is at address 3202.
Possible values in the IO profile
Note: The value is identical in the CiA402 profile and the I/O profile. In the I/O profile, the description of the values is
simplified and does not refer to the CiA402 (Drivecom) state chart.
bit 0: Reserved (= 0 or 1)
bit 1: Ready
= 0: Not ready, = 1: Ready
bit 2: Running
= 0: The drive will not start if a reference other than zero is applied.
= 1: Running, if a reference other than zero is applied, the drive can start.
bit 3: Fault
= 0: No fault, = 1: Fault
bit 4: Power section line supply present

= 0: Power section line supply absent, = 1: Power section line supply present
bit 7: Alarm
= 0: No alarm, = 1: Alarm
bit 9: Command via a network
= 0: Command via the terminals or the graphic display terminal, = 1: Command via a network
Note: The network can be integrated Modbus, CANopen, a communication card or the Controller Inside card. This is not
necessarily the network via which the status word is read. Therefore, if the command comes from CANopen (CANopen
command channel active) and the status word (ETA) is read via an Ethernet card, the data item "Control via a network" = 1.
This does not mean that control can be carried out via the Ethernet card. For more information, see the "Active command
channel" (CCC) and "Active reference channel" (CRC) parameters.
bit 10: Reference reached
= 0: The reference is not reached, = 1: The reference has been reached
bit 11: Reference outside limits
= 0: The reference is within the limits, = 1: The reference is not within the limits
When the drive is in speed mode, the limits are defined by the "Low speed (LSP)" and "High speed (HSP)"
parameters. When the torque function is activated, refer to the description of this function (see the Programming
Manual).
bits 12 and 13: Reserved (= 0)

bit 14: Stop via STOP key
= 0: STOP key not pressed, = 1: Stop triggered by the STOP key on the graphic display terminal
bit 15: Direction of rotation
= 0: Forward rotation at output, = 1: Reverse rotation at output
84
Status parameters
Code Description
Possible values in CiA402 profile

bit 0: "Ready to switch on", awaiting power section line supply
bit 1: "Switched on", ready
bit 2: "Operation enabled", running
bit 3: "Fault"
= 0: No fault,
= 1: Fault
bit 4: "Voltage enabled", power section line supply present

= 0: Power section line supply absent
= 1: Power section line supply present
When the drive is powered by the power section only, this bit is always at 1.
bit 5: Quick stop/Emergency stop
bit 6: "Switched on disabled", power section line supply locked
bit 7: Warning alarm
= 0: No alarm
= 1: Alarm
bit 9: Remote: command or reference via the network
= 0: Command or reference via the terminals
= 1: Command or reference via the network
bit 10: Target reference reached
= 0: The reference is not reached
= 1: The reference has been reached
When the drive is in speed mode, this is the speed reference. When the torque function is activated, refer to the
description of this function (see the Programming Manual). When the drive stops, the reference has been reached.
bit 11: "Internal limit active", reference outside limits
= 0: The reference is within the limits
= 1: The reference is not within the limits
When the drive is in speed mode, the limits are defined by the "Low speed (LSP)" and "High speed (HSP)"
parameters. When the torque function is activated, refer to the description of this function (see the Programming
Manual).

bit 14: "Stop key", STOP via stop key
= 0: STOP key not pressed
= 1: Stop triggered by the STOP key on the graphic display terminal
bit 15:"Direction", direction of rotation
= 0: Forward rotation at output
= 1: Reverse rotation at output
The combination of bits 0, 1, 2, 4, 5 and 6 defines the state in the DSP 402 state chart (see the CiA402 profile section).
85
Status parameters
Code Description
ETI Parameter name: Extended status word
Logic address: 3206 = 16#0C86 Type: WORD (bit register)
INTERBUS index: 5FB9/08
bit 0: = 1: Access to the EEPROM non-volatile memory in progress

bit 1: = 0: No parameter consistency check
= 1: Parameter consistency check
bit 2: = 0: The drive is not in fault state or a fault is present
= 1: The drive is in fault state but the fault is no longer present (not acknowledged)
bit 4: = 1: Drive in speed regulation mode

bit 5: = 1: DC injection braking (identical to LSR4, bit 11)
bit 6: = 0: Drive in steady state
= 1: Drive in transient state
bit 7: = 1: Motor thermal state threshold reached for the active motor
bit 8: = 1: Overbraking (identical to LSR5, bit 1)

bit 9: = 1: Acceleration in progress (identical to LSR4, bit 13)
bit 10: = 1: Deceleration in progress (identical to LSR4, bit 14)
bit 11: = 1: Current or torque limiting in progress
bit 12: = 1: Fast stop in progress (identical to LSR4, bit 15)

bit 13: bit 13 = 0 and bit 14 = 0: Command via the terminals
bit 14: bit 13 = 1 and bit 14 = 0: Command via the graphic display terminal
bit 13 = 0 and bit 14 = 1: Command via Modbus
bit 13 = 1 and bit 14 = 1: Command via CANopen, the network card or the "Controller Inside" card
bit 15: = 0: Forward operation applied before the ramp
= 1: Reverse operation applied before the ramp
LRS1 Parameter name: Extended status word 1
Logic address: 3250 = 16#0CB2 Type: WORD (bit register)
INTERBUS index: 5FB9/1C
bit 1: = 1: The drive is in fault state
bit 2: = 0: The drive is locked, the motor is not powered
= 1: The drive is unlocked, power can be supplied to the motor (RUN state)
bit 3: = 1: The output contactor is controlled
bit 4: = 1: Frequency threshold (ftd) reached: [Freq. Th. attained] (FtA)

bit 5: = 1: High speed (HSP) reached: [HSP attained] (FLA)
bit 6: = 1: Current threshold (Ctd) reached: [Current Th. attained] (CtA)
bit 7: = 1: Frequency reference reached: [Frequency ref. att.] (SrA)
bit 8: = 1: Motor 1 thermal state threshold [Motor therm. level] (ttd) reached: [Motor th. state att.] (tSA)
bit 9: = 1: Brake contactor command [Brake assignment] (bLC) active
bit 10: = 1: PID regulator error alarm: [PID error al] (PEE)
bit 11: = 1: PID regulator feedback alarm: [PID fdbk al.] (PFA)
bit 12: = 1: 4-20 mA alarm on analog input AI2: [4-20mA loss (AI2)] (LFF2)
bit 13: = 1: Second frequency threshold (ftd) reached: [Freq. Th. 2 attained] (FA2)
bit 14: = 1: Drive thermal state threshold [Drv therm. state al] (tHA) reached: [Th. drv. att.] (tAd)
bit 15: = 1: The "traverse control" function is active
86
Status parameters
Code Description
INTERBUS index: 5FB9/1D
bits 0 to 10: Reserved (= 0)

bit 11: = 1: Rope slack (see [Rope slack config.] (rSd)) parameter
bit 12: = 1: [High torque alarm] (ttHA): Motor torque greater than the high threshold [High torque thd.] (ttH)
Bit 13: = 1: [Low torque alarm] (ttLA): Motor torque less than the low threshold [Low torque thd.] (ttL)
Bit 14: = 1: [Forward] (MFrd): Motor rotating in the forward direction
Bit 15: = 1: [Reverse] (MrrS): Motor rotating in the reverse direction
INTERBUS index: 5FB9/1E
bit 0: = 0: Reference channel 1 or 1B (Fr1) or (Fr1b) is active

= 1: Reference channel 2 (Fr2) is active
bit 1: = 0: Command channel 1 (Cd1) is active
= 1: Command channel 2 (Cd2) is active
bit 2: = 0: Ramp set 1 (ACC) and (dEC)
= 1: Ramp set 2 (AC2) and (dE2)
bit 3: = 0: Current limit 1 (CLI) is active
= 1: Current limit 2 (CL2) is active
bit 5: = 1: Motor 2 thermal state threshold [Motor2 therm. level] (ttd2) reached: [Th.mot2 att] (tS2)
bit 6: = 1: Motor 3 thermal state threshold [Motor3 therm. level] (ttd3) reached: [Th.mot3 att] (tS3)
bit 8: = 1: 24 VDC external power supply present

bit 9: = 1: Stop on low speed time limit function [Low speed time out] (tLS)

bit 15: = 0: The output torque is positive (forward)
= 1: The output torque is negative (reverse)
87
Status parameters
Code Description
INTERBUS index: 5FB9/1F
bit 0: = 1: Configuration 0 is active

bit 1: = 1: Configuration 1 is active [Cnfg.1 act.] (CnF1)
bit 2: = 1: Configuration 2 is active [Cnfg.2 act.] (CnF2)
bit 4: = 1: Parameter set 1 is active: [Set 1 active] (CFP1)

bit 8: = 0: Power section line supply present

= 1: Power section line supply absent
bit 9: = 1: Motor "fluxing" in progress: [In motor fluxing] (FLX)
bit 10: = 1: The motor is "fluxed"
bit 11: = 1: DC injection braking (identical to ETI, bit 5)
bit 12: = 1: Current limiting in progress

bit 13: = 1: Acceleration in progress (identical to ETI, bit 9)
bit 14: = 1: Deceleration in progress (identical to ETI, bit 10)
bit 15: = 1: Fast stop in progress: [Fast stop in prog.] (FSt) (identical to ETI, bit 12)
bit 0: = 1: Drive DC bus loading: [DC bus loading] (dbL)

bit 1: = 1: Drive braking [In braking] (brS)
bit 2: = 1: The "Power removal" function is active
bit 3: = 1: Automatic restart attempts in progress: [Auto restart] (AUtO)
bit 4: = 1: "Auto-tuning" in progress: [Auto-tuning] (tUn)

bit 5: = 1: Controlled stop in progress following loss of power section line supply (CTL)
bit 6: = 1: The drive cannot follow the configured deceleration ramp, deceleration automatically adapted (OBR)
bit 7: = 1: Controlled output cut in progress (SOC)
bit 8 : = 1: [Freq. meter Alarm] (FqLA): Measured speed threshold reached: [Pulse warning thd.] (FqL)
bit 9: = 1: The line contactor is active

bit 13: = 1: Current present in the motor (MCP)
bit 14: = 1: If the "limit switch management" [LIMIT SWITCHES] function is activated. The [Stop FW limit sw.] or
[Stop RV limit sw.] stops are reached.
bit 15 : = 1: [Dynamic load alarm] (dLdA): Load variation detection (see [DYNAMIC LOAD DETECT.] (dLd-))
88
Status parameters
Code Description
bit 0: = 1: Alarm group 1 is active

bit 3: = 1: Probe 1 alarm: [PTC1 alarm] (PtC1)
bit 4: = 1: Probe 2 alarm: [PTC2 alarm] (PtC2)

bit 5: = 1: LI6 PTC probe alarm: [LI6 =PTC alarm] (PtC3)
bit 7: = 1: External fault [External fault alarm] (EtF)
bit 8: = 1: Undervoltage alarm [Undervoltage] (USA)

bit 9: = 1: The power section line supply loss detection threshold for a controlled stop has been reached (undervoltage
warning)
bit 10: = 1: Slipping alarm: [Load slipping] (AnA)
bit 11: = 1: Drive overheat alarm (tHA)

bit 13: = 1: Speed alarm in the brake control sequence (BSA)
bit 14: = 1: Brake contact alarm in the brake control sequence (BCA)
bit 15: = 1: Current or torque limit alarm after time-out [Trq/I limit. time out] (StO)
bit 0: = 1: Reference channel 1 or 1B (Fr1) or (Fr1b) is active

bit 1: = 1: Reference channel 2 (Fr2) is active.
bit 2: = 1: Command channel 1 (Cd1) is active.
bit 3: = 1: Command channel 2 (Cd2) is active.
bit 4: = 1: Reference channel 1B (Fr1b) is active.

bit 5: = 1: Spool end ("traverse control" function)
bit 6: = 1: Master-slave synchronization ("traverse control" function)
bit 7: = 1: Torque regulation alarm
bit 8: = 1: IGBT thermal state alarm

bit 9: = 1: Braking resistor overload alarm
bit 10: = 1: Alarm sent by the "Controller Inside" card
bit 13: = 1: DC bus precharging contactor controlled (DC0)
89
Status parameters
Code Description
CANopen index: 2002/3A Read/write: R
DeviceNet path: 71/01/3A

bit 15: = 1: Drive ready(rdY)
CRC Parameter name: Active reference channel
Logic address: 8441 = 16#20F9 Type: WORD (bit register)
CANopen index: 2036/2A Read/write: R
INTERBUS index: 5FB9/CE
bit 0: = 1: The terminals are the active reference channel via an analog input
bit 2: = 1: The graphic display terminal is the active reference channel
bit 3: = 1: Modbus is the active reference channel
bit 6: = 1: CANopen is the active reference channel
bit 7: = 1: The terminals are the active reference channel in +/- speed
bit 8: = 1: The graphic display terminal is the active reference channel in +/- speed
bit 9: = 1: The network card is the active reference channel
bit 10: = 1: The "Controller Inside" card is the active reference channel

bit 15: = 1: The PowerSuite software workshop is the active reference channel
90
Status parameters
Code Description
CCC Parameter name: Active command channel
Logic address: 8442 = 16#20FA Type: WORD (bit register)
CANopen index: 2036/2B Read/write: R
INTERBUS index: 5FB9/CF
DeviceNet path: 8B/01/2B
bit 0: = 1: The terminals are the active command channel

bit 2: = 1: The graphic display terminal is the active command channel
bit 3: = 1: Modbus is the active command channel
bit 6: = 1: CANopen is the active command channel
bit 7: = 1: The terminals are the active command channel in +/- speed
bit 8: = 1: The graphic display terminal is the active command channel in +/- speed
bit 10: = 1: The "Controller Inside" card is the active command channel

bit 15: = 1: The PowerSuite software workshop is the active command channel
CFPS Parameter name: Active parameter set
INTERBUS index: 5FB9/EC
0 : The parameter set switching function is not configured

1 = [Set 1 active] (CFP1): Parameter set no. 1 active
CNFS Parameter name: Active configuration
Terminal display: [Config. Active]
INTERBUS index: 5FB9/CD
0 : The motor or configuration switching function is not configured

1 = (CNF0): Configuration no. 0 active
91
Output value parameters
Output values (speed)
Code Description
rFrd Parameter name: Output velocity
CiA402 name: vl control effort
DRIVECOM name: Speed-Actual-Value
Logic address: 8604 = 16#219C Type: INT

8C/01/05 (2)
Parameter conforming to CiA402 and ODVA profiles

Signed value.
If the drive is in open-loop mode, the speed value is estimated.

If the drive is in closed-loop mode, the speed value is measured on the sensor.
This parameter is linked to the "Output frequency" (rFr) parameter for which the unit is 0.1 Hz.
rFr Parameter name: Output frequency
Terminal display: [Output frequency]
Logic address: 3202 = 16#C82 Type: INT
INTERBUS index: 5FB9/04 Unit: 0.1 Hz or standardized

16 signed bits based on the
DeviceNet path: 71/01/03 maximum frequency (TFR)
Signed value.
The unit depends on the value of bit 9 of the extended control word:
=0: 0.1 Hz
=1: Standardized value on 16 signed bits at maximum frequency. The value 32767 corresponds to [Max frequency]
(TFR). The default value of [Max frequency] (TFR) is 60 Hz, and the resolution is then approximately 0.0018 Hz.
an assembly.
92
Output values (torque)
Code Description
Otr Parameter name: Output torque
Terminal display: [Motor torque]
CiA402 name: Torque actual value
DRIVECOM name: Torque-Actual-Value
Logic address: 3205 = 16#0C85 Type: INT
INTERBUS index: 5FB9/07 Unit: 0.001 "Nominal motor torque"

Signed value.
The "Nominal motor torque" is not accessible as a drive parameter. It is the result of other characteristics.
Otrn Parameter name: Output torque (Nm)
INTERBUS index: 5FB9/10 Unit: 0.01 - 0.1 - 1 - 10 Nm

According to Int page 83
DeviceNet path: 2A/01/0B
93
Output values (motor)
Code Description
LCr Parameter name: Motor current
Terminal display: [Motor current]
Logic address: 3204 = 16#0C84 Type: UINT
INTERBUS index: 5FB9/06 Unit: 0.1 A

71/01/05 (2)
Parameter conforming to ODVA profile
UOP Parameter name: Motor voltage
Terminal display: [Motor voltage]
INTERBUS index: 5FB9/0A Unit: 1V
OPr Parameter name: Motor power
Terminal display: [Motor power]
Logic address: 3211 = 16#0C8B Type: INT
CANopen index: 2002/C Read/write: R
INTERBUS index: 5FB9/0C Unit: 1%
DeviceNet path: 71/01/0C
UNT Parameter name: Units of parameters APH, PTH, and RTH
Logic address: 3234 = 16#0CA2 Type: WORD (bit register)
The unit changes automatically when the value reaches the maximum format of the parameter.
bit 0 + bit 1 = unit of APH: 0 = Wh, 1 = kWh, 2 = MWh

bit 2 + bit 3 = unit of PTH: 0 = seconds, 1 = minutes, 2 = hours
bit 4 + bit 5 = unit of RTH: 0 = seconds, 1 = minutes, 2 = hours
bits 6 to 15:Reserved (= 0)
an assembly.
94
Code Description
APH Parameter name: Motor energy consumption
Terminal display: [Consumption]
Logic address: 3230 = 16#0C9E Type: UINT
CANopen index: 2002/1F Read/write: R
INTERBUS index: 5FB9/15 Unit: According to the preceding

UNT parameter
DeviceNet path: 71/01/1F
AUS Parameter name: ENA average speed
Terminal display: [ENA avg speed]
Logic address: 12102 = 16#2F46 Type: INT
CANopen index: 205B/3 Read/write: R
INTERBUS index: 5FB9/EA Unit: 0.1 Hz
DeviceNet path: 9D/01/67
95
Reference parameters
References (speed)
Code Description
FrHd Parameter name: Speed reference before ramp
DeviceNet path: 8C/01/06 Factory setting:
Adjustment range:
FrOd Parameter name: Speed reference after ramp
Terminal display:
CiA402 name: vl velocity demand
DRIVECOM name: Speed-Reference-Variable
INTERBUS index: 5FB9/D8 Unit: rpm
DeviceNet path: 8C/01/2A Factory setting:
Adjustment range:

Signed value.
This parameter is linked to the "Frequency after ramp" (FRO) parameter for which the unit is 0.1 Hz.
FrH Parameter name: Frequency reference before ramp
Terminal display: [Frequency ref.]
INTERBUS index: 5FB9/05 Unit: 0.1 Hz
FrO Parameter name: Frequency reference after ramp
CANopen index: 203C/16 Read/write: R
INTERBUS index: 5FB9/D9 Unit: 0.1 Hz
DeviceNet path: 8E/01/16
96
References (torque)
Code Description
trr Parameter name: Torque reference before ramp
Terminal display: [Torque reference]
Logic address: 9231 = 16#240F Type: INT
CANopen index: 203E/20 Read/write: R
INTERBUS index: 5FB9/DB Unit: 0.1%
DeviceNet path: 8F/01/20
trO Parameter name: Torque reference after ramp
Torque demand value Torque demand value
Torque-Command-Variable Torque-Command-Variable
CANopen index: 203E/21 Read/write: R
INTERBUS index: 5FB9/DC Unit: 0.001 "Nominal motor torque"
DeviceNet path: 8F/01/21

Signed value.
The "Nominal motor torque" is not accessible as a drive parameter. It is the result of other characteristics.
97
Reference (regulator)
See section Assignment of setpoints from a network, page 60.
Code Description
rPC Parameter name: PID reference after ramp
Terminal display: [PID reference]
Logic address: 11982 = 16#2ECE Type: UINT
INTERBUS index: 5FB9/E7 Unit: 1
DeviceNet path: 9C/01/B7
rPF Parameter name: PID regulator feedback reference
Terminal display: [PID feedback]
Logic address: 11981 = 16#2ECD Type: UINT
rPE Parameter name: PID regulator discrepancy
Terminal display: [PID error]
Logic address: 11980 = 16#2ECC Type: INT
rPO Parameter name: PID regulator limit output reference
Terminal display: [PID Output]
Logic address: 11983 = 16#2ECF Type: INT
INTERBUS index: 5FB9/E8 Unit: 0.1 Hz
98
Measurement parameters
Input measurements
Code Description
ULn Parameter name: Power supply voltage
Terminal display: [Mains voltage]
INTERBUS index: 5FB9/09 Unit: 0.1 V
Thermal states
Code Description
tHd Parameter name: Drive thermal state
Terminal display: [Drv. thermal state]
CANopen index: 2002/A Read/write: R
INTERBUS index: 5FB9/0B Unit: 1%
tHr Parameter name: Motor thermal state
Terminal display: [Motor thermal state]
Logic address: 9630 = 16#259E Type: UINT
INTERBUS index: 5FB9/DE Unit: 1%
tHb Parameter name: DBR thermal state
Terminal display: [DBR thermal state]
Logic address: 14114 = 16#3722 Type: UINT
CANopen index: 206F/F Read/write: R
INTERBUS index: 5FBD/7F Unit: 1%
99
Time
Code Description
rtH Parameter name: Total motor operating time
Terminal display: [Run time]
Logic address: 3231 = 16#0C9F Type: UINT
INTERBUS index: 5FB9/16 Unit: According to UNT parameter

(see page 94)
PtH Parameter name: Total drive operating time
Terminal display: [Power on time]
Logic address: 3233 = 16#0CA1 Type: UINT
INTERBUS index: 5FB9/18 Unit: According to UNT parameter

(see page 94)
tAC Parameter name: IGBT alarm time
Terminal display: [IGBT alarm counter]
Logic address: 3235 = 16#0CA3 Type: UINT
INTERBUS index: 5FB9/1A Unit: 1s
EbOt Parameter name: Current bobbin time
Logic address: 12209 = 16#2FB1 Type: UINT
CANopen index: 205C/A Read/write: R
INTERBUS index: 5FB9/EB Unit: 1 min
DeviceNet path: 9E/01/0A
100
Code Description
dAY Parameter name: Date
Logic address: 7391 = 16#1CDF Type: UINT
CANopen index: 202B/5C Read/write: R
INTERBUS index: 5FB9/CE Unit: See below
DeviceNet path: 85/01/C0
tIME Parameter name: Time
Logic address: 7392 = 16#1CE0 Type: UINT
CANopen index: 202B/5D Read/write: R
INTERBUS index: 5FB9/CF Unit: See below
DeviceNet path: 85/01/C1
Format of "Date" and "Time" parameters

Date and time are binary-coded using the corresponding word bits indicated in the table below.
Note: The value 0 for year corresponds to the year 1970 (2006 = 36, for example).
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Year X X X X X X X
Date Month X X X X
Day X X X X X
Hours X X X X X X X X
Time
Minutes X X X X X X X X
101
I/O parameters
Logic I/O
Code Description
IL1r Parameter name: Logic inputs states
INTERBUS index: 5FB9/28 Unit: -
bit 0: Value of LI1

bit 1: Value of LI2
bit 2: Value of LI3
bit 3: Value of LI4
bit 4: Value of LI5

bit 5: Value of LI6
bit 6: Value of LI7 If a logic I/O extension card is installed
bit 7: Value of LI8
bit 8: Value of LI9

bit 9: Value of LI10
bit 10: Value of LI11 If an extended I/O extension card is installed
bit 11: Value of LI12.

OL1r Parameter name: Logic outputs states
Logic address: 5212 = 16#145C Type: WORD (bit register)
CANopen index: 2016/D Read/write: R/W
INTERBUS index: 5FB9/2A (reading via PCP) Unit: -

5FB6/54 (writing via PCP)
DeviceNet path: 7B/01/0D
bit 0: Value of R1
bit 1: Value of R2
bit 2: Value of R3, if a logic I/O extension card is installed
bit 3: Value of R4, if an extended I/O extension card is installed
bit 8: Value of LO1 If a logic I/O extension card is installed

bit 9: Value of LO2
bit 10: Value of LO3 If an extended I/O extension card is installed
bit 11: Value of LO4

The relay or logic outputs can be controlled via the network. Simply write this parameter. The outputs to be controlled must
not be assigned to a drive function, otherwise the write operation has no effect.
102
I/O parameters
Analog inputs
Code Description
AI1C Parameter name: Analog input 1 physical value
Logic address: 5242 = 16#147A Type: INT
CANopen index: 2016/2B Read/write: R
DeviceNet path: 7B/01/2B
AI1r Parameter name: Analog input 1 standardized value
INTERBUS index: 5FB9/2F Unit: 1
Logic address: 5243 = 16#147B Type: INT
CANopen index: 2016/2C Read/write: R
INTERBUS index: 5FB9/34 Unit: 0.001 V or 0.001 mA
DeviceNet path: 7B/01/2C
The unit is:

0.001 V if parameter [AI2 Type] (AI2t) is configured as [Voltage] (10U)
0.001 mA if parameter [AI2 Type] (AI2t) is configured as [Current] (0A)
Logic address: 5244 = 16#147C Type: INT
CANopen index: 2016/2D Read/write: R
INTERBUS index: 5FB9/35 Unit: 0.001 mA
DeviceNet path: 7B/01/2D
103
I/O parameters
Code Description
CANopen index: 2016/2E Read/write: R
INTERBUS index: 5FB9/36 Unit: 0.001 V or 0.001 mA
DeviceNet path: 7B/01/2E
The unit is:

0.001 V if parameter [AI4 Type] (AI4t) is configured as [Voltage] (10U)
0.001 mA if parameter [AI4 Type] (AI4t) is configured as [Current] (0A)
Analog outputs
The analog outputs can be controlled via the network. Simply write these parameters. The outputs to be controlled must not be assigned
to a drive function, otherwise the write operation has no effect.
Code Description
AO1C Parameter name: Analog output 1 physical value
INTERBUS index: 5FB9/3D (reading via PCP) Unit: 0.001 mA or 0.001 V

The unit is:

0.001 V if parameter [AO1 Type] (AO1t) is configured as [Voltage] (10U)
0.001 mA if parameter [AO1 Type] (AO1t) is configured as [Current] (0A)
AO1r Parameter name: Analog output 1 standardized value
CANopen index: 2016/3E Read/write: R/W
INTERBUS index: 5FB9/3A (reading via PCP) Unit: 1

DeviceNet path: 7B/01/3E
INTERBUS index: 5FB9/3E (reading via PCP) Unit: 0.001 mA or 0.001 V

The unit is:

0.001 V if parameter [AO2 Type] (AO2t) is configured as [Voltage] (10U) or [Voltage +/-] (n10U)
0.001 mA if parameter [AO2 Type] (AO2t) is configured as [Current] (0A)
104
I/O parameters
Code Description
Logic address: 5262 = 16#148E Type: INT
CANopen index: 2016/3F Read/write: R/W
INTERBUS index: 5FB9/3B (reading via PCP) Unit: 1

DeviceNet path: 7B/01/3F
CANopen index: 2016/4A Read/write: R/W
INTERBUS index: 5FB9/3F (reading via PCP) Unit: 0.001 mA or 0.001 V

5FB6/5A (writing via PCP)
The unit is:

0.001 V if parameter [AO3 Type] (AO3t) is configured as [Voltage] (10U) or [Voltage +/-] (n10U)
0.001 mA if parameter [AO3 Type] (AO3t)is configured as [Current] (0A)
Logic address: 5263 = 16#148F Type: INT
INTERBUS index: 5FB9/3C (reading via PCP) Unit: 1

Encoder
Code Description
PUC Parameter name: Encoder counter value
Logic address: 5611 = 16#15EB Type: UINT
CANopen index: 201A/C Read/write: R
DeviceNet path: 7D/01/0C
105
Fault parameters
Code Description
Errd Parameter name: CiA402 fault code
CiA402 name: Error code
DRIVECOM name: Malfunction code
Logic address: 8606 = 16#219E Type: WORD (listing)
CANopen index: 603F/0 Read/write: R
INTERBUS index: 603F/0 Unit: -
DeviceNet path: 29/01/0D (1)

8C/01/07 (2)
(1) ODVA standard path. This can be used for explicit messaging. Do not use for assembly configuration.
(2) Altivar path. To ensure optimum interchangeability, do not use this path for explicit messaging. Rather, it should be used
for assembly configuration.
Last fault that occurred. This parameter retains its value after the fault has disappeared and been acknowledged.
16#0000: (nOF) No fault

16#1000:[Precharge] (CrF1) Pre-charge relay control fault or charging resistor damaged
or [Motor overload] (OLF) Triggered by excessive motor current
or [Overspeed] (SOF) Instability or driving load too high
or [DB unit sh. circuit] (bUF) Short-circuit output from braking unit
or [IGBT desaturation] (HdF) Short-circuit or grounding at the drive output
or [Internal - CPU] (InFE) Internal microprocessor fault
or [DBR overload] (bOF) The braking resistor is under excessive stress
16#2230:[IGBT short circuit] (SCF4) Power component fault
16#2310:[Overcurrent] (OCF) Parameters in the [1.3 SETTINGS] (SEt-) and [1.4 MOTOR CONTROL]
(drC-) menus are not correct, inertia or load is too high, or mechanical locking
has occurred
16#2320:[Motor short circuit] (SCF1) Short-circuit or grounding at the drive output, or significant earth leakage
current at the drive output if several motors are connected in parallel
or [Impedant sh. circuit] (SCF2) Impedant short-circuit
or [Motor short circuit] (SCF5) Short-circuit at the drive output
16#2330:[Ground short circuit] (SCF3) Ground short-circuit
16#3110:[Mains overvoltage] (OSF) Line voltage too high
16#3120:[Undervoltage] (USF) Line supply too low, transient voltage dip, or charging resistor damaged
16#3130:[Input phase loss] (PHF) Drive incorrectly supplied, fuse blown, loss of one phase, 3-phase ATV71
used on a single-phase line supply, or unbalanced load. This protection only
operates with the drive on load.
16#3310:[Overbraking] (ObF) Braking too sudden or driving load
or [1 output phase loss] (OPF1)Loss of one phase at drive output
or [3 output phase loss] (OPF2)Motor not connected, motor power too slow, output contactor open, or
instantaneous instability in the motor current
16#4210:[Drive overheat] (OHF) Drive temperature too high
or [IGBT overheat] (tJF) Drive overheated
16#4310:[PTC1 overheat] (OtF1) Overheating of the PTC1 probes detected
or [PTC2 overheat] (OtF2) Overheating of the PTC2 probes detected
or [LI6=PTC overheat] (OtFL) Overheating of PTC probes detected on input LI6
16#5000:[Internal-hard init.] (InF7) Initialization of the drive is incomplete
or [Out. contact. stuck] (FCF1) The output contactor remains closed although the opening conditions have
been met
or [Out. contact. open.] (FCF2) The output contactor remains open although the closing conditions have been
met
or [Internal-time meas.] (InFC) Fault on the electronic time measurement component
or [Thyr. soft charge] (CrF2) DC bus charging fault (thyristors)
or [input contactor] (LCF) The drive is not turned on even though [Mains V. time out] (LCt) has elapsed
16#5100:[Internal-ctrl supply] (InF8) The control supply is not correct
16#5210:[Internal- I measure] (InF9) The current measurements are not correct
or [Internal-mains circuit] (InFA) The input stage is not operating correctly
or [Internal- th. sensor] (InFb) The drive temperature sensor is not operating correctly
106
Fault parameters
Code Description
(Errd) 16#5530: [Control Eeprom] (EEF1)Internal memory fault, control card

(continued) or [Power Eeprom] (EEF2)Internal memory fault, power card
16#6100: [Rating error] (InF1) The power card is not the one stored
or [Incompatible PB] (InF2) The power card is incompatible with the control card
or [Internal serial link] (InF3) Communication fault between the internal cards
or [Internal MFG area] (InF4) Internal data inconsistent
or [Cards pairing] (HCF) The [CARDS PAIRING] (PPI-) function has been configured and a drive card has
been changed
16#6300: [Incorrect config.] (CFF) Option card changed or removed, control card replaced by a control card
configured on a drive with a different rating, or the current configuration is
inconsistent
or [Invalid config.] (CFI) Invalid configuration. The configuration loaded in the drive via the bus or
communication network is inconsistent.
16#7000: [Internal-option] (InF6) The option installed in the drive is not recognized
16#7110: [Brake feedback] (brF) The brake feedback contact does not match the brake logic control
16#7300: [AI2 4-20 mA loss] (LFF2) Loss of the 4-20 mA reference on analog input AI2
or [PTC1 probe] (PtF1) PTC1 probes open or short-circuited
or [PTC2 probe] (PtF2) PTC2 probes open or short-circuited
or [LI6=PTC probe] (PtFL) PTC probes on input LI6 open or short-circuited
or [AI2 input] (AI2F) Non-conforming signal on analog input AI2
or [AI3 4-20mA loss] (LFF3) Loss of the 4-20 mA reference on analog input AI3
or [AI4 4-20mA loss] (LFF4) Loss of the 4-20 mA reference on analog input AI4
16#7310: [Encoder coupling] (ECF) Break in the mechanical coupling of the encoder
or [Encoder] (EnF) Encoder feedback fault
or [Speed fdback loss] (SPF) Encoder feedback signal missing
16#7510: [Modbus com.] (SLF1) Interruption in communication on the Modbus bus
or [HMI com.] (SLF3) Fault communicating with the graphic display terminal
16#7520: [internal com. link] (ILF) Communication fault between option card and drive
or [Com. network] (CnF) Communication fault on communication card
16#7530: [PowerSuite com.] (SLF2) Fault communicating with PowerSuite
16#8100: [CAN com.] (COF) Interruption in communication on the CANopen bus
16#9000: [External flt-LI/Bit] (EPF1)Fault triggered by an external device, depending on user
or [External fault com.] (EPF2)Fault triggered by a communication network
or [Application fault] (APF) "Controller Inside" card fault
16#FF00:[Auto-tuning] (tnF) Special motor, motor whose power is not suitable for the drive, or motor not
connected to the drive
16#FF01:[Brake control] (bLF) Brake release current not reached or brake engage frequency threshold
[Brake engage freq] (bEn) not set although brake logic control is assigned
16#FF02:[Torque/current lim] (SSF) Switch to torque limitation
or [Torque time-out] (SrF) Torque control function time-out
16#FF03:[Power removal] (PrF) Fault with the drives "Power removal" safety function
16#FF05:[Load slipping] (AnF) The encoder speed feedback does not match the reference
16#FF80:[Dynamic load fault] (dLF) Dynamic load fault
107
Fault parameters
Code Description
LFt Parameter name: Altivar fault code
Logic address: 7121 = 16#1BD1 Type: WORD (listing)
INTERBUS index: 5FB3/C8 Unit: -
The last fault that occurred remains stored in the "Altivar fault code" (LFt) parameter, even if it disappears, and even after
the drive has been turned off and then on again.
0: (nOF) No fault
1: Reserved
2: [Control EEprom] (EEF1) Internal memory fault, control card
3: [Incorrect config.] (CFF) Option card changed or removed
Control card replaced by a control card configured on a drive with a different rating
The current configuration is inconsistent
4: [Invalid config.] (CFI) Invalid configuration. The configuration loaded in the drive via the bus or
communication network is inconsistent
5: [Modbus com.] (SLF1) Interruption in communication on the Modbus bus
6: [internal com. link] (ILF) Communication fault between option card and drive
7: [Com. network] (CnF) Communication fault on communication card
8: [External flt-LI/Bit] (EPF1) Fault triggered by an external device, depending on user
9: [Overcurrent] (OCF) Parameters in the [SETTINGS] (SEt-) and [1.4 MOTOR CONTROL] (drC-)
menus are not correct
Inertia or load too high
Mechanical locking
10: [Precharge] (CrF1) Pre-charge relay control fault or charging resistor damaged
11: [Speed fdback loss] (SPF) Encoder feedback signal missing
12: [Load slipping] (AnF) The encoder speed feedback does not match the reference
13: [AI2 4-20 mA loss] (LFF2) Loss of the 4-20 mA reference on analog input AI2
14: [PTC1 probe] (PtF1) PTC1 probes open or short-circuited
15: [PTC1 overheat] (OtF1) Overheating of the PTC1 probes detected
16: [Drive overheat] (OHF) Drive temperature too high
17: [Motor overload] (OLF) Triggered by excessive motor current
18: [Overbraking] (ObF) Braking too sudden or driving load
19: [Mains overvoltage] (OSF) Line voltage too high
Disturbed line supply
20: [1 motor phase loss] (OPF1) Loss of one phase at drive output
21: [Input phase loss] (PHF) Drive incorrectly supplied or a fuse blown
Loss of one phase
3-phase ATV71 used on a single-phase line supply
Unbalanced load
This protection only operates with the drive on load
22: [Undervoltage] (USF) Line supply too low
Transient voltage dip
Damaged precharge resistor
23: [Motor short-circuit] (SCF1) Short-circuit or grounding at the drive output
Significant earth leakage current at the drive output if several motors are
connected in parallel
24: [Overspeed] (SOF) Instability or driving load too high
25: [Auto-tuning] (tnF) Special motor or motor whose power is not suitable for the drive
Motor not connected to the drive
26: [Rating error] (InF1) The power card is not the one stored
27: [Incompatible PB] (InF2) The power card is incompatible with the control card
28: [Internal serial link] (InF3) Communication fault between the internal cards
29: [Internal MFG area] (InF4) Inconsistent internal data
30: [Power EEprom] (EEF2) Internal memory fault, power card
31: [Impedant sh. circuit] (SCF2) Impedant short-circuit
32: [Ground short circuit] (SCF3) Ground short-circuit
33: [3 output phase loss] (OPF2) Motor not connected or motor power too low
Output contactor open
Instantaneous instability in the motor current
34: [CANopen com.] (COF) Interruption in communication on the CANopen bus
108
Fault parameters
Code Description
((LFT), 35: [Brake control] (bLF) Brake release current not reached
continued) Brake engage frequency threshold [Brake engage freq] (bEn) not set when
brake control is assigned
36: Reserved
37: [Internal - hard init.] (InF7) Initialization of the drive is incomplete
38: [External fault com.] (EPF2) Fault triggered by a communication network
39: [Application fault] (APF) "Controller Inside" card fault
40: [Internal-ctrl supply] (InF8) The control supply is not correct
41: [Brake feedback] (brF) The brake feedback contact does not match the brake logic control
42: [PowerSuite com.] (SLF2) Fault communicating with PowerSuite
43: [Encoder coupling] (ECF) Break in the mechanical coupling of the encoder
44: [Torque/current lim] (SSF) Switch to torque limitation
45: [HMI com.] (SLF3) Fault communicating with the graphic display terminal
46: [Power removal] (PrF) Fault with the drives "Power removal" safety function
47: [PTC2 probe] (PtF2) PTC2 probes open or short-circuited
48: [PTC2 overheat] (OtF2) Overheating of the PTC2 probes detected
49: [LI6=PTC probe] (PtFL) PTC probes on input LI6 open or short-circuited
50: [LI6=PTC overheat] (OtFL) Overheating of PTC probes detected on input LI6
51: [Internal- I measure] (InF9) The current measurements are not correct
52: [Internal-mains circuit] (InFA) The input stage is not operating correctly
53: [Internal-th. sensor] (InFb) The drive temperature sensor is not operating correctly
54: [IGBT overheat] (tJF) Drive overheated
55: [IGBT short circuit] (SCF4)Power component fault
56: [Motor short circuit] (SCF5)Short-circuit at the drive output
57: [Torque time-out] (SrF) Torque control function time-out
58: [Out. contact. stuck] (FCF1) The output contactor remains closed although the opening conditions have been
met
59: [Out. contact. open] (FCF2) The output contactor remains open although the closing conditions have been met
60: [Internal-time meas.] (InFC) Fault on the electronic time measurement component
61: [AI2 input] (AI2F) Non-conforming signal on analog input AI2
62: [Encoder] (EnF) Encoder feedback fault
63: [Thyr. soft charge] (CrF2) DC bus charging fault (thyristors)
64: [input contactor] (LCF) The drive is not turned on even though [Mains V. time out] (LCt) has elapsed
65: [DB unit sh. circuit] (bUF) Short-circuit output from braking unit
66: Reserved
67: [IGBT desaturation] (HdF) Short-circuit or grounding at the drive output
68: [Internal-option] (InF6) The option installed in the drive is not recognized
69: [Internal- CPU] (InFE) Internal microprocessor fault
70: [DBR overload] (bOF) The braking resistor is under excessive stress
73: [Cards pairing] (HCF) The [CARDS PAIRING] (PPI-) function has been configured and a drive card
has been changed
76: [Dynamic load fault] (dLF) Dynamic load fault
99: Reserved
103: Reserved
109
Fault parameters
Code Description
CIC Parameter name: Incorrect configuration
Logic address: 7130 = 16#1BDA Type: WORD (bit register)
INTERBUS index: 5FB6/1A Unit: -
bit 0: =1: Change of rating

bit 2: =1: The network card has been removed
bit 3: =1: Saving to the EEPROM non-volatile memory is inconsistent with power on
bit 4: =1: The network card has been changed

bit 6: =1: The (Controller Inside) card has been removed
bit 7: =1: The (Controller Inside) card has been changed
bit 9: =1: An I/O card has been removed
bit 10: =1: The I/O card has been changed
bit 12: =1: An encoder card has been removed

bit 13: =1: The encoder card has been changed
If one of these events occurs, the drive switches to [Incorrect config.] (CFF) fault mode and then automatically applies a
factory setting.
APF Parameter name: "Controller Inside" card fault code
Logic address: 7133 = 16#1BDD Type: UINT
The fault remains saved in the parameter, even if it disappears.

The parameter is reset after the drive is disconnected and then reconnected.
Consult the "Controller Inside" card manual.
CnF Parameter name: Network card fault code
Logic address: 7132 = 16#1BDC Type: UINT

The possible values of this parameter depend on the network card protocol. Consult the manual for the corresponding card.
110
Fault parameters
Code Description
ILF1 Parameter name: Option card 1 fault code
Logic address: 7134 = 16#1BDE Type: UINT
DeviceNet path: 84/01/87 Factory setting:

0= No fault
1= Loss of internal communication with the drive
2= Hardware fault detected
3= Error in the EEPROM non-volatile memory checksum
4= Faulty EEPROM non-volatile memory
5= Faulty Flash memory
6= Faulty RAM memory
7= Faulty NVRAM memory
8= Faulty analog input
9= Faulty analog output
10 = Faulty logic input
11 = Faulty logic output
101 = Unknown card
102 = Exchange problem on the drive internal bus
103 = Time-out on the drive internal bus (500 ms)
ILF2 Parameter name: Option card 2 fault code
Logic address: 7135 = 16#1BDF Type: UINT

Same values as ILF1.
Fdrd Parameter name: Ethernet fault code
Terminal display: [FDR fault]
Logic address: 64233 = 16#FAE9 Type: UINT
INTERBUS index: - Unit: -
DeviceNet path: -
When an Ethernet fault is present, this parameter is used to ascertain the cause of the fault.
The fault code remains saved after the disappearance of the fault.
2: The FDR configuration file is not compatible with the type of drive (e.g. incorrect drive rating)
3: Error reading the FDR configuration file on the server
4: Error writing the FDR configuration file to the server
5: Error writing the FDR configuration file to the drive (e.g. the drive is in forced local mode)
7: Time-out for receipt of the FDR configuration file from the server
9: Duplication of IP address
12: The FDR configuration file is missing
111
Fault parameters
Code Description
Fnb Parameter name: Fault counter
CANopen index: 202B/5E Read/write: R
INTERBUS index: 5FB9/CC Unit: -
DeviceNet path: 99/01/CC
112
Log parameters
Description of last fault log
Code Description
dP0 Parameter name: Fault code on last fault
Logic address: 7200 = 16#1C20 Type: WORD (listing)
CANopen index: 202A/1 Read/write: R
Value of the "Altivar fault code" (LFt) parameter, written to memory when the last fault occurred.
See the possible values of the "Altivar fault code" (LFt) parameter.
ULP0 Parameter name: Power supply voltage on last fault
Value of the "Power supply voltage" (ULn) parameter, written to memory when the last fault occurred.
LCP0 Parameter name: Motor current on last fault
Value of the "Motor current" (LCr) parameter, written to memory when the last fault occurred.
rFP0 Parameter name: Output frequency on last fault
INTERBUS index: 5FB9/82 Unit: 0.1 Hz
Value of the "Output frequency" (rFr) parameter, written to memory when the last fault occurred.
tHP0 Parameter name: Motor thermal state on last fault
EP0 Parameter name: Status word on last fault
Logic address: 7210 = 16#1C2A Type: WORD (bit register)
CANopen index: 202A/B Read/write: R
INTERBUS index: 5FB9/5E Unit: -
DeviceNet path: 85/01/0B
Value of the "Status word" (EtA) parameter, written to memory when the last fault occurred.
See the possible values of the "Status word" (EtA) parameter.
113
Log parameters
Code Description
IP0 Parameter name: Extended status word 0 on last fault
Logic address: 7220 = 16#1C34 Type: WORD (bit register)
Value of the "Extended status word 0" (EtI) parameter, written to memory when the last fault occurred.
See the possible values of the "Extended status word 0" (EtI) parameter.
CMP0 Parameter name: Command word on last fault
Logic address: 7230 = 16#1C3E Type: WORD (bit register)
CANopen index: 202A/1F Read/write: R
Value of the "Command word" (CMd) parameter, written to memory when the last fault occurred.
See the possible values of the "Command word" (CMd) parameter.
dCCO Parameter name: Command channel active on last fault
Logic address: 64300 = 16#FB2C Type: WORD (listing)
INTERBUS index: 5FBA/08 Unit: -
DeviceNet path: 9A/01/08
0: Terminals
2: Graphic display terminal
3: Modbus
6: CANopen
9: Network card
10: "Controller Inside" card
15: PowerSuite
drC0 Parameter name: Reference channel active on last fault
Logic address: 64310 = 16#FB36 Type: WORD (listing)
CANopen index: 2265/B Read/write: R
INTERBUS index: 5FBA/11 Unit: -
0: Analog input terminals

3: Modbus
6: CANopen
7: +/- speed terminals
9: Network card
15: PowerSuite
114
Log parameters
Code Description
CrPO Parameter name: Channels active on last fault
Logic address: 7290 = 16#1C7A Type: WORD
CANopen index: 202A/5B Read/write: R
INTERBUS index: 5FB9/A6 Unit: -
DeviceNet path: 85/01/5B
Command channel: Low order byte:

0: Terminals
3: Modbus
6: CANopen
9: Network card
15: PowerSuite
Reference channel: High order byte:

0: Analog input terminals
3: Modbus
6: CANopen
7: +/- speed terminals
9: Network card
15: PowerSuite
rtP0 Parameter name: Motor operating time on last fault
Logic address: 7260 = 16#1C5C Type: UINT
CANopen index: 202A/3D Read/write: R
INTERBUS index: 5FB9/8B Unit: 1 hour
DeviceNet path: 85/01/3D
Md0 Parameter name: Date on last fault
CANopen index: 202B/1 Read/write: R
INTERBUS index: 5FB9/AF Unit: 1
This parameter is only significant if a "Controller Inside" card is installed in the drive.
dM0 Parameter name: Time on last fault
Logic address: 7310 = 16#1C8E Type: UINT
CANopen index: 202B/B Read/write: R
INTERBUS index: 5FB9/B8 Unit: 1
This parameter is only significant if a "Controller Inside" card is installed in the drive.
115
Log parameters
Format of "Date" and "Time" parameters

Date and time are binary-coded using the corresponding word bits indicated in the table below.
Note: The value 0 for year corresponds to the year 1970 (2006 = 36, for example).
Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Year X X X X X X X
Date Month X X X X
Day X X X X X
Hours X X X X X X X X
Time
Minutes X X X X X X X X
116
Log parameters
Log of the following faults

The log shown for the first fault can be used to review the last 8 faults. All codes and addresses are summarized in the tables below.
Fault n-1
Log Code Logic address: CANopen INTERBUS DeviceNet

index: index: path:
Fault code dP1 7201 = 16#1C21 202A/2 5FB9/5A 85/01/02
Supply voltage ULP1 7271 = 16#1C67 202A/48 5FB9/99 85/01/48
Motor current LCP1 7241 = 16#1C49 202A/2A 5FB9/7E 85/01/2A
Output frequency rFP1 7251 = 16#1C53 202A/34 5FB9/87 85/01/34
Motor thermal state tHP1 7281 = 16#1C71 202A/52 5FB9/A2 85/01/52
Status word EP1 7211 = 16#1C2B 202A/C 5FB9/63 85/01/0C
Extended status word IP1 7221 = 16#1C35 202A/16 5FB9/6C 85/01/16
Command word CMP1 7231 = 16#1C3F 202A/20 5FB9/75 85/01/20
Active command channel dCC1 64301 = 16#FB2D 5FBA/22
Active reference channel drC1 64311 = 16#FB37 5FBA/2B
Active channels CrP1 7291 = 16#1C7B 202A/5C 5FB9/AB 85/01/5C
Motor operating time rtP1 7261 = 16#1C5D 202A/3E 5FB9/90 85/01/3E
Date Md1 7301 = 16#1C85 202B/2 5FB9/B4 85/01/66
Time dM1 7311 = 16#1C8F 202B/C 5FB9/BD 85/01/70
Fault n-2

index: index: path:
Fault code dP2 7202 = 16#1C22 202A/3 5FB9/5B 85/01/03
Supply voltage ULP2 7272 = 16#1C68 202A/49 5FB9/9A 85/01/49
Motor current LCP2 7242 = 16#1C4A 202A/2B 5FB9/7F 85/01/2B
Status word EP2 7212 = 16#1C2C 202A/D 5FB9/64 85/01/0D
Extended status word IP2 7222 = 16#1C36 202A/17 5FB9/6D 85/01/17
Command word CMP2 7232 = 16#1C40 202A/21 5FB9/76 85/01/21
Active command channel dCC2 64302 = 16#FB2E 5FBA/23
Active reference channel drC2 64312 = 16#FB38 5FBA/2C
Active channels CrP2 7292 = 16#1C7C 202A/5D 5FB9/AC 85/01/5D
Motor operating time rtP2 7262 = 16#1C5E 202A/3F 5FB9/91 85/01/3F
Date Md2 7302 = 16#1C86 202B/3 5FB9/B5 85/01/67
Time dM2 7312 = 16#1C90 202B/D 5FB9/BE 85/01/71
117
Log parameters
Fault n-3

index: index: path:
Fault code dP3 7203 = 16#1C23 202A/4 5FB9/5C 85/01/04
Supply voltage ULP3 7273 = 16#1C69 202A/4A 5FB9/9B 85/01/4A
Motor current LCP3 7243 = 16#1C4B 202A/2C 5FB9/80 85/01/2C
Status word EP3 7213 = 16#1C2D 202A/E 5FB9/65 85/01/0E
Extended status word IP3 7223 = 16#1C37 202A/18 5FB9/6E 85/01/18
Active command channel dCC3 64303 = 16#FB2F 5FBA/24
Active reference channel drC3 64313 = 16#FB39 5FBA/2D
Active channels CrP3 7293 = 16#1C7D 202A/5E 5FB9/AD 85/01/5E
Motor operating time rtP3 7263 = 16#1C5F 202A/40 5FB9/92 85/01/40
Date Md3 7303 = 16#1C87 202B/4 5FB9/B6 85/01/68
Time dM3 7313 = 16#1C91 202B/E 5FB9/BF 85/01/72
Fault n-4

index: index: path:
Fault code dP4 7204 = 16#1C24 202A/5 5FB9/5D 85/01/05
Supply voltage ULP4 7274 = 16#1C6A 202A/4B 5FB9/9C 85/01/4B
Motor current LCP4 7244 = 16#1C4C 202A/2D 5FB9/81 85/01/2D
Output frequency rFP4 7254 = 16#1C56 202A/37 5FB9/8A 85/01/37
Status word EP4 7214 = 16#1C2E 202A/F 5FB9/66 85/01/0F
Extended status word IP4 7224 = 16#1C38 202A/19 5FB9/6F 85/01/19
Active command channel dCC4 64304 = 16#FB30 5FBA/25
Active reference channel drC4 64314 = 16#FB3A 5FBA/2E
Active channels CrP4 7294 = 16#1C7E 202A/5F 5FB9/AE 85/01/5F
Motor operating time rtP4 7264 = 16#1C60 202A/41 5FB9/93 85/01/41
Date Md4 7304 = 16#1C88 202B/5 5FB9/B7 85/01/69
Time dM4 7314 = 16#1C92 202B/F 5FB9/C0 85/01/73
118
Log parameters
Fault n-5

index: index: path:
Fault code dP5 7205 = 16#1C25 202A/6 5FB9/5E 85/01/06
Supply voltage ULP5 7275 = 16#1C6B 202A/4C 5FB9/9D 85/01/4C
Motor current LCP5 7245 = 16#1C4D 202A/2E 5FB9/82 85/01/2E
Output frequency rFP5 7255 = 16#1C57 202A/38 5FB9/8B 85/01/38
Status word EP5 7215 = 16#1C2F 202A/10 5FB9/67 85/01/10
Extended status word IP5 7225 = 16#1C39 202A/1A 5FB9/70 85/01/1A
Active reference channel drC5 64315 = 16#FB3B 5FBA/2F
Active channels CrP5 7295 = 16#1C7F 202A/60 5FB9/AF 85/01/60
Date Md5 7305 = 16#1C89 202B/6 5FB9/B8 85/01/6A
Time dM5 7315 = 16#1C93 202B/10 5FB9/C1 85/01/74
Fault n-6

index: index: path:
Fault code dP6 7206 = 16#1C26 202A/7 5FB9/5F 85/01/07
Supply voltage ULP6 7276 = 16#1C6C 202A/4D 5FB9/9E 85/01/4D
Motor current LCP6 7246 = 16#1C4E 202A/2F 5FB9/83 85/01/2F
Output frequency rFP6 7256 = 16#1C58 202A/39 5FB9/8C 85/01/39
Status word EP6 7216 = 16#1C30 202A/11 5FB9/68 85/01/11
Extended status word IP6 7226 = 16#1C3A 202A/1B 5FB9/71 85/01/1B
Command word CMP6 7236 = 16#1C44 202A/25 5FB9/7A 85/01/25
Active reference channel drC6 64316 = 16#FB3C 5FBA/30
Active channels CrP6 7296 = 16#1C80 202A/61 5FB9/B0 85/01/61
Date Md6 7306 = 16#1C8A 202B/7 5FB9/B9 85/01/6B
Time dM6 7316 = 16#1C94 202B/11 5FB9/C2 85/01/75
119
Log parameters
Fault n-7

index: index: path:
Fault code dP7 7207 = 16#1C27 202A/8 5FB9/60 85/01/08
Supply voltage ULP7 7277 = 16#1C6D 202A/4E 5FB9/9F 85/01/4E
Motor current LCP7 7247 = 16#1C4F 202A/30 5FB9/84 85/01/30
Output frequency rFP7 7257 = 16#1C59 202A/3A 5FB9/8D 85/01/3A
Status word EP7 7217 = 16#1C31 202A/12 5FB9/69 85/01/12
Extended status word IP7 7227 = 16#1C3B 202A/1C 5FB9/72 85/01/1C
Command word CMP7 7237 = 16#1C45 202A/26 5FB9/7B 85/01/26
Active reference channel drC7 64317 = 16#FB3D 5FBA/31
Date Md7 7307 = 16#1C8B 202B/8 5FB9/BA 85/01/6C
Time dM7 7317 = 16#1C95 202B/12 5FB9/C3 85/01/76
Fault n-8

index: index: path:
Fault code dP8 7208 = 16#1C28 202A/9 5FB9/61 85/01/09
Supply voltage ULP8 7278 = 16#1C6E 202A/4F 5FB9/A0 85/01/4F
Motor current LCP8 7248 = 16#1C50 202A/31 5FB9/85 85/01/31
Output frequency rFP8 7258 = 16#1C5A 202A/3B 5FB9/8E 85/01/3B
Status word EP8 7218 = 16#1C32 202A/13 5FB9/6A 85/01/13
Extended status word IP8 7228 = 16#1C3C 202A/1D 5FB9/73 85/01/1D
Command word CMP8 7238 = 16#1C46 202A/27 5FB9/7C 85/01/27
Active reference channel drC8 64318 = 16#FB3E 5FBA/32
Date Md8 7308 = 16#1C8C 202B/9 5FB9/BB 85/01/6D
Time dM8 7318 = 16#1C96 202B/13 5FB9/C4 85/01/77
120
Identification parameters
Code Description
nCV Parameter name: Drive nominal rating
Logic address: 3011 = 16#0BC3 Type: WORD (listing)
CANopen index: 2000/C Read/write: R
DeviceNet path: 70/01/0C
0 = nO (Unknown rating) 25 = D55 (55 kW / 75 HP)

26 = D75 (75 kW / 100 HP)
4 = 037 (0.37 kW / 0.5 HP) 27 = D90 (90 kW / 125 HP)
28 = C11 (110 kW / 150 HP)
6 = 075 (0.75 kW / 1 HP) 29 = C13 (132 kW / 200 HP)
30 = C16 (160 kW / 250 HP)
9 = U15 (1.5 kW / 2 HP) 31 = C20 (200 kW / 300 HP)
32 = C22 (220 kW / 350 HP)
11 = U22 (2.2 kW / 3 HP) 33 = C25 (250 kW / 400 HP)
12 = U30 (3 kW) 34 = C28 (280 kW / 450 HP)
35 = C31 (315 kW / 500 HP)
14 = U40 (4 kW / 5 HP)
15 = U55 (5.5 kW / 7.5 HP) 37 = C40 (400 kW / 600 HP)
16 = U75 (7.5 kW / 10 HP)
39 = C50 (500 kW / 700 HP)
18 = D11 (11 kW / 15 HP) 40 = C56 (560 kW)
19 = D15 (15 kW / 20 HP) 41 = C63 (630 kW)
20 = D18 (18.5 kW / 25 HP) 42 = C71 (710 kW)
21 = D22 (22 kW / 30 HP) 43 = C80 (800 kW)
22 = D30 (30 kW / 40 HP) 44 = C90 (900 kW)
23 = D37 (37 kW / 50 HP) 45 = M12 (1200 kW)
24 = D45 (45 kW / 60 HP)
UCAL Parameter name: Drive line voltage
Logic address: 3012 = 16#0BC4 Type: WORD (listing)
CANopen index: 2000/D Read/write: R
3 = 220 V single-phase (M2)

4 = 220 V three-phase (M3)
6 = 480 V three-phase (N4)
8 = 690 V three-phase (S6)
InV Parameter name: Rated drive current
Logic address: 3017 = 16#0BC9 Type: UINT
UdP Parameter name: Drive software version
121
Code Description
PAn0 Parameter name: Device name (char 1 and 2)
Logic address: 3340 = 16#0D0C Type: UINT
INTERBUS index: 5FB0/25 Unit:
This parameter can be modified by the graphic display terminal in the [7.1 USER PARAMETERS] menu.
If the device is called "Ventilateur 1234", the values of the "device name" parameters are:
PAn0 = 16#5665 = "Ve"
PAn1 = 16#6E74 = "nt"
PAn2 = 16#696C = "il"
PAn3 = 16#6174 = "at"
PAn4 = 16#6575 = "eu"
PAn5 = 16#7220 = "r "
PAn6 = 16#3132 = "12"
PAn7 = 16#3334 = "34"
Logic address: 3341 = 16#0D0D Type: UINT
CANopen index: 2003/2A Read/write: R/W
DeviceNet path: 71/01/8E
Logic address: 3342 = 16#0D0E Type: UINT
CANopen index: 2003/2B Read/write: R/W
Logic address: 3343 = 16#0D0F Type: UINT
CANopen index: 2003/2C Read/write: R/W
Logic address: 3344 = 16#0D10 Type: UINT
CANopen index: 2003/2D Read/write: R/W
CANopen index: 2003/2E Read/write: R/W
INTERBUS index: 5FB0/2A Unit:
122
Code Description
CANopen index: 2003/2F Read/write: R/W
INTERBUS index: 5FB0/2B Unit:
INTERBUS index: 5FB0/2C Unit:
123
CiA402 standard configuration and adjustment parameters
Code Description
SMIL Parameter name: Velocity min amount
CiA402 name: vl velocity min speed
DRIVECOM name: Speed-Min-Amount
Logic address: 8607 = 16#219F Type: UDINT

and 8608 = 16#21A0

32-bit word (low order: 8607, high order: 8608). High orders always = 0.
Writing this parameter also modifies:
[Low speed] (LSP)
ODVA low speed limit (LSPd)
SMAL Parameter name: Velocity max amount
CiA402 name: vl velocity max speed
DRIVECOM name: Speed-Max-Amount
Logic address: 8609 = 16#21A1 Type: UDINT

and 8610 = 16#21A2
DeviceNet path: 8C/01/0A

32-bit word (low order: 8609, high order: 8610). High orders always = 0.
[High speed] (HSP)
ODVA high speed limit (HSPd)
SPAL Parameter name: Acceleration delta speed
CiA402 name: vl velocity acceleration/delta speed
DRIVECOM name: Speed-Acceleration/Delta speed

and 8612 = 16#21A4
DeviceNet path: 8C/01/0C

Speed for calculation of acceleration ramp.
32-bit word (low order: 8611, high order: 8612).
If writing registers 8611 and 8612 in succession, write register 8611 first, then register 8612.
[Acceleration] (ACC)
ODVA acceleration time
124
Code Description
SPAt Parameter name: Acceleration delta time
CiA402 name: vl velocity acceleration/delta time
DRIVECOM name: Speed-Acceleration/Delta time
Logic address: 8613 = 16#21A5 Type: UINT
INTERBUS index: 6048/2 Unit: 1s
DeviceNet path: 8C/01/0E

Time for calculation of acceleration ramp (time to go from 0 to delta speed).
ODVA acceleration time
SPdL Parameter name: Deceleration delta speed
CiA402 name: vl velocity deceleration/delta speed
DRIVECOM name: Speed-Deceleration/Delta speed

and 8615 = 16#21A7
DeviceNet path: 8C/01/0F

Speed for calculation of deceleration ramp.
32-bit word (low order: 8614, high order: 8615).
If writing registers 8614 and 8615 in succession, write register 8614 first, then register 8615.
[Deceleration] (DEC)
ODVA deceleration time
SPdt Parameter name: Deceleration delta time
CiA402 name: vl velocity deceleration/delta time
DRIVECOM name: Speed- Deceleration/Delta time
Logic address: 8616 = 16#21A8 Type: UINT
INTERBUS index: 6049/2 Unit: 1s

Time for calculation of deceleration ramp (time to go from 0 to delta speed).
[Deceleration] (DEC)
ODVA deceleration time
125
Code Description
SPFn Parameter name: Setpoint factor numerator
CiA402 name: vl setpoint factor numerator
DRIVECOM name: Setpoint-Factor-Numerator
CANopen index: 604B/1 Read/write: R/W
INTERBUS index: 604B/1 Unit: -
DeviceNet path: 8C/01/2B Factory setting: 1
Adjustment range -32768 ... -1; 1 ... 32767
SPFd Parameter name: Setpoint factor denominator
CiA402 name: vl setpoint factor denominator
DRIVECOM name: Setpoint-Factor-Denominator
CANopen index: 604B/2 Read/write: R/W
INTERBUS index: 604B/2 Unit: -
DeviceNet path: 8C/01/2C Factory setting: 1
Adjustment range -32768 ... -1; 1 ... 32767

The speed setpoint factor is obtained by the Divisor and Multiplier parameters.
These parameters have no unit and can take a value from -32768 to 32767, excluding value 0.
The factor is used to modify the resolution or the direction of the setpoint. It is applied to the setpoint, and the references and
output values of the speed function only.
Setpoint:
Input DIV
MUL
Numerator Output
Denominator
References and output values:
Input MUL
DIV
Numerator Output
Denominator
126
Code Description
DOTD Parameter name: Disable operation option code
CiA402 name: Disable operation option code
DRIVECOM name:
Logic address: 8652 = 16#21CC Type: WORD (listing)
CANopen index: 605C/0 Read/write: R/WS
INTERBUS index: Factory setting: 0

0 = Freewheel stop
1 = Stop on ramp
QSTD Parameter name: Quick stop option code
CiA402 name: Quick stop option code
DRIVECOM name:
Logic address: 8651 = 16#21CB Type: WORD (listing)
CANopen index: 605A / 0 Read/write: R/WS
INTERBUS index: Factory setting: 6

2 = Fast stop then transition to "2 - Switch on disabled" state
6 = Fast stop and remaining in "6 - Quick stop active" state
127
ODVA standard configuration and adjustment parameters
Code Description
ACCd Parameter name: ODVA acceleration time
ODVA name: AccelTime
Logic address: - Type: UINT
CANopen index: - Read/write: R/W
INTERBUS index: - Unit: ms

Speed for calculation of acceleration ramp.
CiA402 "vl velocity acceleration/delta speed" (SPAL) and "vl velocity acceleration/delta time" (SPAt)
Parameter only accessible via DeviceNet.
dECd Parameter name: ODVA deceleration time
ODVA name: DecelTime
INTERBUS index: - Unit: ms

Speed for calculation of deceleration ramp.
[Deceleration] (dEC)
CiA402 "vl velocity deceleration/delta speed" (SPdL) and "vl velocity deceleration/delta time" (SPDt)
LSPd Parameter name: Low speed limit
ODVA name: LowSpdLimit
INTERBUS index: - Unit: rpm

HSPd Parameter name: High speed limit
ODVA name: HighSpdLimit
INTERBUS index: - Unit: rpm

128
ODVA standard configuration and adjustment parameters
129
Index of parameter codes
Code Name Page
ACCd ODVA acceleration time 128
AI1C Analog input 1 physical value 103
AI1r Analog input 1 standardized value 103
AIU1 [Network AI] 83
AO1C Analog output 1 physical value 104
AO1r Analog output 1 standardized value 104
APF "Controller Inside" card fault code 110
APH [Consumption] 95
AUS ENA average speed 95
CCC Active command channel 91
CFPS Active parameter set 72
CFPS Active parameter set 91
CHA1 Assignment for 2 sets 72
CHA2 Assignment for 3 sets 72
CIC Incorrect configuration 110
CMd Control word 79
CMI Extended control word 81
CMP0 Command word on last fault 114
CMP1 Command word on fault n-1 117
130
Code Name Page
CnF Network card fault code 110
CNF1 Assignment for 2 configurations 68
CNF2 Assignment for 3 configurations 68
CNFS [Config. active] 68
CNFS [Config. Active] 91
CRC Active reference channel 90
CrPO Channels active on last fault 115
CrP1 Active channels on fault n-1 117
dAY Date 101
dCCO Command channel active on last fault 114
dCC1 Active command channel on fault n-1 117
dECd ODVA deceleration time 128
dM0 Time on last fault 115
131
Code Name Page
dM1 Time on fault n-1 117
DOTD Disable operation option code 127
dP0 Fault code on last fault 113
dP1 Fault code on fault n-1 117
drC0 Reference channel active on last fault 114
drC1 Active reference channel on fault n-1 117
EbOt Current bobbin time 100
EP0 Status word on last fault 113
EP1 Status word on fault n-1 117
132
Code Name Page
Errd CiA402 fault code 106
ETA Status word 84
ETI Extended status word 86
FCS Restore configuration 71
Fdrd Ethernet fault code 111
Fnb Fault counter 112
FrH Frequency reference before ramp 96
FrHd Speed reference before ramp 96
FrO Frequency reference after ramp 96
FrOd Speed reference after ramp 96
FrY [PARAMETER GROUP LIST] 71
HSPd High speed limit 128
IL1r Logic inputs states 102
ILF1 Option card 1 fault code 111
ILF2 Option card 2 fault code 111
Int Torque unit 83
InV Rated drive current 121
IP0 Extended status word 0 on last fault 114
IP1 Extended status word on fault n-1 117
LCP0 Motor current on last fault 113
133
Code Name Page
LCP1 Motor current on fault n-1 117
LCr Motor current 94
LFR Frequency reference 82
LFRD Speed setpoint 82
LFt Altivar fault code 108
LRS1 Extended status word 1 86
LSPd Low speed limit 128
LtCr Torque setpoint (Nm) 83
LTR Torque reference 82
Md0 Date on last fault 115
Md1 Date on fault n-1 117
134
Code Name Page
MFr Multiplying coefficient 83
nCV Drive nominal rating 121
OL1r Logic outputs states 102
OPr Motor power 94
Otr Output torque 93
Otrn Output torque (Nm) 93
PAn0 Device name (char 1 and 2) 122
PISP PID regulator setpoint 83
PtH Total drive operating time 100
PUC Encoder counter value 105
QSTD Quick stop option code 127
rFP0 Output frequency on last fault 113
rFP1 Output frequency on fault n-1 117
rFr Output frequency 92
rFrd Output velocity 92
rPC PID reference after ramp 98
rPE PID regulator discrepancy 98
rPF PID regulator feedback reference 98
135
Code Name Page
rPO PID regulator limit output reference 98
rtH Total motor operating time 100
rtP0 Motor operating time on last fault 115
rtP1 Motor operating time on fault n-1 117
SCS Save configuration 71
SMAL Velocity max amount 124
SMIL Velocity min amount 124
SPAL Acceleration delta speed 124
SPAt Acceleration delta time 125
SPdL Deceleration delta speed 125
SPdt Deceleration delta time 125
SPFd Setpoint factor denominator 126
SPFn Setpoint factor numerator 126
tAC IGBT alarm time 100
tHb DBR thermal state 99
tHd Drive thermal state 99
tHP0 Motor thermal state on last fault 113
tHP1 Motor thermal state on fault n-1 117
136
Code Name Page
tHr Motor thermal state 99
tIME Time 101
trO Torque reference after ramp 97
trr Torque reference before ramp 97
UCAL Drive line voltage 121
UdP Drive software version 121
ULn Power supply voltage 99
ULP0 Power supply voltage on last fault 113
ULP1 Supply voltage on fault n-1 117
UNT Units of parameters APH, PTH, and RTH 94
UOP Motor voltage 94
VAL Load parameter set command 76
137
atv71_parameters_en_v4
2007-05

Atv71 Communication Parameters en v4

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Altivar 71

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Output value parameters ______________________________________________________________________________________ 92

Communication Parameters Manual

They describe the protocol communication services in detail.

"Controller Inside" Manual

Altivar 58/58F Migration Manual

Altivar 78 Migration Manual

Magelis XBT Premium

It includes Modbus and CANopen communication protocols as standard.

The control section can be powered separately, thus allowing communication

The PowerSuite software workshop supports the transfer of configurations from

All the drive functions are accessible via the network:

The periodic communication variables can be selected via:

Enhancements made to version V1.2 in comparison to V1.1

Motor frequency range

New parameters and functions

[1.2 MONITORING] (SUP-) menu

[1.3 SETTINGS] (SEt-) menu

[1.4 MOTOR CONTROL] (drC-) menu

[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

[1.7 APPLICATION FUNCT.] (Fun-) menu

[1.8 FAULT MANAGEMENT] (FLt-) menu

[7 DISPLAY CONFIG.] menu

Enhancements made to version V1.6 in comparison to V1.2

[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

Drive terminal displays

DRIVECOM has been available since 1991.

Functional profiles supported by the Altivar 71

The drive starts up as soon as the run command is sent.

The Altivar 71 supports the CiA402 profiles "Velocity mode".

The ODVA profile is supported by the DeviceNet communication card.

Menu Parameter Value

Fixed assignment to terminals and on CANopen: :

LI13 bit 12 bit 12 LI13 bit 12

LI12 bit 11 bit 11 LI12 bit 11

LI8 bit 7 bit 7 LI8 bit 7

CANopen control word

"Controller Inside" control word

LI3 bit 2 bit 2 LI3 bit 2

Fixed assignment to terminals and on CANopen with command switching :

LI1 bit 0 bit 0 LI1 bit 0

Control word - run on state [2 wire] (2C)

Bits 1 to 15 of the control words can be assigned to drive functions.

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Control word - run on edge [3 wire] (3C)

Bits 2 to 15 of the control words can be assigned to drive functions.

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Status word (ETA)

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Example: I/O profile with positioning by sensors function

The stop sensor is directly connected to the drive terminals.

Configuration schematic diagram:

tEr CANopen control word

C201 Disabling of sensors

Forward stop sensor

Configure the following parameters: